Query: Learning of closed-loop motion control

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A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems <=SEP=> We present an iterative linear-quadratic-Gaussian method for locally-optimal feedback control of nonlinear stochastic systems subject to control constraints. Previously, similar methods have been restricted to deterministic unconstrained problems with quadratic costs. The new method constructs an affine feedback control law, obtained by minimizing a novel quadratic approximation to the optimal cost-to-go function. Global convergence is guaranteed through a Levenberg-Marquardt method; convergence in the vicinity of a local minimum is quadratic. Performance is illustrated on a limited-torque inverted pendulum problem, as well as a complex biomechanical control problem involving a stochastic model of the human arm, with 10 state dimensions and 6 muscle actuators. A Matlab implementation of the new algorithm is availabe at www.cogsci.ucsd.edu//spl sim/todorov.

Policy Improvement Methods: Between Black-Box Optimization and Episodic Reinforcement Learning <=SEP=> Policy improvement methods seek to optimize the parameters of a policy with respect to a utility function. There are two main approaches to performing this optimization: reinforcement learning (RL) and black-box optimization (BBO). Whereas BBO algorithms are generic optimization methods that, due to there generality, may also be applied to optimizing policy parameters, RL algorithms are specifically tailored to leveraging the structure of policy improvement problems. In recent years, benchmark comparisons between RL and BBO have been made, and there has been several attempts to specify which approach works best for which types of problem classes. In this article, we make several contributions to this line of research: 1) We define four algorithmic properties that further clarify the relationship between RL and BBO: action-perturbation vs. parameter-perturbation, gradient estimation vs. rewardweighted averaging, use of only rewards vs. use of rewards and state information, actor-critic vs. direct policy search. 2) We show how the chronology of the derivation of ever more powerful algorithms displays a trend towards algorithms based on parameter-perturbation and reward-weighted averaging. A striking feature of this trend is that it has moved RL methods closer and closer to BBO. 3) We continue this trend by applying two modifications to the state-of-the-art “Policy Improvement with Path Integrals” (PI), which yields an algorithm we denote PI. We show that PI is a BBO algorithm, and, more specifically, that it is a special case of the “Covariance Matrix Adaptation – Evolutionary Strategy” algorithm. Our empirical evaluation demonstrates that the simpler PI outperforms PI on simple evaluation tasks in terms of convergence speed and final cost. 4) Although our evaluation implies that, for these five tasks, BBO outperforms RL, we do not hold this to be a general statement, and provide an analysis of why these tasks are particularly well-suited for BBO. Thus, rather than making the case for BBO or RL, one of the main contributions of this article is rather to provide an algorithmic framework in which such cases may be made, as PI and PI use identical perturbation and parameter update methods, and differ only in being BBO and RL approaches respectively.

A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive <=SEP=> Multi-wheel statically-stable mobile robots tall enough to interact meaningfully with people must have low centers of gravity, wide bases of support, and low accelerations to avoid tipping over. These conditions present a number of performance limitations. Accordingly, we are developing an inverse of this type of mobile robot that is the height, width, and weight of a person, having a high center of gravity, that balances dynamically on a single spherical wheel. Unlike balancing 2-wheel platforms which must turn before driving in some direction, the single-wheel robot can move directly in any direction. We present the overall design, actuator mechanism based on an inverse mouse-ball drive, control system, and initial results including dynamic balancing, station keeping, and point-to-point motion

Evolutionary Function Approximation for Reinforcement Learning <=SEP=> Temporal difference methods are theoretically grounded and empirically effective methods for addressing reinforcement learning problems. In most real-world reinforcement learning tasks, TD methods require a function approximator to represent the value function. However, using function approximators requires manually making crucial representational decisions. This thesis investigates evolutionary function approximation, a novel approach to automatically selecting function approximator representations that enable efficient individual learning. This method evolves individuals that are better able to learn. I present a fully implemented instantiation of evolutionary function approximation which combines NEAT, a neuroevolutionary optimization technique, with Q-learning, a popular TD method. The resulting NEAT+Q algorithm automatically discovers effective representations for neural network function approximators. This thesis also presents on-line evolutionary computation, which improves the on-line performance of evolutionary computation by borrowing selection mechanisms used in TD methods to choose individual actions and using them in evolutionary computation to select policies for evaluation. I evaluate these contributions with extended empirical studies in two domains: 1) the mountain car task, a standard reinforcement learning benchmark on which neural network function approximators have previously performed poorly and 2) server job scheduling, a large probabilistic domain drawn from the field of autonomic computing. The results demonstrate that evolutionary function approximation can significantly improve the performance of TD methods and on-line evolutionary computation can significantly improve evolutionary methods.

PEGASUS: A Policy Search Method for Large MDPs and POMDPs <=SEP=> We propose a new approach to the problem of searching a space of policies for a Markov decision process (MDP) or a partially observable Markov decision process (POMDP), given a model. Our approach is based on the following observation: Any (PO)MDP can be transformed into an “equivalent” POMDP in which all state transitions (given the current state and action) are deterministic. This reduces the general problem of policy search to one in which we need only consider POMDPs with deterministic transitions. We give a natural way of estimating the value of all policies in these transformed POMDPs. Policy search is then simply performed by searching for a policy with high estimated value. We also establish conditions under which our value estimates will be good, recovering theoretical results similar to those of Kearns, Mansour and Ng [7], but with “sample complexity” bounds that have only a polynomial rather than exponential dependence on the horizon time. Our method applies to arbitrary POMDPs, including ones with infinite state and action spaces. We also present empirical results for our approach on a small discrete problem, and on a complex continuous state/continuous action problem involving learning to ride a bicycle.

Loneliness, social contacts and Internet addiction: A cross-lagged panel study <=SEP=> This study aims to examine the causal priority in the observed empirical relationships between Internet addiction and other psychological problems. A cross-lagged panel survey of 361 college students in Hong Kong was conducted. Results show that excessive and unhealthy Internet use would increase feelings of loneliness over time. Although depression had a moderate and positive bivariate relationship with Internet addiction at each time point, such a relationship was not significant in the cross-lagged analyses. This study also found that online social contacts with friends and family were not an effective alternative for offline social interactions in reducing feelings of loneliness. Furthermore, while an increase in face-to-face contacts could help to reduce symptoms of Internet addiction, this effect may be neutralized by the increase in online social contacts as a result of excessive Internet use. Taken as a whole, findings from the study show a worrisome vicious cycle between loneliness and Internet addiction. 2013 Elsevier Ltd. All rights reserved.

Blockchained Post-Quantum Signatures <=SEP=> Inspired by the blockchain architecture and existing Merkle tree based signature schemes, we propose BPQS, an extensible post-quantum (PQ) resistant digital signature scheme best suited to blockchain and distributed ledger technologies (DLTs). One of the unique characteristics of the protocol is that it can take advantage of application-specific chain/graph structures in order to decrease key generation, signing and verification costs as well as signature size. Compared to recent improvements in the field, BPQS outperforms existing hash-based algorithms when a key is reused for reasonable numbers of signatures, while it supports a fallback mechanism to allow for a practically unlimited number of signatures if required. We provide an open source implementation of the scheme and benchmark it.

Generation of Pencil Sketch Drawing <=SEP=> This paper proposes a pencil sketch generating system that can create various pencil sketching styles for images, to satisfy different needs of users. The pencil sketch generating process includes process of three parts: line drawing, tone adjustment, and texture rendering. Some operations needed are first proposed, and various pencil sketching styles that generated by the proposed system are illustrated.

CrowdProbe: Non-invasive Crowd Monitoring with Wi-Fi Probe <=SEP=> Devices with integrated Wi-Fi chips broadcast beacons for network connection management purposes. Such information can be captured with inexpensive monitors and used to extract user behavior. To understand the behavior of visitors, we deployed our passive monitoring system---CrowdProbe, in a multi-floor museum for six months. We used a Hidden Markov Models (HMM) based trajectory inference algorithm to infer crowd movement using more than 1.7 million opportunistically obtained probe request frames.
 However, as more devices adopt schemes to randomize their MAC addresses in the passive probe session to protect user privacy, it becomes more difficult to track crowd and understand their behavior. In this paper, we try to make use of historical transition probability to reason about the movement of those randomized devices with spatial and temporal constraints. With CrowdProbe, we are able to achieve sufficient accuracy to understand the movement of visitors carrying devices with randomized MAC addresses.

Real-time Vision-based Hand Gesture Recognition Using Haar-like Features <=SEP=> This paper proposes a two level approach to solve the problem of real-time vision-based hand gesture classification. The lower level of the approach implements the posture recognition with Haar-like features and the AdaBoost learning algorithm. With this algorithm, real-time performance and high recognition accuracy can be obtained. The higher level implements the linguistic hand gesture recognition using a context-free grammar-based syntactic analysis. Given an input gesture, based on the extracted postures, the composite gestures can be parsed and recognized with a set of primitives and production rules.

DeepDefense: Training Deep Neural Networks with Improved Robustness <=SEP=> Despite the efficacy on a variety of computer vision tasks, deep neural networks (DNNs) are vulnerable to adversarial attacks, limiting their applications in securitycritical systems. Recent works have shown the possibility of generating imperceptibly perturbed image inputs (a.k.a., adversarial examples) to fool well-trained DNN classifiers into making arbitrary predictions. To address this problem, we propose a training recipe named “deep defense”. Our core idea is to integrate an adversarial perturbation-based regularizer into the classification objective, such that the obtained models learn to resist potential attacks, directly and precisely. The whole optimization problem is solved just like training a recursive network. Experimental results demonstrate that our method outperforms training with adversarial/Parseval regularizations by large margins on various datasets (including MNIST, CIFAR-10 and ImageNet) and different DNN architectures. Code and models for reproducing our results will be made publicly available.

Ambiguity Resolution in a Cognitive Model of Language Comprehension <=SEP=> The Lucia comprehension system attempts to model human comprehension by using the Soar cognitive architecture, Embodied Construction Grammar (ECG), and an incremental, word-by-word approach to grounded processing. Traditional approaches use techniques such as parallel paths and global optimization to resolve ambiguities. Here we describe how Lucia deals with lexical, grammatical, structural, and semantic ambiguities by using knowledge from the surrounding linguistic and environmental context. It uses a local repair mechanism to maintain a single path, and shows a garden path effect when local repair breaks down. Data on adding new linguistic knowledge shows that the ECG grammar grows faster than the knowledge for handling context, and that lowlevel grammar items grow faster than more general ones.

Personalized Reliability Prediction of Web Services <=SEP=> Service Oriented Architecture (SOA) is a business-centric IT architectural approach for building distributed systems. Reliability of service-oriented systems heavily depends on the remote Web services as well as the unpredictable Internet connections. Designing efficient and effective reliability prediction approaches of Web services has become an important research issue. In this article, we propose two personalized reliability prediction approaches of Web services, that is, neighborhood-based approach and model-based approach. The neighborhood-based approach employs past failure data of similar neighbors (either service users or Web services) to predict the Web service reliability. On the other hand, the model-based approach fits a factor model based on the available Web service failure data and use this factor model to make further reliability prediction. Extensive experiments are conducted with our real-world Web service datasets, which include about 23 millions invocation results on more than 3,000 real-world Web services. The experimental results show that our proposed reliability prediction approaches obtain better reliability prediction accuracy than other competing approaches.

A Study on the Effective Permittivity of Carbon/PI Honeycomb Composites for Radar Absorbing Design <=SEP=> Radar absorbing honeycomb composites with different coating thicknesses are prepared by impregnation of aramid paper frame with solutions containing conductive carbon blacks (non-magnetic) and PI (polyimide). Expressions for the effective permittivity of the composites are studied and validated both in theory and experiment. It is found that a theoretical equivalent panel with given permittivity can be obtained to represent the honeycomb structure in the quasistatic approximation, which provides a feasible way to optimize the design of radar absorbing honeycomb structure by connecting the effective electromagnetic parameters with the unit cell dimensions. The effective permittivity is measured by a network analyzer system in the frequency range of 8-12 GHz and compared with the theoretical result.

SVO: Semidirect Visual Odometry for Monocular and Multicamera Systems <=SEP=> Direct methods for visual odometry (VO) have gained popularity for their capability to exploit information from all intensity gradients in the image. However, low computational speed as well as missing guarantees for optimality and consistency are limiting factors of direct methods, in which established feature-based methods succeed instead. Based on these considerations, we propose a semidirect VO (SVO) that uses direct methods to track and triangulate pixels that are characterized by high image gradients, but relies on proven feature-based methods for joint optimization of structure and motion. Together with a robust probabilistic depth estimation algorithm, this enables us to efficiently track pixels lying on weak corners and edges in environments with little or high-frequency texture. We further demonstrate that the algorithm can easily be extended to multiple cameras, to track edges, to include motion priors, and to enable the use of very large field of view cameras, such as fisheye and catadioptric ones. Experimental evaluation on benchmark datasets shows that the algorithm is significantly faster than the state of the art while achieving highly competitive accuracy.

Fuzzy memoization for floating-point multimedia applications <=SEP=> Instruction memoization is a promising technique to reduce the power consumption and increase the performance of future low-end/mobile multimedia systems. Power and performance efficiency can be improved by reusing instances of an already executed operation. Unfortunately, this technique may not always be worth the effort due to the power consumption and area impact of the tables required to leverage an adequate level of reuse. In this paper, we introduce and evaluate a novel way of understanding multimedia floating-point operations based on the fuzzy computation paradigm: performance and power consumption can be improved at the cost of small precision losses in computation. By exploiting this implicit characteristic of multimedia applications, we propose a new technique called tolerant memoization. This technique expands the capabilities of classic memoization by associating entries with similar inputs to the same output. We evaluate this new technique by measuring the effect of tolerant memoization for floating-point operations in a low-power multimedia processor and discuss the trade-offs between performance and quality of the media outputs. We report energy improvements of 12 percent for a set of key multimedia applications with small LUT of 6 Kbytes, compared to 3 percent obtained using previously proposed techniques.

Energy-Efficient Multiple-Precision Floating-Point Multiplier for Embedded Applications <=SEP=> Floating-point (FP) multipliers are the main energy consumers in many modern embedded digital signal processing (DSP) and multimedia systems. For lossy applications, minimizing the precision of FP multiplication operations under the acceptable accuracy loss is a well-known approach for reducing the energy consumption of FP multipliers. This paper proposes a multiple-precision FP multiplier to efficiently trade the energy consumption with the output quality. The proposed FP multiplier can perform lowprecision multiplication that generates 8−, 14−, 20−, or 26bit mantissa product through an iterative and truncated modified Booth multiplier. Energy saving for lowprecision multiplication is achieved by partially suppressing the computation of mantissa multiplier. In addition, the proposed multiplier allows the bitwidth of mantissa in the multiplicand, multiplier, and output product to be dynamically changed when it performs different FP multiplication operations to further reduce energy consumption. Experimental results show that the proposed multiplier can achieve 59 %, 71 %, 73 %, and 82 % energy saving under 0.1 %, 1 %, 5 %, and 11 % accuracy loss, respectively, for the RGB-to-YUV & YUV-to-RGB conversion when compared to the conventional IEEE single-precision multiplier. In addition, the results also exhibit that the proposed multiplier can obtain more energy reduction than previous multipleprecision iterative FP multipliers.

Bootstrapping a Neural Conversational Agent with Dialogue Self-Play, Crowdsourcing and On-Line Reinforcement Learning <=SEP=> End-to-end neural models show great promise towards building conversational agents that are trained from data and on-line experience using supervised and reinforcement learning. However, these models require a large corpus of dialogues to learn effectively. For goal-oriented dialogues, such datasets are expensive to collect and annotate, since each task involves a separate schema and database of entities. Further, the Wizard-of-Oz approach commonly used for dialogue collection does not provide sufficient coverage of salient dialogue flows, which is critical for guaranteeing an acceptable task completion rate in consumer-facing conversational agents. In this paper, we study a recently proposed approach for building an agent for arbitrary tasks by combining dialogue self-play and crowd-sourcing to generate fully-annotated dialogues with diverse and natural utterances. We discuss the advantages of this approach for industry applications of conversational agents, wherein an agent can be rapidly bootstrapped to deploy in front of users and further optimized via interactive learning from actual users of the system.

Characterization and Implementation of Dual-SiC MOSFET Modules for Future Use in Traction Converters <=SEP=> Silicon (Si) insulated-gate bipolar transistors are widely used in railway traction converters. In the near future, silicon carbide (SiC) technology will push the limits of switching devices in three directions: higher blocking voltage, higher operating temperature, and higher switching speeds. The first silicon carbide (SiC) MOSFET modules are available on the market and look promising. Although they are still limited in breakdown voltage, these wide-bandgap components should improve traction-chain efficiency. Particularly, a significant reduction in the switching losses is expected which should lead to improvements in power-weight ratios. Nevertheless, because of the high switching speed and the high current levels required by traction applications, the implementation of these new modules is critical. An original method is proposed to compare, in terms of stray inductance, several dc bus-bar designs. To evaluate the potential of these new devices, a first set of measurements, based on a single-pulse test-bench, was obtained. The switching behavior of SiC devices was well understood at turn-off and turn-on. To complete this work, the authors use an opposition method to compare Si-IGBT and SiC-MOSFET modules in voltage source inverter operation. For this purpose, a second test-bench, allowing electrical and thermal measurements, was developed. Experimental results confirm the theoretical loss-calculation of the single-pulse tests and the correct operation of up to three modules directly connected in parallel. This analysis provides guidelines for a full SiC inverter design, and prospects for developments in traction applications are presented.

User-defined Interface Gestures: Dataset and Analysis <=SEP=> We present a video-based gesture dataset and a methodology for annotating video-based gesture datasets. Our dataset consists of user-defined gestures generated by 18 participants from a previous investigation of gesture memorability. We design and use a crowd-sourced classification task to annotate the videos. The results are made available through a web-based visualization that allows researchers and designers to explore the dataset. Finally, we perform an additional descriptive analysis and quantitative modeling exercise that provide additional insights into the results of the original study. To facilitate the use of the presented methodology by other researchers we share the data, the source of the human intelligence tasks for crowdsourcing, a new taxonomy that integrates previous work, and the source code of the visualization tool.

A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces <=SEP=> A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-D surfaces as well as the overall load. There are only four signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.

A PPG sensor for continuous cuffless blood pressure monitoring with self-adaptive signal processing <=SEP=> A new portable PPG-BP device designed for continuously measuring blood pressure (BP) without a cuff is proposed in this study. This continuous and long-time BP monitoring enabled herein by the proposed portable cuffless BP sensor. Towards the aforementioned goal, the sensor is designed capable of detecting in real time, non-invasively and continuously the temporal intravascular blood volume change based on the principle of photoplethysmograph (PPG) for estimating BP. The hardware of the sensor consists mainly of light emitting diodes (LEDs) in wavelengths of 660 nm, a photo detectors (PD), and also signal processing chips to read output signals of the PD. The PD readout circuit includes a PD pre-amplifier, a band-pass filter, a programmable gain amplifier (PGA), a microcontroller unit for calculation and a wireless module for communication. A laptop is also used to display continuous BPs and conducts statistical analysis and displaying results. 27 subjects participated in the experimental validation, in which the obtained BPs are calibrated by and then compared with the results from a commercial blood pressure monitor by OMRON. The resultant signal-to-noise ratio (SNR) is capable of rising more than 15%, correlation coefficient, R2, for systolic blood pressure (SBP) and diastolic blood pressure (DBP) are 0.89 and 0.98, respectively.

How Visualization Layout Relates to Locus of Control and Other Personality Factors <=SEP=> Existing research suggests that individual personality differences are correlated with a user's speed and accuracy in solving problems with different types of complex visualization systems. We extend this research by isolating factors in personality traits as well as in the visualizations that could have contributed to the observed correlation. We focus on a personality trait known as "locus of control” (LOC), which represents a person's tendency to see themselves as controlled by or in control of external events. To isolate variables of the visualization design, we control extraneous factors such as color, interaction, and labeling. We conduct a user study with four visualizations that gradually shift from a list metaphor to a containment metaphor and compare the participants' speed, accuracy, and preference with their locus of control and other personality factors. Our findings demonstrate that there is indeed a correlation between the two: participants with an internal locus of control perform more poorly with visualizations that employ a containment metaphor, while those with an external locus of control perform well with such visualizations. These results provide evidence for the externalization theory of visualization. Finally, we propose applications of these findings to adaptive visual analytics and visualization evaluation.

MVC architecture driven restructuring to achieve client-side web page composition <=SEP=> This paper presents a restructuring approach to relocating web page composition from servers to browsers for Java web applications. The objective is to reduce redundant manipulation and transfer of code/data that are shared by web pages. The reduction is carried out through a restructuring algorithm, effectively keeping consistency between source and target applications from the perspective of the model-view-controller (MVC) architecture, because the problem requires the target application to preserve the observable behavior of its source application. Case studies show that our restructuring tool can efficiently support the restructuring process.

High speed cascode flyback converter using multilayered coreless printed circuit board (PCB) step-down power transformer <=SEP=> In this paper, design and analysis of the high speed isolated cascode flyback converter using multilayered coreless PCB step down power transformer is presented. The converter is tested for the input voltage variation of 60–120V with a nominal DC input voltage of 90V. The designed converter was simulated and tested successfully up to the output power level of 30W within the switching frequency range of 2.6–3.7MHz. The cascode flyback converter is compared with the single switch flyback converter in terms of operating frequency, gate drive power consumption, conduction losses and stresses on MOSFETs. The maximum energy efficiency of the cascode converter is approximately 81% with a significant improvement of about 3–4% compared to single switch flyback converter. The gate drive power consumption which is more dominant compared to conduction losses of the cascode converter using GaN MOSFET is found to be negligible compared to single switch flyback converter.

Optimal integration of energy storage in distribution networks <=SEP=> Energy storage, traditionally well established in the form of large scale pumped-hydro systems, is finding increased attraction in medium and smaller scale systems. Such expansion is entirely complementary to the wider uptake of intermittent renewable resources and to distributed generation in general, which are likely to present a whole range of new business opportunities for storage systems and their suppliers. In the paper, by assuming that Distribution System Operator has got the ownership and operation of storage, a new software planning tool for distribution networks able to define the optimal placement, rating and control strategies of distributed storage systems that minimize the overall network cost is proposed. This tool will assist the System Operators in defining the better integration strategies of distributed storage systems in distribution networks and in assessing their potential as an option for a more efficient operation and development of future electricity distribution networks.

ACES: Automatic Compartments for Embedded Systems <=SEP=> Securing the rapidly expanding Internet of Things (IoT) is critical. Many of these “things” are vulnerable baremetal embedded systems where the application executes directly on hardware without an operating system. Unfortunately, the integrity of current systems may be compromised by a single vulnerability, as recently shown by Google’s P0 team against Broadcom’s WiFi SoC. We present ACES (Automatic Compartments for Embedded Systems), an LLVM-based compiler that automatically infers and enforces inter-component isolation on bare-metal systems, thus applying the principle of least privileges. ACES takes a developer-specified compartmentalization policy and then automatically creates an instrumented binary that isolates compartments at runtime, while handling the hardware limitations of baremetal embedded devices. We demonstrate ACES’ ability to implement arbitrary compartmentalization policies by implementing three policies and comparing the compartment isolation, runtime overhead, and memory overhead. Our results show that ACES’ compartments can have low runtime overheads (13% on our largest test application), while using 59% less Flash, and 84% less RAM than the Mbed μVisor—the current state-of-theart compartmentalization technique for bare-metal systems. ACES ‘ compartments protect the integrity of privileged data, provide control-flow integrity between compartments, and reduce exposure to ROP attacks by 94.3% compared to μVisor.

On partial least squares in head pose estimation: How to simultaneously deal with misalignment <=SEP=> Head pose estimation is a critical problem in many computer vision applications. These include human computer interaction, video surveillance, face and expression recognition. In most prior work on heads pose estimation, the positions of the faces on which the pose is to be estimated are specified manually. Therefore, the results are reported without studying the effect of misalignment. We propose a method based on partial least squares (PLS) regression to estimate pose and solve the alignment problem simultaneously. The contributions of this paper are two-fold: 1) we show that the kernel version of PLS (kPLS) achieves better than state-of-the-art results on the estimation problem and 2) we develop a technique to reduce misalignment based on the learned PLS factors.

On the speedup of single-disk failure recovery in XOR-coded storage systems: Theory and practice <=SEP=> Modern storage systems stripe redundant data across multiple disks to provide availability guarantees against disk failures. One form of data redundancy is based on XOR-based erasure codes, which use only XOR operations for encoding and decoding. In addition to providing failure tolerance, a storage system must also provide fast failure recovery to avoid data unavailability. We consider the problem of speeding up the recovery of a single-disk failure for arbitrary XOR-based erasure codes. We address this problem from both theoretical and practical perspectives. We propose a replace recovery algorithm, which uses a hill-climbing technique to search for a fast recovery solution, such that the solution search can be completed within a short time period. We further implement our replace recovery algorithm atop a parallelized architecture to justify its practicality. We experiment our replace recovery algorithm and its parallelized implementation on a networked storage system testbed, and demonstrate that our replace recovery algorithm uses less recovery time than the conventional approach.

Internet of Cloud: Security and Privacy issues <=SEP=> The synergy between the cloud and the IoT has emerged largely due to the cloud having attributes which directly benefit the IoT and enable its continued growth. IoT adopting Cloud services has brought new security challenges. In this book chapter, we pursue two main goals: 1) to analyse the different components of Cloud computing and the IoT and 2) to present security and privacy problems that these systems face. We thoroughly investigate current security and privacy preservation solutions that exist in this area, with an eye on the Industrial Internet of Things, discuss open issues and propose future directions.