Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an obstacle's space: a polyhedron, such as a cuboid, or a nonlinear differentiable surface, such as an ellipsoid. The former approach relies on disjunctive programming, which has a relatively high computational cost that grows exponentially with the number of obstacles. The latter approach needs to be linearized locally to find a tractable evaluation of the chance constraints, which dramatically reduces the remaining free space and leads to over-conservative trajectories or even unfeasibility. In this work, we present a hybrid approach that eludes the pitfalls of both strategies while maintaining the original safety guarantees. The key idea consists in obtaining a safe differentiable approximation for the disjunctive chance constraints bounding the obstacles. The resulting nonlinear optimization problem is free of chance constraint linearization and disjunctive programming, and therefore, it can be efficiently solved to meet fast real-time requirements with multiple obstacles. We validate our approach through mathematical proof, simulation and real experiments with an aerial robot using nonlinear model predictive control to avoid pedestrians.

In-band full-duplex systems can transmit and receive information simultaneously on the same frequency band. However, due to the strong self-interference caused by the transmitter to its own receiver, the use of non-linear digital self-interference cancellation is essential. In this work, we describe a hardware architecture for a neural network-based non-linear self-interference (SI) canceller and we compare it with our own hardware implementation of a conventional polynomial based SI canceller. In particular, we present implementation results for a shallow and a deep neural network SI canceller as well as for a polynomial SI canceller. Our results show that the deep neural network canceller achieves a hardware efficiency of up to $312.8$ Msamples/s/mm$^2$ and an energy efficiency of up to $0.9$ nJ/sample, which is $2.1 imes$ and $2 imes$ better than the polynomial SI canceller, respectively. These results show that NN-based methods applied to communications are not only useful from a performance perspective, but can also be a very effective means to reduce the implementation complexity.

For decades, two-player (antagonistic) games on graphs have been a framework of choice for many important problems in theoretical computer science. A notorious one is controller synthesis, which can be rephrased through the game-theoretic metaphor as the quest for a winning strategy of the system in a game against its antagonistic environment. Depending on the specification, optimal strategies might be simple or quite complex, for example having to use (possibly infinite) memory. Hence, research strives to understand which settings allow for simple strategies.

In 2005, Gimbert and Zielonka provided a complete characterization of preference relations (a formal framework to model specifications and game objectives) that admit memoryless optimal strategies for both players. In the last fifteen years however, practical applications have driven the community toward games with complex or multiple objectives, where memory -- finite or infinite -- is almost always required. Despite much effort, the exact frontiers of the class of preference relations that admit finite-memory optimal strategies still elude us.

In this work, we establish a complete characterization of preference relations that admit optimal strategies using arena-independent finite memory, generalizing the work of Gimbert and Zielonka to the finite-memory case. We also prove an equivalent to their celebrated corollary of great practical interest: if both players have optimal (arena-independent-)finite-memory strategies in all one-player games, then it is also the case in all two-player games. Finally, we pinpoint the boundaries of our results with regard to the literature: our work completely covers the case of arena-independent memory (e.g., multiple parity objectives, lower- and upper-bounded energy objectives), and paves the way to the arena-dependent case (e.g., multiple lower-bounded energy objectives).

For safety-critical black-box optimization tasks, observations of the constraints and the objective are often noisy and available only for the feasible points. We propose an approach based on log barriers to find a local solution of a non-convex non-smooth black-box optimization problem $min f^0(x)$ subject to $f^i(x)leq 0,~ i = 1,ldots, m$, at the same time, guaranteeing constraint satisfaction while learning an optimal solution with high probability. Our proposed algorithm exploits noisy observations to iteratively improve on an initial safe point until convergence. We derive the convergence rate and prove safety of our algorithm. We demonstrate its performance in an application to an iterative control design problem.

Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the vehicle segments to fold and enter a jack-knife state. In this work, a model predictive path-following controller is proposed enabling automatic low-speed steering control of multi-steered articulated vehicles, comprising a car-like tractor and an arbitrary number of trailers with passive or active steering. The proposed path-following controller is tailored to follow nominal paths that contains full state and control-input information, and is designed to satisfy various physical constraints on the vehicle states as well as saturations and rate limitations on the tractor's curvature and the trailer steering angles. The performance of the proposed model predictive path-following controller is evaluated in a set of simulations for a multi-steered 2-trailer with a car-like tractor where the last trailer has steerable wheels.

Style transfer is to render given image contents in given styles, and it has an important role in both computer vision fundamental research and industrial applications. Following the success of deep learning based approaches, this problem has been re-launched recently, but still remains a difficult task because of trade-off between preserving contents and faithful rendering of styles. Indeed, how well-balanced content and style are is crucial in evaluating the quality of stylized images. In this paper, we propose an end-to-end two-stream Fully Convolutional Networks (FCNs) aiming at balancing the contributions of the content and the style in rendered images. Our proposed network consists of the encoder and decoder parts. The encoder part utilizes a FCN for content and a FCN for style where the two FCNs have feature injections and are independently trained to preserve the semantic content and to learn the faithful style representation in each. The semantic content feature and the style representation feature are then concatenated adaptively and fed into the decoder to generate style-transferred (stylized) images. In order to train our proposed network, we employ a loss network, the pre-trained VGG-16, to compute content loss and style loss, both of which are efficiently used for the feature injection as well as the feature concatenation. Our intensive experiments show that our proposed model generates more balanced stylized images in content and style than state-of-the-art methods. Moreover, our proposed network achieves efficiency in speed.

A recently introduced classifier, called SS3, has shown to be well suited to deal with early risk detection (ERD) problems on text streams. It obtained state-of-the-art performance on early depression and anorexia detection on Reddit in the CLEF's eRisk open tasks. SS3 was created to deal with ERD problems naturally since: it supports incremental training and classification over text streams, and it can visually explain its rationale. However, SS3 processes the input using a bag-of-word model lacking the ability to recognize important word sequences. This aspect could negatively affect the classification performance and also reduces the descriptiveness of visual explanations. In the standard document classification field, it is very common to use word n-grams to try to overcome some of these limitations. Unfortunately, when working with text streams, using n-grams is not trivial since the system must learn and recognize which n-grams are important "on the fly". This paper introduces t-SS3, an extension of SS3 that allows it to recognize useful patterns over text streams dynamically. We evaluated our model in the eRisk 2017 and 2018 tasks on early depression and anorexia detection. Experimental results suggest that t-SS3 is able to improve both current results and the richness of visual explanations.

Robots are required to operate autonomously in response to changing situations. Previously, imitation learning using 4ch-bilateral control was demonstrated to be suitable for imitation of object manipulation. However, cooperative work between humans and robots has not yet been verified in these studies. In this study, the task was expanded by cooperative work between a human and a robot. 4ch-bilateral control was used to collect training data for training robot motion. We focused on serving salad as a task in the home. The task was executed with a spoon and a fork fixed to robots. Adjustment of force was indispensable in manipulating indefinitely shaped objects such as salad. Results confirmed the effectiveness of the proposed method as demonstrated by the success of the task.

Due to the exponential growth of biomedical literature, event and relation extraction are important tasks in biomedical text mining. Most work only focus on relation extraction, and detect a single entity pair mention on a short span of text, which is not ideal due to long sentences that appear in biomedical contexts. We propose an approach to both relation and event extraction, for simultaneously predicting relationships between all mention pairs in a text. We also perform an empirical study to discuss different network setups for this purpose. The best performing model includes a set of multi-head attentions and convolutions, an adaptation of the transformer architecture, which offers self-attention the ability to strengthen dependencies among related elements, and models the interaction between features extracted by multiple attention heads. Experiment results demonstrate that our approach outperforms the state of the art on a set of benchmark biomedical corpora including BioNLP 2009, 2011, 2013 and BioCreative 2017 shared tasks.

Traffic signs are essential map features globally in the era of autonomous driving and smart cities. To develop accurate and robust algorithms for traffic sign detection and classification, a large-scale and diverse benchmark dataset is required. In this paper, we introduce a traffic sign benchmark dataset of 100K street-level images around the world that encapsulates diverse scenes, wide coverage of geographical locations, and varying weather and lighting conditions and covers more than 300 manually annotated traffic sign classes. The dataset includes 52K images that are fully annotated and 48K images that are partially annotated. This is the largest and the most diverse traffic sign dataset consisting of images from all over world with fine-grained annotations of traffic sign classes. We have run extensive experiments to establish strong baselines for both the detection and the classification tasks. In addition, we have verified that the diversity of this dataset enables effective transfer learning for existing large-scale benchmark datasets on traffic sign detection and classification. The dataset is freely available for academic research: https://www.mapillary.com/dataset/trafficsign.

For future Internet of Things (IoT)-based Big Data applications (e.g., smart cities/transportation), wireless data collection from ubiquitous massive smart sensors with limited spectrum bandwidth is very challenging. On the other hand, to interpret the meaning behind the collected data, it is also challenging for edge fusion centers running computing tasks over large data sets with limited computation capacity. To tackle these challenges, by exploiting the superposition property of a multiple-access channel and the functional decomposition properties, the recently proposed technique, over-the-air computation (AirComp), enables an effective joint data collection and computation from concurrent sensor transmissions. In this paper, we focus on a single-antenna AirComp system consisting of $K$ sensors and one receiver (i.e., the fusion center). We consider an optimization problem to minimize the computation mean-squared error (MSE) of the $K$ sensors' signals at the receiver by optimizing the transmitting-receiving (Tx-Rx) policy, under the peak power constraint of each sensor. Although the problem is not convex, we derive the computation-optimal policy in closed form. Also, we comprehensively investigate the ergodic performance of AirComp systems in terms of the average computation MSE and the average power consumption under Rayleigh fading channels with different Tx-Rx policies. For the computation-optimal policy, we prove that its average computation MSE has a decay rate of $O(1/sqrt{K})$, and our numerical results illustrate that the policy also has a vanishing average power consumption with the increasing $K$, which jointly show the computation effectiveness and the energy efficiency of the policy with a large number of sensors.

Noisy Intermediate-Scale Quantum (NISQ) computers are entering an era in which they can perform computational tasks beyond the capabilities of the most powerful classical computers, thereby achieving "Quantum Supremacy", a major milestone in quantum computing. NISQ Supremacy requires comparison with a state-of-the-art classical simulator. We report HPC simulations of hard random quantum circuits (RQC), which have been recently used as a benchmark for the first experimental demonstration of Quantum Supremacy, sustaining an average performance of 281 Pflop/s (true single precision) on Summit, currently the fastest supercomputer in the World. These simulations were carried out using qFlex, a tensor-network-based classical high-performance simulator of RQCs. Our results show an advantage of many orders of magnitude in energy consumption of NISQ devices over classical supercomputers. In addition, we propose a standard benchmark for NISQ computers based on qFlex.

Funding the production of quality online content is a pressing problem for content producers. The most common funding method, online advertising, is rife with well-known performance and privacy harms, and an intractable subject-agent conflict: many users do not want to see advertisements, depriving the site of needed funding.

Because of these negative aspects of advertisement-based funding, paywalls are an increasingly popular alternative for websites. This shift to a "pay-for-access" web is one that has potentially huge implications for the web and society. Instead of a system where information (nominally) flows freely, paywalls create a web where high quality information is available to fewer and fewer people, leaving the rest of the web users with less information, that might be also less accurate and of lower quality. Despite the potential significance of a move from an "advertising-but-open" web to a "paywalled" web, we find this issue understudied.

This work addresses this gap in our understanding by measuring how widely paywalls have been adopted, what kinds of sites use paywalls, and the distribution of policies enforced by paywalls. A partial list of our findings include that (i) paywall use is accelerating (2x more paywalls every 6 months), (ii) paywall adoption differs by country (e.g. 18.75% in US, 12.69% in Australia), (iii) paywalls change how users interact with sites (e.g. higher bounce rates, less incoming links), (iv) the median cost of an annual paywall access is $108 per site, and (v) paywalls are in general trivial to circumvent.

Finally, we present the design of a novel, automated system for detecting whether a site uses a paywall, through the combination of runtime browser instrumentation and repeated programmatic interactions with the site. We intend this classifier to augment future, longitudinal measurements of paywall use and behavior.

We design and implement the first private and anonymous decentralized crowdsourcing system ZebraLancer, and overcome two fundamental challenges of decentralizing crowdsourcing, i.e., data leakage and identity breach.

First, our outsource-then-prove methodology resolves the tension between the blockchain transparency and the data confidentiality to guarantee the basic utilities/fairness requirements of data crowdsourcing, thus ensuring: (i) a requester will not pay more than what data deserve, according to a policy announced when her task is published via the blockchain; (ii) each worker indeed gets a payment based on the policy, if he submits data to the blockchain; (iii) the above properties are realized not only without a central arbiter, but also without leaking the data to the open blockchain. Second, the transparency of blockchain allows one to infer private information about workers and requesters through their participation history. Simply enabling anonymity is seemingly attempting but will allow malicious workers to submit multiple times to reap rewards. ZebraLancer also overcomes this problem by allowing anonymous requests/submissions without sacrificing accountability. The idea behind is a subtle linkability: if a worker submits twice to a task, anyone can link the submissions, or else he stays anonymous and unlinkable across tasks. To realize this delicate linkability, we put forward a novel cryptographic concept, i.e., the common-prefix-linkable anonymous authentication. We remark the new anonymous authentication scheme might be of independent interest. Finally, we implement our protocol for a common image annotation task and deploy it in a test net of Ethereum. The experiment results show the applicability of our protocol atop the existing real-world blockchain.

This work deals with the efficient numerical solution of the time-fractional heat equation discretized on non-uniform temporal meshes. Non-uniform grids are essential to capture the singularities of "typical" solutions of time-fractional problems. We propose an efficient space-time multigrid method based on the waveform relaxation technique, which accounts for the nonlocal character of the fractional differential operator. To maintain an optimal complexity, which can be obtained for the case of uniform grids, we approximate the coefficient matrix corresponding to the temporal discretization by its hierarchical matrix (${cal H}$-matrix) representation. In particular, the proposed method has a computational cost of ${cal O}(k N M log(M))$, where $M$ is the number of time steps, $N$ is the number of spatial grid points, and $k$ is a parameter which controls the accuracy of the ${cal H}$-matrix approximation. The efficiency and the good convergence of the algorithm, which can be theoretically justified by a semi-algebraic mode analysis, are demonstrated through numerical experiments in both one- and two-dimensional spaces.

The standard training algorithm in neural machine translation (NMT) suffers from exposure bias, and alternative algorithms have been proposed to mitigate this. However, the practical impact of exposure bias is under debate. In this paper, we link exposure bias to another well-known problem in NMT, namely the tendency to generate hallucinations under domain shift. In experiments on three datasets with multiple test domains, we show that exposure bias is partially to blame for hallucinations, and that training with Minimum Risk Training, which avoids exposure bias, can mitigate this. Our analysis explains why exposure bias is more problematic under domain shift, and also links exposure bias to the beam search problem, i.e. performance deterioration with increasing beam size. Our results provide a new justification for methods that reduce exposure bias: even if they do not increase performance on in-domain test sets, they can increase model robustness to domain shift.

There exist two notions of equivalence of behavior between states of a Labelled Markov Process (LMP): state bisimilarity and event bisimilarity. The first one can be considered as an appropriate generalization to continuous spaces of Larsen and Skou's probabilistic bisimilarity, while the second one is characterized by a natural logic. C. Zhou expressed state bisimilarity as the greatest fixed point of an operator $mathcal{O}$, and thus introduced an ordinal measure of the discrepancy between it and event bisimilarity. We call this ordinal the "Zhou ordinal" of $mathbb{S}$, $mathfrak{Z}(mathbb{S})$. When $mathfrak{Z}(mathbb{S})=0$, $mathbb{S}$ satisfies the Hennessy-Milner property. The second author proved the existence of an LMP $mathbb{S}$ with $mathfrak{Z}(mathbb{S}) geq 1$ and Zhou showed that there are LMPs having an infinite Zhou ordinal. In this paper we show that there are LMPs $mathbb{S}$ over separable metrizable spaces having arbitrary large countable $mathfrak{Z}(mathbb{S})$ and that it is consistent with the axioms of $mathit{ZFC}$ that there is such a process with an uncountable Zhou ordinal.

The accurate assembly of the system matrix is an important step in any code that solves partial differential equations on a mesh. We either explicitly set up a matrix, or we work in a matrix-free environment where we have to be able to quickly return matrix entries upon demand. Either way, the construction can become costly due to non-trivial material parameters entering the equations, multigrid codes requiring cascades of matrices that depend upon each other, or dynamic adaptive mesh refinement that necessitates the recomputation of matrix entries or the whole equation system throughout the solve. We propose that these constructions can be performed concurrently with the multigrid cycles. Initial geometric matrices and low accuracy integrations kickstart the multigrid, while improved assembly data is fed to the solver as and when it becomes available. The time to solution is improved as we eliminate an expensive preparation phase traditionally delaying the actual computation. We eliminate algorithmic latency. Furthermore, we desynchronise the assembly from the solution process. This anarchic increase of the concurrency level improves the scalability. Assembly routines are notoriously memory- and bandwidth-demanding. As we work with iteratively improving operator accuracies, we finally propose the use of a hierarchical, lossy compression scheme such that the memory footprint is brought down aggressively where the system matrix entries carry little information or are not yet available with high accuracy.

In recent years there has been a burgeoning interest in the use of computational methods to distinguish between elicited speech samples produced by patients with dementia, and those from healthy controls. The difference between perplexity estimates from two neural language models (LMs) - one trained on transcripts of speech produced by healthy participants and the other trained on transcripts from patients with dementia - as a single feature for diagnostic classification of unseen transcripts has been shown to produce state-of-the-art performance. However, little is known about why this approach is effective, and on account of the lack of case/control matching in the most widely-used evaluation set of transcripts (DementiaBank), it is unclear if these approaches are truly diagnostic, or are sensitive to other variables. In this paper, we interrogate neural LMs trained on participants with and without dementia using synthetic narratives previously developed to simulate progressive semantic dementia by manipulating lexical frequency. We find that perplexity of neural LMs is strongly and differentially associated with lexical frequency, and that a mixture model resulting from interpolating control and dementia LMs improves upon the current state-of-the-art for models trained on transcript text exclusively.

Passive optical networks (PON) can play a vital role in data centres and access fog solutions by providing scalable, cost and energy efficient architectures. This paper proposes a Mixed Integer Linear Programming (MILP) model to optimize the placement of virtual machines (VMs) over an energy efficient WDM-TDM AWGR PON based data centre architecture. In this optimization, the use of VMs and their requirements affect the optimum number of servers utilized in the data centre when minimizing the power consumption and enabling more efficient utilization of servers is considered. Two power consumption minimization objectives were examined for up to 20 VMs with different computing and networking requirements. The results indicate that considering the minimization of the processing and networking power consumption in the allocation of VMs in the WDM-TDM AWGR PON can reduce the networking power consumption by up to 70% compared to the minimization of the processing power consumption.

We consider the problem of efficiently simulating population protocols. In the population model, we are given a distributed system of $n$ agents modeled as identical finite-state machines. In each time step, a pair of agents is selected uniformly at random to interact. In an interaction, agents update their states according to a common transition function. We empirically and analytically analyze two classes of simulators for this model.

First, we consider sequential simulators executing one interaction after the other. Key to the performance of these simulators is the data structure storing the agents' states. For our analysis, we consider plain arrays, binary search trees, and a novel Dynamic Alias Table data structure.

Secondly, we consider batch processing to efficiently update the states of multiple independent agents in one step. For many protocols considered in literature, our simulator requires amortized sub-constant time per interaction and is fast in practice: given a fixed time budget, the implementation of our batched simulator is able to simulate population protocols several orders of magnitude larger compared to the sequential competitors, and can carry out $2^{50}$ interactions among the same number of agents in less than 400s.

We propose protocols to resolve the tension between anonymity and accountability in a peer-to-peer manner. Law enforcement can adopt this approach to solve crimes involving cryptocurrency and anonymization techniques. We illustrate how the protocols could apply to Monero rings and CoinJoin transactions in Bitcoin.

Sentence level quality estimation (QE) for machine translation (MT) attempts to predict the translation edit rate (TER) cost of post-editing work required to correct MT output. We describe our view on sentence-level QE as dictated by several practical setups encountered in the industry. We find consumers of MT output---whether human or algorithmic ones---to be primarily interested in a binary quality metric: is the translated sentence adequate as-is or does it need post-editing? Motivated by this we propose a quality classification (QC) view on sentence-level QE whereby we focus on maximizing recall at precision above a given threshold. We demonstrate that, while classical QE regression models fare poorly on this task, they can be re-purposed by replacing the output regression layer with a binary classification one, achieving 50-60\% recall at 90\% precision. For a high-quality MT system producing 75-80\% correct translations, this promises a significant reduction in post-editing work indeed.

In this paper, we present three distributed algorithms to solve a class of generalized Nash equilibrium (GNE) seeking problems in strongly monotone games. The first one (SD-GENO) is based on synchronous updates of the agents, while the second and the third (AD-GEED and AD-GENO) represent asynchronous solutions that are robust to communication delays. AD-GENO can be seen as a refinement of AD-GEED, since it only requires node auxiliary variables, enhancing the scalability of the algorithm. Our main contribution is to prove converge to a variational GNE of the game via an operator-theoretic approach. Finally, we apply the algorithms to network Cournot games and show how different activation sequences and delays affect convergence. We also compare the proposed algorithms to the only other in the literature (ADAGNES), and observe that AD-GENO outperforms the alternative.

During VR demos we have performed over last few years, many participants (in the absence of any haptic feedback) have commented on their perceived ability to 'feel' differences between simulated molecular objects. The mechanisms for such 'feeling' are not entirely clear: observing from outside VR, one can see that there is nothing physical for participants to 'feel'. Here we outline exploratory user studies designed to evaluate the extent to which participants can distinguish quantitative differences in the flexibility of VR-simulated molecular objects. The results suggest that an individual's capacity to detect differences in molecular flexibility is enhanced when they can interact with and manipulate the molecules, as opposed to merely observing the same interaction. Building on these results, we intend to carry out further studies investigating humans' ability to sense quantitative properties of VR simulations without haptic technology.

We present results showing the capability of concrete-based information processing substrate in the signal classification task in accordance with in materio computing paradigm. As the Reservoir Computing is a suitable model for describing embedded in materio computation, we propose that this type of presented basic construction unit can be used as a source for "reservoir of states" necessary for simple tuning of the readout layer. In that perspective, buildings constructed from computing concrete could function as a highly parallel information processor for smart architecture. We present an electrical characterization of the set of samples with different additive concentrations followed by a dynamical analysis of selected specimens showing fingerprints of memfractive properties. Moreover, on the basis of obtained parameters, classification of the signal waveform shapes can be performed in scenarios explicitly tuned for a given device terminal.

One of the main open problems in the qualitative theory of real planar differential systems is the study of limit cycles. In this article, we present an algorithmic approach for detecting how many limit cycles can bifurcate from the periodic orbits of a given polynomial differential center when it is perturbed inside a class of polynomial differential systems via the averaging method. We propose four symbolic algorithms to implement the averaging method. The first algorithm is based on the change of polar coordinates that allows one to transform a considered differential system to the normal form of averaging. The second algorithm is used to derive the solutions of certain differential systems associated to the unperturbed term of the normal of averaging. The third algorithm exploits the partial Bell polynomials and allows one to compute the integral formula of the averaged functions at any order. The last algorithm is based on the aforementioned algorithms and determines the exact expressions of the averaged functions for the considered differential systems. The implementation of our algorithms is discussed and evaluated using several examples. The experimental results have extended the existing relevant results for certain classes of differential systems.

With the continued digitalization of societal processes, we are seeing an explosion in available data. This is referred to as big data. In a research setting, three aspects of the data are often viewed as the main sources of challenges when attempting to enable value creation from big data: volume, velocity and variety. Many studies address volume or velocity, while much fewer studies concern the variety. Metric space is ideal for addressing variety because it can accommodate any type of data as long as its associated distance notion satisfies the triangle inequality. To accelerate search in metric space, a collection of indexing techniques for metric data have been proposed. However, existing surveys each offers only a narrow coverage, and no comprehensive empirical study of those techniques exists. We offer a survey of all the existing metric indexes that can support exact similarity search, by i) summarizing all the existing partitioning, pruning and validation techniques used for metric indexes, ii) providing the time and storage complexity analysis on the index construction, and iii) report on a comprehensive empirical comparison of their similarity query processing performance. Here, empirical comparisons are used to evaluate the index performance during search as it is hard to see the complexity analysis differences on the similarity query processing and the query performance depends on the pruning and validation abilities related to the data distribution. This article aims at revealing different strengths and weaknesses of different indexing techniques in order to offer guidance on selecting an appropriate indexing technique for a given setting, and directing the future research for metric indexes.

In recent years, deep neural networks have been applied to obtain high performance of prediction, classification, and pattern recognition. However, the weights in these deep neural networks are difficult to be explained. Although a linear regression method can provide explainable results, the method is not suitable in the case of input interaction. Therefore, an explainable deep neural network (ExpDNN) with explainable layers is proposed to obtain explainable results in the case of input interaction. Three cases were given to evaluate the proposed ExpDNN, and the results showed that the absolute value of weight in an explainable layer can be used to explain the weight of corresponding input for feature extraction.

In this paper, we analyze and implement the Dirichlet spectral-Galerkin method for approximating simply supported vibrating plate eigenvalues with variable coefficients. This is a Galerkin approximation that uses the approximation space that is the span of finitely many Dirichlet eigenfunctions for the Laplacian. Convergence and error analysis for this method is presented for two and three dimensions. Here we will assume that the domain has either a smooth or Lipschitz boundary with no reentrant corners. An important component of the error analysis is Weyl's law for the Dirichlet eigenvalues. Numerical examples for computing the simply supported vibrating plate eigenvalues for the unit disk and square are presented. In order to test the accuracy of the approximation, we compare the spectral-Galerkin method to the separation of variables for the unit disk. Whereas for the unit square we will numerically test the convergence rate for a variable coefficient problem.

Moving a module in a modular robot is a very complex and error-prone process. Unlike in swarm, in the modular robots we are targeting, the moving module must keep the connection to, at least, one other module. In order to miniaturize each module to few millimeters, we have proposed a design which is using electrostatic actuator. However, this movement is composed of several attachment, detachment creating the movement and each small step can fail causing a module to break the connection. The idea developed in this paper consists in creating a new kind of deformable module allowing a movement which keeps the connection between the moving and the fixed modules. We detail the geometry and the practical constraints during the conception of this new module. We then validate the possibility of movement for a module in an existing configuration. This implies the cooperation of some of the modules placed along the path and we show in simulation that it exists a motion process to reach every free positions of the surface for a given configuration.

This paper provides a method for the simultaneous topology optimization of parts and their corresponding joint locations in an assembly. Therein, the joint locations are not discrete and predefined, but continuously movable. The underlying coupling equations allow for connecting dissimilar meshes and avoid the need for remeshing when joint locations change. The presented method models the force transfer at a joint location not only by using single spring elements but accounts for the size and type of the joints. When considering riveted or bolted joints, the local part geometry at the joint location consists of holes that are surrounded by material. For spot welds, the joint locations are filled with material and may be smaller than for bolts. The presented method incorporates these material and clearance zones into the simultaneously running topology optimization of the parts. Furthermore, failure of joints may be taken into account at the optimization stage, yielding assemblies connected in a fail-safe manner.

In encoder-decoder neural models, multiple encoders are in general used to represent the contextual information in addition to the individual sentence. In this paper, we investigate multi-encoder approaches in documentlevel neural machine translation (NMT). Surprisingly, we find that the context encoder does not only encode the surrounding sentences but also behaves as a noise generator. This makes us rethink the real benefits of multi-encoder in context-aware translation - some of the improvements come from robust training. We compare several methods that introduce noise and/or well-tuned dropout setup into the training of these encoders. Experimental results show that noisy training plays an important role in multi-encoder-based NMT, especially when the training data is small. Also, we establish a new state-of-the-art on IWSLT Fr-En task by careful use of noise generation and dropout methods.

Visual localization is a useful alternative to standard localization techniques. It works by utilizing cameras. In a typical scenario, features are extracted from captured images and compared with geo-referenced databases. Location information is then inferred from the matching results. Conventional schemes mainly use low-level visual features. These approaches offer good accuracy but suffer from scalability issues. In order to assist localization in large urban areas, this work explores a different path by utilizing high-level semantic information. It is found that object information in a street view can facilitate localization. A novel descriptor scheme called "semantic signature" is proposed to summarize this information. A semantic signature consists of type and angle information of visible objects at a spatial location. Several metrics and protocols are proposed for signature comparison and retrieval. They illustrate different trade-offs between accuracy and complexity. Extensive simulation results confirm the potential of the proposed scheme in large-scale applications. This paper is an extended version of a conference paper in CBMI'18. A more efficient retrieval protocol is presented with additional experiment results.

MineRL 2019 competition challenged participants to train sample-efficient agents to play Minecraft, by using a dataset of human gameplay and a limit number of steps the environment. We approached this task with behavioural cloning by predicting what actions human players would take, and reached fifth place in the final ranking. Despite being a simple algorithm, we observed the performance of such an approach can vary significantly, based on when the training is stopped. In this paper, we detail our submission to the competition, run further experiments to study how performance varied over training and study how different engineering decisions affected these results.

Any media experience must be fully inclusive and accessible to all users regardless of their ability. With the current trend towards immersive experiences, such as Virtual Reality (VR) and 360-degree video, it becomes key that these environments are adapted to be fully accessible. However, until recently the focus has been mostly on adapting the existing techniques to fit immersive displays, rather than considering new approaches for accessibility designed specifically for these increasingly relevant media experiences. This paper surveys a wide range of 360-degree video players and examines the features they include for dealing with accessibility, such as Subtitles, Audio Description, Sign Language, User Interfaces, and other interaction features, like voice control and support for multi-screen scenarios. These features have been chosen based on guidelines from standardization contributions, like in the World Wide Web Consortium (W3C) and the International Communication Union (ITU), and from research contributions for making 360-degree video consumption experiences accessible. The in-depth analysis has been part of a research effort towards the development of a fully inclusive and accessible 360-degree video player. The paper concludes by discussing how the newly developed player has gone above and beyond the existing solutions and guidelines, by providing accessibility features that meet the expectations for a widely used immersive medium, like 360-degree video.

We utilize recent results on the exact block error probability of Gaussian random codes in additive white Gaussian noise to analyze Gaussian random coding for massive multiple-access at finite message length. Soft iterative interference cancellation is found to closely approach the performance bounds recently found in [1]. The existence of two fundamentally different regimes in the trade-off between power and bandwidth efficiency reported in [2] is related to much older results in [3] on power optimization by linear programming. Furthermore, we tighten the achievability bounds of [1] in the low power regime and show that orthogonal constellations are very close to the theoretical limits for message lengths around 100 and above.

Neural machine translation (NMT) needs large parallel corpora for state-of-the-art translation quality. Low-resource NMT is typically addressed by transfer learning which leverages large monolingual or parallel corpora for pre-training. Monolingual pre-training approaches such as MASS (MAsked Sequence to Sequence) are extremely effective in boosting NMT quality for languages with small parallel corpora. However, they do not account for linguistic information obtained using syntactic analyzers which is known to be invaluable for several Natural Language Processing (NLP) tasks. To this end, we propose JASS, Japanese-specific Sequence to Sequence, as a novel pre-training alternative to MASS for NMT involving Japanese as the source or target language. JASS is joint BMASS (Bunsetsu MASS) and BRSS (Bunsetsu Reordering Sequence to Sequence) pre-training which focuses on Japanese linguistic units called bunsetsus. In our experiments on ASPEC Japanese--English and News Commentary Japanese--Russian translation we show that JASS can give results that are competitive with if not better than those given by MASS. Furthermore, we show for the first time that joint MASS and JASS pre-training gives results that significantly surpass the individual methods indicating their complementary nature. We will release our code, pre-trained models and bunsetsu annotated data as resources for researchers to use in their own NLP tasks.

Previous methods on estimating detailed human depth often require supervised training with `ground truth' depth data. This paper presents a self-supervised method that can be trained on YouTube videos without known depth, which makes training data collection simple and improves the generalization of the learned network. The self-supervised learning is achieved by minimizing a photo-consistency loss, which is evaluated between a video frame and its neighboring frames warped according to the estimated depth and the 3D non-rigid motion of the human body. To solve this non-rigid motion, we first estimate a rough SMPL model at each video frame and compute the non-rigid body motion accordingly, which enables self-supervised learning on estimating the shape details. Experiments demonstrate that our method enjoys better generalization and performs much better on data in the wild.

Correlation alignment (CORAL), a representative domain adaptation (DA) algorithm, decorrelates and aligns a labelled source domain dataset to an unlabelled target domain dataset to minimize the domain shift such that a classifier can be applied to predict the target domain labels. In this paper, we implement the CORAL on quantum devices by two different methods. One method utilizes quantum basic linear algebra subroutines (QBLAS) to implement the CORAL with exponential speedup in the number and dimension of the given data samples. The other method is achieved through a variational hybrid quantum-classical procedure. In addition, the numerical experiments of the CORAL with three different types of data sets, namely the synthetic data, the synthetic-Iris data, the handwritten digit data, are presented to evaluate the performance of our work. The simulation results prove that the variational quantum correlation alignment algorithm (VQCORAL) can achieve competitive performance compared with the classical CORAL.

This paper proposes a fully automated atlas-based pancreas segmentation method from CT volumes utilizing atlas localization by regression forest and atlas generation using blood vessel information. Previous probabilistic atlas-based pancreas segmentation methods cannot deal with spatial variations that are commonly found in the pancreas well. Also, shape variations are not represented by an averaged atlas. We propose a fully automated pancreas segmentation method that deals with two types of variations mentioned above. The position and size of the pancreas is estimated using a regression forest technique. After localization, a patient-specific probabilistic atlas is generated based on a new image similarity that reflects the blood vessel position and direction information around the pancreas. We segment it using the EM algorithm with the atlas as prior followed by the graph-cut. In evaluation results using 147 CT volumes, the Jaccard index and the Dice overlap of the proposed method were 62.1% and 75.1%, respectively. Although we automated all of the segmentation processes, segmentation results were superior to the other state-of-the-art methods in the Dice overlap.

The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which separates and arranges test tubes in racks with the help of 3D vision and artificial intelligence (AI) reasoning/planning. The developed system only requires a person to put a rack with mixed and non-arranged tubes in front of a robot. The robot autonomously performs recognition, reasoning, planning, manipulation, etc., and returns a rack with separated and arranged tubes. The system is simple-to-use, and there are no requests for expert knowledge in robotics. We expect such a system to play an important role in helping managing public health and hope similar systems could be extended to other clinical manipulation like handling mixers and pipettes in the future.

Convolutional Neural Networks (CNNs) are generally prone to noise interruptions, i.e., small image noise can cause drastic changes in the output. To suppress the noise effect to the final predication, we enhance CNNs by replacing max-pooling, strided-convolution, and average-pooling with Discrete Wavelet Transform (DWT). We present general DWT and Inverse DWT (IDWT) layers applicable to various wavelets like Haar, Daubechies, and Cohen, etc., and design wavelet integrated CNNs (WaveCNets) using these layers for image classification. In WaveCNets, feature maps are decomposed into the low-frequency and high-frequency components during the down-sampling. The low-frequency component stores main information including the basic object structures, which is transmitted into the subsequent layers to extract robust high-level features. The high-frequency components, containing most of the data noise, are dropped during inference to improve the noise-robustness of the WaveCNets. Our experimental results on ImageNet and ImageNet-C (the noisy version of ImageNet) show that WaveCNets, the wavelet integrated versions of VGG, ResNets, and DenseNet, achieve higher accuracy and better noise-robustness than their vanilla versions.

Most currently available schemes for performance based ranking of Universities or Research organizations, such as, Quacarelli Symonds (QS), Times Higher Education (THE), Shanghai University based All Research of World Universities (ARWU) use a variety of criteria that include productivity, citations, awards, reputation, etc., while Leiden and Scimago use only bibliometric indicators. The research performance evaluation in the aforesaid cases is based on bibliometric data from Web of Science or Scopus, which are commercially available priced databases. The coverage includes peer reviewed journals and conference proceedings. Google Scholar (GS) on the other hand, provides a free and open alternative to obtaining citations of papers available on the net, (though it is not clear exactly which journals are covered.) Citations are collected automatically from the net and also added to self created individual author profiles under Google Scholar Citations (GSC). This data was used by Webometrics Lab, Spain to create a ranked list of 4000+ institutions in 2016, based on citations from only the top 10 individual GSC profiles in each organization. (GSC excludes the top paper for reasons explained in the text; the simple selection procedure makes the ranked list size-independent as claimed by the Cybermetrics Lab). Using this data (Transparent Ranking TR, 2016), we find the regional and country wise distribution of GS-TR Citations. The size independent ranked list is subdivided into deciles of 400 institutions each and the number of institutions and citations of each country obtained for each decile. We test for correlation between institutional ranks between GS TR and the other ranking schemes for the top 20 institutions.

Similarity measure, also called information measure, is a concept used to distinguish different objects. It has been studied from different contexts by employing mathematical, psychological, and fuzzy approaches. Image steganography is the art of hiding secret data into an image in such a way that it cannot be detected by an intruder. In image steganography, hiding secret data in the plain or non-edge regions of the image is significant due to the high similarity and redundancy of the pixels in their neighborhood. However, the similarity measure of the neighboring pixels, i.e., their proximity in color space, is perceptual rather than mathematical. This paper proposes an interval type 2 fuzzy logic system (IT2 FLS) to determine the similarity between the neighboring pixels by involving an instinctive human perception through a rule-based approach. The pixels of the image having high similarity values, calculated using the proposed IT2 FLS similarity measure, are selected for embedding via the least significant bit (LSB) method. We term the proposed procedure of steganography as IT2 FLS LSB method. Moreover, we have developed two more methods, namely, type 1 fuzzy logic system based least significant bits (T1FLS LSB) and Euclidean distance based similarity measures for least significant bit (SM LSB) steganographic methods. Experimental simulations were conducted for a collection of images and quality index metrics, such as PSNR, UQI, and SSIM are used. All the three steganographic methods are applied on datasets and the quality metrics are calculated. The obtained stego images and results are shown and thoroughly compared to determine the efficacy of the IT2 FLS LSB method. Finally, we have done a comparative analysis of the proposed approach with the existing well-known steganographic methods to show the effectiveness of our proposed steganographic method.

Chest computed tomography (CT) becomes an effective tool to assist the diagnosis of coronavirus disease-19 (COVID-19). Due to the outbreak of COVID-19 worldwide, using the computed-aided diagnosis technique for COVID-19 classification based on CT images could largely alleviate the burden of clinicians. In this paper, we propose an Adaptive Feature Selection guided Deep Forest (AFS-DF) for COVID-19 classification based on chest CT images. Specifically, we first extract location-specific features from CT images. Then, in order to capture the high-level representation of these features with the relatively small-scale data, we leverage a deep forest model to learn high-level representation of the features. Moreover, we propose a feature selection method based on the trained deep forest model to reduce the redundancy of features, where the feature selection could be adaptively incorporated with the COVID-19 classification model. We evaluated our proposed AFS-DF on COVID-19 dataset with 1495 patients of COVID-19 and 1027 patients of community acquired pneumonia (CAP). The accuracy (ACC), sensitivity (SEN), specificity (SPE) and AUC achieved by our method are 91.79%, 93.05%, 89.95% and 96.35%, respectively. Experimental results on the COVID-19 dataset suggest that the proposed AFS-DF achieves superior performance in COVID-19 vs. CAP classification, compared with 4 widely used machine learning methods.

Visualization-oriented natural language interfaces (V-NLIs) have been explored and developed in recent years. One challenge faced by V-NLIs is in the formation of effective design decisions that usually requires a deep understanding of user queries. Learning-based approaches have shown potential in V-NLIs and reached state-of-the-art performance in various NLP tasks. However, because of the lack of sufficient training samples that cater to visual data analytics, cutting-edge techniques have rarely been employed to facilitate the development of V-NLIs. We present a new dataset, called Quda, to help V-NLIs understand free-form natural language. Our dataset contains 14;035 diverse user queries annotated with 10 low-level analytic tasks that assist in the deployment of state-of-the-art techniques for parsing complex human language. We achieve this goal by first gathering seed queries with data analysts who are target users of V-NLIs. Then we employ extensive crowd force for paraphrase generation and validation. We demonstrate the usefulness of Quda in building V-NLIs by creating a prototype that makes effective design decisions for free-form user queries. We also show that Quda can be beneficial for a wide range of applications in the visualization community by analyzing the design tasks described in academic publications.

High-order entropy-stable discontinuous Galerkin (DG) methods for nonlinear conservation laws reproduce a discrete entropy inequality by combining entropy conservative finite volume fluxes with summation-by-parts (SBP) discretization matrices. In the DG context, on tensor product (quadrilateral and hexahedral) elements, SBP matrices are typically constructed by collocating at Lobatto quadrature points. Recent work has extended the construction of entropy-stable DG schemes to collocation at more accurate Gauss quadrature points.

In this work, we extend entropy-stable Gauss collocation schemes to non-conforming meshes. Entropy-stable DG schemes require computing entropy conservative numerical fluxes between volume and surface quadrature nodes. On conforming tensor product meshes where volume and surface nodes are aligned, flux evaluations are required only between "lines" of nodes. However, on non-conforming meshes, volume and surface nodes are no longer aligned, resulting in a larger number of flux evaluations. We reduce this expense by introducing an entropy-stable mortar-based treatment of non-conforming interfaces via a face-local correction term, and provide necessary conditions for high-order accuracy. Numerical experiments in both two and three dimensions confirm the stability and accuracy of this approach.

Water quality has a direct impact on industry, agriculture, and public health. Algae species are common indicators of water quality. It is because algal communities are sensitive to changes in their habitats, giving valuable knowledge on variations in water quality. However, water quality analysis requires professional inspection of algal detection and classification under microscopes, which is very time-consuming and tedious. In this paper, we propose a novel multi-target deep learning framework for algal detection and classification. Extensive experiments were carried out on a large-scale colored microscopic algal dataset. Experimental results demonstrate that the proposed method leads to the promising performance on algal detection, class identification and genus identification.

Recently, the outbreak of Coronavirus Disease 2019 (COVID-19) has spread rapidly across the world. Due to the large number of affected patients and heavy labor for doctors, computer-aided diagnosis with machine learning algorithm is urgently needed, and could largely reduce the efforts of clinicians and accelerate the diagnosis process. Chest computed tomography (CT) has been recognized as an informative tool for diagnosis of the disease. In this study, we propose to conduct the diagnosis of COVID-19 with a series of features extracted from CT images. To fully explore multiple features describing CT images from different views, a unified latent representation is learned which can completely encode information from different aspects of features and is endowed with promising class structure for separability. Specifically, the completeness is guaranteed with a group of backward neural networks (each for one type of features), while by using class labels the representation is enforced to be compact within COVID-19/community-acquired pneumonia (CAP) and also a large margin is guaranteed between different types of pneumonia. In this way, our model can well avoid overfitting compared to the case of directly projecting highdimensional features into classes. Extensive experimental results show that the proposed method outperforms all comparison methods, and rather stable performances are observed when varying the numbers of training data.