Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

A novel ODE time stepping scheme for solving rotational kinematics in terms of unit quaternions is presented in the paper. This scheme inherently respects the unit-length condition without including it explicitly as a constraint equation, as it is common practice. In the standard algorithms, the unit-length condition is included as an additional equation leading to kinematical equations in the form of a system of differential-algebraic equations (DAEs). On the contrary, the proposed method is based on numerical integration of the kinematic relations in terms of the instantaneous rotation vector that form a system of ordinary differential equations (ODEs) on the Lie algebra \(\mathit{so}(3)\) of the rotation group \(\mathit{SO}(3)\). This rotation vector defines an incremental rotation (and thus the associated incremental unit quaternion), and the rotation update is determined by the exponential mapping on the quaternion group. Since the kinematic ODE on \(\mathit{so}(3)\) can be solved by using any standard (possibly higher-order) ODE integration scheme, the proposed method yields a non-redundant integration algorithm for the rotational kinematics in terms of unit quaternions, avoiding integration of DAE equations. Besides being ‘more elegant’—in the opinion of the authors—this integration procedure also exhibits numerical advantages in terms of better accuracy when longer integration steps are applied during simulation. As presented in the paper, the numerical integration of three non-linear ODEs in terms of the rotation vector as canonical coordinates achieves a higher accuracy compared to integrating the four (linear in ODE part) standard-quaternion DAE system. In summary, this paper solves the long-standing problem of the necessity of imposing the unit-length constraint equation during integration of quaternions, i.e. the need to deal with DAE’s in the context of such kinematical model, which has been a major drawback of using quaternions, and a numerical scheme is presented that also allows for longer integration steps during kinematic reconstruction of large three-dimensional rotations.     

Using dynamic time warping distances as features for improved time series classification

Dynamic time warping (DTW) has proven itself to be an exceptionally strong distance measure for time series. DTW in combination with one-nearest neighbor, one of the simplest machine learning methods, has been difficult to convincingly outperform on the time series classification task. In this paper, we present a simple technique for time series classification that exploits DTW’s strength on this task. But instead of directly using DTW as a distance measure to find nearest neighbors, the technique uses DTW to create new features which are then given to a standard machine learning method. We experimentally show that our technique improves over one-nearest neighbor DTW on 31 out of 47 UCR time series benchmark datasets. In addition, this method can be easily extended to be used in combination with other methods. In particular, we show that when combined with the symbolic aggregate approximation (SAX) method, it improves over it on 37 out of 47 UCR datasets. Thus the proposed method also provides a mechanism to combine distance-based methods like DTW with feature-based methods like SAX. We also show that combining the proposed classifiers through ensembles further improves the performance on time series classification.     

Binarised regression tasks: methods and evaluation metrics

Some supervised tasks are presented with a numerical output but decisions have to be made in a discrete, binarised, way, according to a particular cutoff. This binarised regression task is a very common situation that requires its own analysis, different from regression and classification—and ordinal regression. We first investigate the application cases in terms of the information about the distribution and range of the cutoffs and distinguish six possible scenarios, some of which are more common than others. Next, we study two basic approaches: the retraining approach, which discretises the training set whenever the cutoff is available and learns a new classifier from it, and the reframing approach, which learns a regression model and sets the cutoff when this is available during deployment. In order to assess the binarised regression task, we introduce context plots featuring error against cutoff. Two special cases are of interest, the \( UCE \) and \( OCE \) curves, showing that the area under the former is the mean absolute error and the latter is a new metric that is in between a ranking measure and a residual-based measure. A comprehensive evaluation of the retraining and reframing approaches is performed using a repository of binarised regression problems created on purpose, concluding that no method is clearly better than the other, except when the size of the training data is small.     

On the evaluation of unsupervised outlier detection: measures,datasets, and an empirical study

The evaluation of unsupervised outlier detection algorithms is a constant challenge in data mining research. Little is known regarding the strengths and weaknesses of different standard outlier detection models, and the impact of parameter choices for these algorithms. The scarcity of appropriate benchmark datasets with ground truth annotation is a significant impediment to the evaluation of outlier methods. Even when labeled datasets are available, their suitability for the outlier detection task is typically unknown. Furthermore, the biases of commonly-used evaluation measures are not fully understood. It is thus difficult to ascertain the extent to which newly-proposed outlier detection methods improve over established methods. In this paper, we perform an extensive experimental study on the performance of a representative set of standard k nearest neighborhood-based methods for unsupervised outlier detection, across a wide variety of datasets prepared for this purpose. Based on the overall performance of the outlier detection methods, we provide a characterization of the datasets themselves, and discuss their suitability as outlier detection benchmark sets. We also examine the most commonly-used measures for comparing the performance of different methods, and suggest adaptations that are more suitable for the evaluation of outlier detection results.     

ViStA: a visualization system for exploring Arabic text

Text visualization has become a significant tool that facilitates knowledge discovery and insightful presentation of large amounts of data. This paper presents a visualization system for exploring Arabic text called ViStA. We report about the design, the implementation and some of the experiments we conducted on the system. The development of such tools assists Arabic language analysts to effectively explore, understand, and discover interesting knowledge hidden in text data. We used statistical techniques from the field of Information Retrieval to identify the relevant documents coupled with sophisticated natural language processing (NLP) tools to process the text. For text visualization, the system used a hybrid approach combining latent semantic indexing for feature selection and multidimensional scaling for dimensionality reduction. Initial results confirm the viability of using this approach to tackle the problem of Arabic text visualization and other Arabic NLP applications.     

A frame-based approach for capturing semantics from Arabic text for text-to-sign language MT

This paper describes the design and implementation of a computational model for Arabic natural language semantics, a semantic parser for capturing the deep semantic representation of Arabic text. The parser represents a major part of an Interlingua-based machine translation system for translating Arabic text into Sign Language. The parser follows a frame-based analysis to capture the overall meaning of Arabic text into a formal representation suitable for NLP applications that need for deep semantics representation, such as language generation and machine translation. We will show the representational power of this theory for the semantic analysis of texts in Arabic, a language which differs substantially from English in several ways. We will also show that the integration of WordNet and FrameNet in a single unified knowledge resource can improve disambiguation accuracy. Furthermore, we will propose a rule based algorithm to generate an equivalent Arabic FrameNet, using a lexical resource alignment of FrameNet1.3 LUs and WordNet3.0 synsets for English Language. A pilot study of motion and location verbs was carried out in order to test our system. Our corpus is made up of more than 2000 Arabic sentences in the domain of motion events collected from Algerian first level educational Arabic books and other relevant Arabic corpora.     

Semantic indexing of Arabic texts for information retrieval system

As part of information retrieval systems (IRS) and in the context of the use of ontologies for documents and queries indexing, we propose and evaluate in this paper the contribution of this approach applied to Arabic texts. To do this we indexed a corpus of Arabic text using Arabic WordNet. The disambiguation of words was performed by applying the Lesk algorithm. The results obtained by our experiment allowed us to deduct the contribution of this approach in IRS for Arabic texts.     

Combining the evidences of temporal and spectral enhancement techniques for improving the performance of Indian language identification system in the presence of background noise

Language Identification has gained significant importance in recent years, both in research and commercial market place, demanding an improvement in the ability of machines to distinguish between languages. Although methods like Gaussian mixture models, hidden Markov models and neural networks are used for identifying languages the problem of language identification in noisy environments could not be addressed so far. This paper addresses the performance of automatic language identification system in noisy environments. A comparative performance analysis of speech enhancement techniques like minimum mean squared estimation, spectral subtraction and temporal processing, with different types of noise at different SNRs, is presented here. Though these individual enhancement techniques may not yield good performance with different types of noise at different SNRs, it is proposed to combine the evidences of all these techniques to improve the overall performance of the system significantly. The language identification studies are performed using IITKGP-MLILSC (IIT Kharagpur-Multilingual Indian Language Speech Corpus) databases which consists of 27 languages.     

Exploring the costs of technical debt management – a case study

Technical debt is a metaphor for delayed software maintenance tasks. Incurring technical debt may bring short-term benefits to a project, but such benefits are often achieved at the cost of extra work in future, analogous to paying interest on the debt. Currently technical debt is managed implicitly, if at all. However, on large systems, it is too easy to lose track of delayed tasks or to misunderstand their impact. Therefore, we have proposed a new approach to managing technical debt, which we believe to be helpful for software managers to make informed decisions. In this study we explored the costs of the new approach by tracking the technical debt management activities in an on-going software project. The results from the study provided insights into the impact of technical debt management on software projects. In particular, we found that there is a significant start-up cost when beginning to track and monitor technical debt, but the cost of ongoing management soon declines to very reasonable levels.     

On the detection of custom memory allocators in C binaries

Many reverse engineering techniques for data structures rely on the knowledge of memory allocation routines. Typically, they interpose on the system’s malloc and free functions, and track each chunk of memory thus allocated as a data structure. However, many performance-critical applications implement their own custom memory allocators. Examples include webservers, database management systems, and compilers like gcc and clang. As a result, current binary analysis techniques for tracking data structures fail on such binaries. We present MemBrush, a new tool to detect memory allocation and deallocation functions in stripped binaries with high accuracy. We evaluated the technique on a large number of real world applications that use custom memory allocators. We demonstrate that MemBrush can detect allocators/deallocators with a high accuracy which is 52 out of 59 for allocators, and 29 out of 31 for deallocators in SPECINT 2006. As we show, we can furnish existing reverse engineering tools with detailed information about the memory management API, and as a result perform an analysis of the actual application specific data structures designed by the programmer. Our system uses dynamic analysis and detects memory allocation and deallocation routines by searching for functions that comply with a set of generic characteristics of allocators and deallocators.