一种考虑洋流影响的AUV组合导航算法

针对由捷联惯导(SINS)、多普勒测速仪(DVL)以及深度传感器组成的自主水下航行器(AUV)组合导航系统,当DVL测量距离无法达到海底的情况下,洋流是该系统主要误差源之一的问题,在SINS/DVL组合导航算法的基础上,提出了一种在原算法中加入洋流信息提高系统导航定位精度的方法,并将以上两种导航算法解算出的AUV位置信息进行仿真对比,仿真结果表明:与未考虑洋流信息的算法相比,加入洋流信息的算法能够有效提高AUV的定位精度。     

Tracking frequent items over distributed probabilistic data

Tracking frequent items (also called heavy hitters) is one of the most fundamental queries in real-time data due to its wide applications, such as logistics monitoring, association rule based analysis, etc. Recently, with the growing popularity of Internet of Things (IoT) and pervasive computing, a large amount of real-time data is usually collected from multiple sources in a distributed environment. Unfortunately, data collected from each source is often uncertain due to various factors: imprecise reading, data integration from multiple sources (or versions), transmission errors, etc. In addition, due to network delay and limited by the economic budget associated with large-scale data communication over a distributed network, an essential problem is to track the global frequent items from all distributed uncertain data sites with the minimum communication cost. In this paper, we focus on the problem of tracking distributed probabilistic frequent items (TDPF). Specifically, given k distributed sites S = {S ₁, … , S _k }, each of which is associated with an uncertain database \(\mathcal {D}_{i}\) of size n _i , a centralized server (or called a coordinator) H, a minimum support ratio r, and a probabilistic threshold t, we are required to find a set of items with minimum communication cost, each item X of which satisfies P r(s u p(X) ≥ r × N) > t, where s u p(X) is a random variable to describe the support of X and \(N={\sum }_{i=1}^{k}n_{i}\). In order to reduce the communication cost, we propose a local threshold-based deterministic algorithm and a sketch-based sampling approximate algorithm, respectively. The effectiveness and efficiency of the proposed algorithms are verified with extensive experiments on both real and synthetic uncertain datasets.     

Sleeping on the Job: Energy-Efficient and Robust Broadcast for Radio Networks

We address the problem of minimizing power consumption when broadcasting a message from one node to all the other nodes in a radio network. To enable power savings for such a problem, we introduce a compelling new data streaming problem which we call the Bad Santa problem. Our results on this problem apply for any situation where: (1) a node can listen to a set of n nodes, out of which at least half are non-faulty and know the correct message; and (2) each of these n nodes sends according to some predetermined schedule which assigns each of them its own unique time slot. In this situation, we show that in order to receive the correct message with probability 1, it is necessary and sufficient for the listening node to listen to a \(\Theta(\sqrt{n})\) expected number of time slots. Moreover, if we allow for repetitions of transmissions so that each sending node sends the message O(log?^? n) times (i.e. in O(log?^? n) rounds each consisting of the n time slots), then listening to O(log?^? n) expected number of time slots suffices. We show that this is near optimal.We describe an application of our result to the popular grid model for a radio network. Each node in the network is located on a point in a two dimensional grid, and whenever a node sends a message m, all awake nodes within L _∞ distance r receive m. In this model, up to \(t<\frac{r}{2}(2r+1)\) nodes within any 2r+1 by 2r+1 square in the grid can suffer Byzantine faults. Moreover, we assume that the nodes that suffer Byzantine faults are chosen and controlled by an adversary that knows everything except for the random bits of each non-faulty node. This type of adversary models worst-case behavior due to malicious attacks on the network; mobile nodes moving around in the network; or static nodes losing power or ceasing to function. Let n=r(2r+1). We show how to solve the broadcast problem in this model with each node sending and receiving an expected \(O(n\log^{2}{|m|}+\sqrt{n}|m|)\) bits where |m| is the number of bits in m, and, after broadcasting a fingerprint of m, each node is awake only an expected \(O(\sqrt{n})\) time slots. Moreover, for t≤(1?ε)(r/2)(2r+1), for any constant ε>0, we can achieve an even better energy savings. In particular, if we allow each node to send O(log?^? n) times, we achieve reliable broadcast with each node sending O(nlog?²|m|+(log?^? n)|m|) bits and receiving an expected O(nlog?²|m|+(log?^? n)|m|) bits and, after broadcasting a fingerprint of m, each node is awake for only an expected O(log?^? n) time slots. Our results compare favorably with previous protocols that required each node to send Θ(|m|) bits, receive Θ(n|m|) bits and be awake for Θ(n) time slots.     

A semi-supervised approach to sentiment analysis using revised sentiment strength based on SentiWordNet

Emergence of MapReduce (MR) framework for scaling data mining and machine learning algorithms provides for Volume, while handling of Variety and Velocity needs to be skilfully crafted in algorithms. So far, scalable clustering algorithms have focused solely on Volume, taking advantage of the MR framework. In this paper we present a MapReduce algorithm—data aware scalable clustering (DASC), which is capable of handling the 3 Vs of big data by virtue of being (i) single scan and distributed to handle Volume, (ii) incremental to cope with Velocity and (iii) versatile in handling numeric and categorical data to accommodate Variety. DASC algorithm incrementally processes infinitely growing data set stored on distributed file system and delivers quality clustering scheme while ensuring recency of patterns. The up-to-date synopsis is preserved by the algorithm for the data seen so far. Each new data increment is processed and merged with the synopsis. Since the synopsis itself may grow very large in size, the algorithm stores it as a file. This makes DASC algorithm truly scalable. Exclusive clusters are obtained on demand by applying connected component analysis (CCA) algorithm over the synopsis. CCA presents subtle roadblock to effective parallelism during clustering. This problem is overcome by accomplishing the task in two stages. In the first stage, hyperclusters are identified based on prevailing data characteristics. The second stage utilizes this knowledge to determine the degree of parallelism, thereby making DASC data aware. Hyperclusters are distributed over the available compute nodes for discovering embedded clusters in parallel. Staged approach for clustering yields dual advantage of improved parallelism and desired complexity in \(\mathcal {MRC}^0\) class. DASC algorithm is empirically compared with incremental Kmeans and Scalable Kmeans++ algorithms. Experimentation on real-world and synthetic data with approximately 1.2 billion data points demonstrates effectiveness of DASC algorithm. Empirical observations of DASC execution are in consonance with the theoretical analysis with respect to stability in resources utilization and execution time.     

On error-free filtering of finite-state singular processes under dependent distortions

We consider the problem of finding some sufficient conditions under which causal error-free filtering for a singular stationary stochastic process X = {X _n} with a finite number of states from noisy observations is possible. For a rather general model of observations where the observable stationary process is absolutely regular with respect to the estimated process X, it is proved (using an information-theoretic approach) that under a natural additional condition, the causal error-free (with probability one) filtering is possible.     

On Fixed Cost k-Flow Problems

In the Fixed Cost k-Flow problem, we are given a graph G = (V, E) with edge-capacities {u _e ∣e ∈ E} and edge-costs {c _e ∣e ∈ E}, source-sink pair s, t ∈ V, and an integer k. The goal is to find a minimum cost subgraph H of G such that the minimum capacity of an st-cut in H is at least k. By an approximation-preserving reduction from Group Steiner Tree problem to Fixed Cost k-Flow, we obtain the first polylogarithmic lower bound for the problem; this also implies the first non-constant lower bounds for the Capacitated Steiner Network and Capacitated Multicommodity Flow problems. We then consider two special cases of Fixed Cost k-Flow. In the Bipartite Fixed-Cost k-Flow problem, we are given a bipartite graph G = (A ∪ B, E) and an integer k > 0. The goal is to find a node subset S ? A ∪ B of minimum size |S| such G has k pairwise edge-disjoint paths between S ∩ A and S ∩ B. We give an \(O(\sqrt {k\log k})\) approximation for this problem. We also show that we can compute a solution of optimum size with Ω(k/polylog(n)) paths, where n = |A| + |B|. In the Generalized-P2P problem we are given an undirected graph G = (V, E) with edge-costs and integer charges {b _v : v ∈ V}. The goal is to find a minimum-cost spanning subgraph H of G such that every connected component of H has non-negative charge. This problem originated in a practical project for shift design [11]. Besides that, it generalizes many problems such as Steiner Forest, k-Steiner Tree, and Point to Point Connection. We give a logarithmic approximation algorithm for this problem. Finally, we consider a related problem called Connected Rent or Buy Multicommodity Flow and give a log^3+?? n approximation scheme for it using Group Steiner Tree techniques.     

Partitions of the set of selected unknowns in linear differential–algebraic systems

As was shown earlier, for a linear differential–algebraic system A ₁ y′ + A ₀ y = 0 with a selected part of unknowns (entries of a column vector y), it is possible to construct a differential system ?′ = B ?, where the column vector ? is formed by some entries of y, and a linear algebraic system by means of which the selected entries that are not contained in ? can be expressed in terms of the selected entries included in ?. In the paper, sizes of the differential and algebraic systems obtained are studied. Conditions are established under the fulfillment of which the size of the algebraic system is determined unambiguously and the size of the differential system is minimal.     

Optimisation of a non linear fuzzy function

 We present a first study concerning the optimization of a non linear fuzzy function f depending both on a crisp variable and a fuzzy number: therefore the function value is a fuzzy number. More specifically, given a real fuzzy number ?∈F and the function f(a,x):R ²→R, we consider the fuzzy extension induced by f, f˜ : F × R → F, f˜(?,x) = Y˜. If K is a convex subset of R, the problem we consider is “maximizing”f˜(?,x), xˉ∈ K. The first problem is the meaning of the word “maximizing”: in fact it is well-known that ranking fuzzy numbers is a complex matter. Following a general method, we introduce a real function (evaluation function) on real fuzzy numbers, in order to get a crisp rating, induced by the order of the real line. In such a way, the optimization problem on fuzzy numbers can be written in terms of an optimization problem for the real-valued function obtained by composition of f with a suitable evaluation function. This approach allows us to state a necessary and sufficient condition in order that ∈K is the maximum for f˜ in K, when f(a,x) is convex-concave (Theorem 4.1).     

Minimizing the maximal weighted lateness of delivering orders between two railroad stations

We consider the planning problem for freight transportation between two railroad stations. We are required to fulfill orders (transport cars by trains) that arrive at arbitrary time moments and have different value (weight). The speed of trains moving between stations may be different. We consider problem settings with both fixed and undefined departure times for the trains. For the problem with fixed train departure times we propose an algorithm for minimizing the weighted lateness of orders with time complexity O(qn ² log n) operations, where q is the number of trains and n is the number of orders. For the problem with undefined train departure and arrival times we construct a Pareto optimal set of schedules optimal with respect to criteria wL _max and C _max in O(n ² max{n log n, q log v}) operations, where v is the number of time windows during which the trains can depart. The proposed algorithm allows to minimize both weighted lateness wL _max and total time of fulfilling freight delivery orders C _max.     

A competitive study of the pseudoflow algorithm for the minimum <Emphasis Type="Italic">s</Emphasis>–<Emphasis Type="Italic">t</Emphasis> cut problem in vision applications

Rapid advances in image acquisition and storage technology underline the need for real-time algorithms that are capable of solving large-scale image processing and computer-vision problems. The minimum s–t cut problem, which is a classical combinatorial optimization problem, is a prominent building block in many vision and imaging algorithms such as video segmentation, co-segmentation, stereo vision, multi-view reconstruction, and surface fitting to name a few. That is why finding a real-time algorithm which optimally solves this problem is of great importance. In this paper, we introduce to computer vision the Hochbaum’s pseudoflow (HPF) algorithm, which optimally solves the minimum s–t cut problem. We compare the performance of HPF, in terms of execution times and memory utilization, with three leading published algorithms: (1) Goldberg’s and Tarjan’s Push-Relabel; (2) Boykov’s and Kolmogorov’s augmenting paths; and (3) Goldberg’s partial augment-relabel. While the common practice in computer-vision is to use either BK or PRF algorithms for solving the problem, our results demonstrate that, in general, HPF algorithm is more efficient and utilizes less memory than these three algorithms. This strongly suggests that HPF is a great option for many real-time computer-vision problems that require solving the minimum s–t cut problem.     

Continuous visible nearest neighbor query processing in spatial databases

In this paper, we identify and solve a new type of spatial queries, called continuous visible nearest neighbor (CVNN) search. Given a data set P, an obstacle set O, and a query line segment q in a two-dimensional space, a CVNN query returns a set of \({\langle p, R\rangle}\) tuples such that \({p \in P}\) is the nearest neighbor to every point r along the interval \({R \subseteq q}\) as well as p is visible to r. Note that p may be NULL, meaning that all points in P are invisible to all points in R due to the obstruction of some obstacles in O. In contrast to existing continuous nearest neighbor query, CVNN retrieval considers the impact of obstacles on visibility between objects, which is ignored by most of spatial queries. We formulate the problem, analyze its unique characteristics, and develop efficient algorithms for exact CVNN query processing. Our methods (1) utilize conventional data-partitioning indices (e.g., R-trees) on both P and O, (2) tackle the CVNN search by performing a single query for the entire query line segment, and (3) only access the data points and obstacles relevant to the final query result by employing a suite of effective pruning heuristics. In addition, several interesting variations of CVNN queries have been introduced, and they can be supported by our techniques, which further demonstrates the flexibility of the proposed algorithms. A comprehensive experimental evaluation using both real and synthetic data sets has been conducted to verify the effectiveness of our proposed pruning heuristics and the performance of our proposed algorithms.     

Mathematical models and routing algorithms for CAD technological preparation of cutting processes

Resource-conscious technologies for cutting sheet material include the ICP and ECP technologies that allow for aligning fragments of the contours of cutouts. In this work, we show the mathematical model for the problem of cutting out parts with these technologies and algorithms for finding cutting tool routes that satisfy technological constraints. We give a solution for the problem of representing a cutting plan as a plane graph G = (V,F,E), which is a homeomorphic image of the cutting plan. This has let us formalize technological constraints on the trajectory of cutting the parts according to the cutting plan and propose a series of algorithms for constructing a route in the graph G = (V,F,E), which is an image of an admissible trajectory. Using known coordinates of the preimages of vertices of graph G = (V,F,E) and the locations of fragments of the cutting plan that are preimages of edges of graph G = (V,F,E), the resulting route in the graph G = (V,E) can be interpreted as the cutting tool’s trajectory.The proposed algorithms for finding routes in a connected graph G have polynomial computational complexity. To find the optimal route in an unconnected graph G, we need to solve, for every dividing face f of graph G, a travelling salesman problem on the set of faces incident to f.     

Multiple <Emphasis Type="Italic">k</Emphasis> nearest neighbor search

The problem of kNN (k Nearest Neighbor) queries has received considerable attention in the database and information retrieval communities. Given a dataset D and a kNN query q, the k nearest neighbor algorithm finds the closest k data points to q. The applications of kNN queries are board, not only in spatio-temporal databases but also in many areas. For example, they can be used in multimedia databases, data mining, scientific databases and video retrieval. The past studies of kNN query processing did not consider the case that the server may receive multiple kNN queries at one time. Their algorithms process queries independently. Thus, the server will be busy with continuously reaccessing the database to obtain the data that have already been acquired. This results in wasting I/O costs and degrading the performance of the whole system. In this paper, we focus on this problem and propose an algorithm named COrrelated kNN query Evaluation (COKE). The main idea of COKE is an “information sharing” strategy whereby the server reuses the query results of previously executed queries for efficiently processing subsequent queries. We conduct a comprehensive set of experiments to analyze the performance of COKE and compare it with the Best-First Search (BFS) algorithm. Empirical studies indicate that COKE outperforms BFS, and achieves lower I/O costs and less running time.     

Regional Optimal Control Problem Governed by Distributed Bi-linear Hyperbolic Systems

This paper considers the regional bi-linear control problem of an important class of hyperbolic systems. The objective is to bring the state solutions at time T close to a desired observations w ^d only on a sub-region ω along the spatial domain Ω. We prove the existence of solution by minimizing sequence method. The adjoint system of this problem is introduced and used to characterize the optimal control. A numerical approach is developed and illustrated successfully by simulations.     

Quantum and Classical Query Complexities of Local Search Are Polynomially Related

Let f be an integer valued function on a finite set V. We call an undirected graph G(V,E) a neighborhood structure for f. The problem of finding a local minimum for f can be phrased as: for a fixed neighborhood structure G(V,E) find a vertex x∈V such that f(x) is not bigger than any value that f takes on some neighbor of x. The complexity of the algorithm is measured by the number of questions of the form “what is the value of f on x?” We show that the deterministic, randomized and quantum query complexities of the problem are polynomially related. This generalizes earlier results of Aldous (Ann. Probab. 11(2):403–413, [1983]) and Aaronson (SIAM J. Comput. 35(4):804–824, [2006]) and solves the main open problem in Aaronson (SIAM J. Comput. 35(4):804–824, [2006]).     

Error bounds for complementarity problems with tridiagonal nonlinear functions

In this paper we consider the complementarity problem NCP(f) with f(x) = Mx + φ(x), where M ∈ R ^n×n is a real matrix and φ is a so-called tridiagonal (nonlinear) mapping. This problem occurs, for example, if certain classes of free boundary problems are discretized. We compute error bounds for approximations \({\hat x}\) to a solution x* of the discretized problems. The error bounds are improved by an iterative method and can be made arbitrarily small. The ideas are illustrated by numerical experiments.     

Improved Approximation Algorithm for k-level Uncapacitated Facility Location Problem (with Penalties)

We study the k-level uncapacitated facility location problem (k-level UFL) in which clients need to be connected with paths crossing open facilities of k types (levels). In this paper we first propose an approximation algorithm that for any constant k, in polynomial time, delivers solutions of cost at most α _k times OPT, where α _k is an increasing function of k, with \(\lim _{k\to \infty } \alpha _{k} = 3\). Our algorithm rounds a fractional solution to an extended LP formulation of the problem. The rounding builds upon the technique of iteratively rounding fractional solutions on trees (Garg, Konjevod, and Ravi SODA’98) originally used for the group Steiner tree problem. We improve the approximation ratio for k-level UFL for all k ≥ 3, in particular we obtain the ratio equal 2.02, 2.14, and 2.24 for k = 3,4, and 5.     

On risk concentration for convex combinations of linear estimators

We consider the estimation problem for an unknown vector β ∈ Rp in a linear model Y = Xβ + σξ, where ξ ∈ Rⁿ is a standard discrete white Gaussian noise and X is a known n × p matrix with n ≥ p. It is assumed that p is large and X is an ill-conditioned matrix. To estimate β in this situation, we use a family of spectral regularizations of the maximum likelihood method β^α(Y) = H ^α(X ^T X) β ^?(Y), α ∈ R⁺, where β ^?(Y) is the maximum likelihood estimate for β and {H ^α(·): R⁺ → [0, 1], α ∈ R⁺} is a given ordered family of functions indexed by a regularization parameter α. The final estimate for β is constructed as a convex combination (in α) of the estimates β^α(Y) with weights chosen based on the observations Y. We present inequalities for large deviations of the norm of the prediction error of this method.     

Outsourced pattern matching

In secure delegatable computation, computationally weak devices (or clients) wish to outsource their computation and data to an untrusted server in the cloud. While most earlier work considers the general question of how to securely outsource any computation to the cloud server, we focus on concrete and important functionalities and give the first protocol for the pattern matching problem in the cloud. Loosely speaking, this problem considers a text T that is outsourced to the cloud \({\textsc {S}}\) by a sender \({\textsc {SEN}}\). In a query phase, receivers \({\textsc {REC}}_1, \ldots , {\textsc {REC}}_l\) run an efficient protocol with the server \({\textsc {S}}\) and the sender \({\textsc {SEN}}\) in order to learn the positions at which a pattern of length m matches the text (and nothing beyond that). This is called the outsourced pattern matching problem which is highly motivated in the context of delegatable computing since it offers storage alternatives for massive databases that contain confidential data (e.g., health-related data about patient history). Our constructions are simulation-based secure in the presence of semi-honest and malicious adversaries (in the random oracle model) and limit the communication in the query phase to O(m) bits plus the number of occurrences—which is optimal. In contrast to generic solutions for delegatable computation, our schemes do not rely on fully homomorphic encryption but instead use novel ideas for solving pattern matching, based on a reduction to the subset sum problem. Interestingly, we do not rely on the hardness of the problem, but rather we exploit instances that are solvable in polynomial time. A follow-up result demonstrates that the random oracle is essential in order to meet our communication bound.     

Shadow Prices in Territory Division

We consider a geographic optimization problem in which we are given a region R, a probability density function f(?) defined on R, and a collection of n utility density functions u _i (?) defined on R. Our objective is to divide R into n sub-regions R _i so as to “balance” the overall utilities on the regions, which are given by the integrals \(\iint _{R_{i}}f(x)u_{i}(x)\, dA\). Using a simple complementary slackness argument, we show that (depending on what we mean precisely by “balancing” the utility functions) the boundary curves between optimal sub-regions are level curves of either the difference function u _i (x) ? u _j (x) or the ratio u _i (x)/u _j (x). This allows us to solve the problem of optimally partitioning the region efficiently by reducing it to a low-dimensional convex optimization problem. This result generalizes, and gives very short and constructive proofs of, several existing results in the literature on equitable partitioning for particular forms of f(?) and u _i (?). We next give two economic applications of our results in which we show how to compute a market-clearing price vector in an aggregate demand system or a variation of the classical Fisher exchange market. Finally, we consider a dynamic problem in which the density function f(?) varies over time (simulating population migration or transport of a resource, for example) and derive a set of partial differential equations that describe the evolution of the optimal sub-regions over time. Numerical simulations for both static and dynamic problems confirm that such partitioning problems become tractable when using our methods.