5704334
Making subsequence time series clustering meaningful
The startling claim was made that sequential time series clustering is meaningless. This has important consequences for a significant amount of work in the literature, since such a claim invalidates this work's contribution. In this paper, we show that sequential time series clustering is not meaningless, and that the problem highlighted in these works stem from their use of the Euclidean distance metric as the distance measure in the subsequence vector space. As a solution, we consider quite a general class of time series, and propose a regime based on two types of similarity that can exist between subsequence vectors, which give rise naturally to an alternative distance measure to Euclidean distance in the subsequence vector space. We show that, using this alternative distance measure, sequential time series clustering can indeed be meaningful. We repeat a key experiment in the work on which the "meaningless" claim was based, and show that our method leads to a successful clustering outcome.
14121852
Programming by demonstration - constructing task level plans in hybrid dynamic framework
This paper presents a novel approach to constructing a task level plan for an assembly task from demonstration. A hybrid dynamic system is chosen as an attractive way to model assembly tasks. We propose a framework where the mappings required within the hybrid dynamic system model are extracted from a demonstration. We extract the event path planner mapping, which determines a task level plan. Demonstrated paths are broken down into their base elements, called transitions. A path plan is then constructed from transitions that were well demonstrated. We test the approach by having a robot execute an assembly task using constructed task plans. The framework produces excellent results because: 1) the robot can perform selected paths better than when it simply copies the demonstrator, and 2) it allows flexible path selection so the robot can be given a disposition in how it executes the task.
13891792
Constructing Task-Level Assembly Strategies in Robot Programming by Demonstration
Programming by demonstration (PbD) is a technique for programming robots that holds much promise in making robots more accessible to ordinary, non-technical users. However, a well-known difficulty with the method is that a human will often demonstrate the task to be programmed inconsistently or even erroneously, leading to the inclusion of what is essentially noise in the demonstration. A number of techniques exist in the literature for filtering out this type of noise; however, most focus on very low level control command details. In this paper, we propose a new, complementary direction of research. We take a “task-level” view of the demonstration, and note that noise can exist at this level also. We propose a framework, based on a hybrid dynamic system modeling approach, to select the most optimal, task-level execution strategies that were demonstrated. We apply our framework to a real household task of inserting the compressible spindle of a paper towel holder into its supports. We conduct experiments to show that significant improvements in robot performance of the task can be achieved by a PbD regime that includes our method.
46388294
Soft Sorting in Logic Programming
Integrating sorts (types) into logic programming languages increases their expressiveness and evaluation efficiency. The sort structures usually considered are strict, in the sense that whenever an expression has a subexpression which is not properly sorted, the expression is classified as ill-sorted, and in effect is regarded as meaningless. Typically a logic programming language with strict sorting is incomplete, in the sense that some intuitively meaningful programs and queries are ill-sorted and hence are not part of the language.
2426986
Quantifying Privacy Leakage through Answering Database Queries
We assume a database consists of records of individuals with private or sensitive fields. Queries on the distribution of a sensitive field within a selected population in the database can be submitted to the data center. The answers to the queries leak private information of individuals though no identification information is provided. Inspired by decision theory, we present a quantitative model for the privacy protection problem in such a database query or linkage environment in this paper. In the model, the value of information is estimated from the viewpoint of the querier.To estimate the value, we define the information state of the data user by a class of probability distributions on the set of possible confidential values. We further define the usefulness of information based on how easy the data user can locate individuals that fit the description given in the queries. These states and the usefulness of information can be modified and refined by the user's knowledge acquisition actions. The value of information is then defined as the expected gain of the privacy receiver and the privacy is protected by imposing costs on the answers of the queries for balancing the gain.
3103973
Sprite: a simple, cheat-proof, credit-based system for mobile ad-hoc networks
Mobile ad hoc networking has been an active research area for several years. How to stimulate cooperation among selfish mobile nodes, however, is not well addressed yet. In this paper, we propose Sprite, a simple, cheat-proof, credit-based system for stimulating cooperation among selfish nodes in mobile ad hoc networks. Our system provides incentive for mobile nodes to cooperate and report actions honestly. Compared with previous approaches, our system does not require any tamper-proof hardware at any node. Furthermore, we present a formal model of our system and prove its properties. Evaluations of a prototype implementation show that the overhead of our system is small. Simulations and analysis show that mobile nodes can cooperate and forward each other's messages, unless the resource of each node is extremely low.
47173629
A Polynomial Time Approximation Scheme for General Multiprocessor Job Scheduling
Recently, there have been considerable interests in the multiprocessor job scheduling problem, in which a job can be processed in parallel on one of several alternative subsets of processors. In this paper, a polynomial time approximation scheme is presented for the problem in which the number of processors in the system is a fixed constant. This result is the best possible because of the strong NP-hardness of the problem and is a significant improvement over the past results: the best previous result was an approximation algorithm of ratio $7/6 + \epsilon$ for 3-processor systems based on Goemans's algorithm for a restricted version of the problem.
8542665
Polynomial time approximation schemes and parameterized complexity
In this paper, we study the relationship between the approximability and the parameterized complexity of NP optimization problems. We introduce a notion of polynomial fixed-parameter tractability and prove that, under a very general constraint, an NP optimization problem has a fully polynomial time approximation scheme if and only if the problem is polynomial fixed-parameter tractable. By enforcing a constraint of planarity on the W-hierarchy studied in parameterized complexity theory, we obtain a class of NP optimization problems, the planar W-hierarchy, and prove that all problems in this class have efficient polynomial time approximation schemes (EPTAS). The planar W-hierarchy seems to contain most of the known EPTAS problems, and is significantly different from the class introduced by Khanna and Motwani in their efforts in characterizing optimization problems with polynomial time approximation schemes.