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Forecasting battery state of charge for robot missions 预测机器人任务的电池状态
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019705
Ameer Hamza, Nora Ayanian
Due to limited power onboard, a significant factor for success of distributed teams of robots is energy-awareness. The ability to predict when power will be depleted beyond a certain point is necessary for recharging or returning to a base station. This paper presents a framework for forecasting state of charge (SOC) of a robot's battery for a given mission. A generalized and customizable mission description is formulated as a sequence of parametrized tasks defined for the robot; the missions are then mapped to expected change in SOC by training neural networks on experimental data. We present results from experiments on the Turtlebot 2 to establish the efficacy of this framework. The performance of the proposed framework is demonstrated for three distinct mission representations and compared to an existing method in the literature. Finally, we discuss the strengths and weaknesses of feedforward and recurrent neural network models in the context of this work.
由于机载电力有限,分布式机器人团队成功的一个重要因素是能源意识。对于充电或返回基站来说,预测电量何时耗尽的能力是必要的。本文提出了一种预测机器人电池荷电状态(SOC)的框架。将广义的、可定制的任务描述表述为为机器人定义的一系列参数化任务;然后,通过在实验数据上训练神经网络,将任务映射到SOC的预期变化。我们介绍了在Turtlebot 2上进行的实验结果,以确定该框架的有效性。提出的框架的性能证明了三种不同的任务表示,并与文献中的现有方法进行了比较。最后,我们在本研究的背景下讨论了前馈和循环神经网络模型的优缺点。
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引用次数: 8
Convolutions through time for multi-label movie genre classification 多标签电影类型分类的时间卷积
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019641
Jonatas Wehrmann, Rodrigo C. Barros
In this paper, we explore the suitability of employing Convolutional Neural Networks (ConvNets) for multi-label movie trailer genre classification. Assigning genres to movies is a particularly challenging task because genre is an immaterial feature that is not physically present in a movie frame, so off-the-shelf image detection models cannot be easily adapted to this context. Moreover, multi-label classification is more challenging than single-label classification considering that one instance can be assigned to multiple classes at once. We propose a novel classification method that encapsulates an ultra-deep ConvNet with residual connections. Our approach extracts temporal information from image-based features prior to performing the mapping of trailers to genres. We compare our novel approach with the current state-of-the-art techniques for movie classification, which make use of well-known image descriptors and low-level handcrafted features. Results show that our method significantly outperforms the state-of-the-art in this task, improving the classification accuracy for all genres.
在本文中,我们探讨了使用卷积神经网络(ConvNets)进行多标签电影预告片类型分类的适用性。为电影分配类型是一项特别具有挑战性的任务,因为类型是一种非物质特征,不存在于电影帧中,所以现成的图像检测模型不容易适应这种情况。此外,考虑到一个实例可以一次分配给多个类,多标签分类比单标签分类更具挑战性。我们提出了一种新的分类方法,该方法封装了带有残差连接的超深度卷积神经网络。我们的方法是从基于图像的特征中提取时间信息,然后再执行预告片到类型的映射。我们将我们的新方法与当前最先进的电影分类技术进行了比较,后者利用了众所周知的图像描述符和低级别的手工特征。结果表明,我们的方法在此任务中显著优于最先进的方法,提高了所有类型的分类精度。
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引用次数: 23
Moving away from the crowd: channel selection in uncoordinated unplanned dense wireless LANs 远离人群:非协调非规划密集无线局域网中的信道选择
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019771
P. Kulkarni, Zhenzhe Zhong, Fengming Cao
Networks using WiFi continue to proliferate which has contributed to increased levels of crowding in the unlicensed bands in which these networks operate. Given the limited number of channels available in these bands, a key problem that arises is how to avoid / minimise conflicting channel assignment among neighbouring networks. This is particularly challenging in uncoordinated, unplanned deployments wherein Access Points (APs) belonging to different administrative entities may be operating in isolation in the vicinity of each other. Given the difficulty of planning conflict free channel allocation in such deployments, it is highly desirable to devise mechanisms such that the APs themselves become radio neighbourhood aware and adapt their operation (channel switching on the fly) so as to mitigate interference issues. In this paper, we propose two distributed channel selection algorithms for accomplishing the above mentioned objective. In particular, we show that these algorithms are practical from an implementation perspective, accomplish their objective without requiring any changes to the hardware, the existing infrastructure and the WLAN standard, and highlight findings from a simulation based study. Findings indicate that the proposed algorithms significantly outperform the typical random selection approach commonly employed by low cost commercial off-the-shelf hardware.
使用WiFi的网络继续激增,这导致这些网络运行的无证频段越来越拥挤。鉴于这些频带中可用的信道数量有限,出现的一个关键问题是如何避免/最小化相邻网络之间的冲突信道分配。这在未经协调和计划外的部署中尤其具有挑战性,因为属于不同管理实体的接入点可能在彼此附近孤立地运行。考虑到在这种部署中规划无冲突信道分配的困难,设计这样的机制是非常可取的,即ap本身成为无线电邻居感知并调整其操作(动态切换信道)以减轻干扰问题。在本文中,我们提出了两种分布式信道选择算法来实现上述目标。特别地,我们展示了这些算法从实现的角度来看是实用的,在不需要对硬件、现有基础设施和WLAN标准进行任何更改的情况下实现其目标,并强调了基于仿真的研究结果。研究结果表明,所提出的算法明显优于低成本商用现成硬件通常采用的典型随机选择方法。
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引用次数: 4
Numerical similarity-aware data partitioning for recommendations as a service 将数字相似度感知数据分区作为服务进行推荐
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019676
Ting-Ting Yang, Hsueh-Wen Tseng
At present, recommendations become an acceptable choice to replace annoying and widespread advertisements. Recommender systems (RS) are mainly used by large scale e-businesses, such as Amazon [1] and Netflix [4], because implementing and deploying RS can involve substantial investments. Many e-commerce businesses prefer to outsource the recommendation services. Therefore, Recommendation as a Service (RaaS) becomes a newly emerging trend for providing a feasible RS alternative. The providers of these services, the RS providers, need to pay the fee of cloud computing services, which is proportional to the amount of time, memory requirement, and computation resources. In addition, the RS providers must support rapidly recommendation services to meet the requests of clients. In this paper, we propose a numerical similarity-aware data partitioning (NSDP) scheme that effectively uses the numeric and similarity of datasets to exactly estimate the memory and the computation requirements for distributing the workloads. The simulation results demonstrate that NSDP significantly improves the speedup performance and achieves high scalability in the RaaS distributed-memory environment.
目前,推荐成为一种可接受的选择,以取代烦人的和广泛的广告。推荐系统(RS)主要用于大型电子商务,如Amazon[1]和Netflix[1],因为实现和部署RS可能涉及大量投资。许多电子商务企业倾向于外包推荐服务。因此,推荐即服务(RaaS)成为提供可行的推荐服务替代方案的新兴趋势。这些服务的提供者(RS提供者)需要支付云计算服务的费用,这与时间、内存需求和计算资源成正比。此外,RS提供者必须支持快速推荐服务,以满足客户机的请求。在本文中,我们提出了一种数值相似感知数据分区(NSDP)方案,该方案有效地利用数据集的数值和相似度来准确估计分配工作负载的内存和计算需求。仿真结果表明,在RaaS分布式内存环境下,NSDP显著提高了加速性能,实现了较高的可扩展性。
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引用次数: 1
Feedback on how MDE tools are used prior to academic collaboration 关于在学术合作之前如何使用MDE工具的反馈
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019775
V. Sousa, Eugene Syriani, Martin Paquin
Several studies in the model-driven engineering (MDE) literature report on companies adopting MDE technologies as a result of long collaborations with academics. However, there are more companies than reported that are already using MDE, even without active MDE researchers partners. Therefore we do not have a clear view of how these industries are using MDE and how it is benefiting them. Presche Legacy is a company that already started using MDE even before collaborating with us. To better understand how MDE is used in such industries and to what extent MDE can solve challenges in this business, we conducted a series of interviews with the employees working with MDE. The findings presented in this paper report a successful integration of MDE tools with their in-house software used in production, challenges encountered, and how they surmounted them. We also discuss how this success story can help other companies benefit from MDE.
模型驱动工程(MDE)文献中的一些研究报告了由于与学术界长期合作而采用MDE技术的公司。然而,有更多的公司已经在使用MDE,即使没有活跃的MDE研究合作伙伴。因此,我们对这些行业如何使用MDE以及它如何使它们受益并没有一个清晰的认识。Presche Legacy是一家在与我们合作之前就已经开始使用MDE的公司。为了更好地了解MDE如何在这些行业中使用,以及MDE在多大程度上可以解决该业务中的挑战,我们对与MDE合作的员工进行了一系列采访。本文中的发现报告了MDE工具与生产中使用的内部软件的成功集成、遇到的挑战以及如何克服这些挑战。我们还讨论了这个成功故事如何帮助其他公司从MDE中受益。
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引用次数: 3
Identifying authoritative researchers in digital libraries using external a priori knowledge 利用外部先验知识识别数字图书馆的权威研究人员
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019809
Baptiste de La Robertie, Y. Pitarch, A. Takasu, O. Teste
Numereous digital library projects mine heterogeneous data from different sources to provide expert finding services. However, a variety of models seek experts as simple sources of information and neglect authority signals. In this paper we address the issue of modelling the authority of researchers in academic networks. A model, RAC, is proposed that merges several graph representations and incorporate external knowledge about the authority of some major scientific conferences to improve the identification of authoritative researchers. Based on the provided structural model a biased label propagation algorithm aimed to strenghten the scores calculation of the labelled entities and their neighbors is developped. Both quantitative and qualitative analyses validate the effectiveness of the proposal. Indeed, RAC outperforms state-of-the-art models on a real-world graph containing more than 5 million nodes constructed using Microsoft Academic Search, AMiner and Core.edu databases.
众多数字图书馆项目从不同来源挖掘异构数据,提供专家查找服务。然而,各种各样的模型寻求专家作为简单的信息来源,而忽视权威信号。在本文中,我们讨论了学术网络中研究人员权威的建模问题。为了提高对权威研究者的识别,提出了一个RAC模型,该模型合并了多个图表示,并纳入了一些重要科学会议权威的外部知识。基于所提供的结构模型,提出了一种偏向标签传播算法,以加强标签实体及其相邻实体的分数计算。定量和定性分析验证了该方案的有效性。事实上,RAC在使用Microsoft Academic Search、AMiner和Core.edu数据库构建的包含500多万个节点的真实世界图上的表现优于最先进的模型。
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引用次数: 2
Measuring login webpage security 测量登入网页的安全性
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019798
S. Acker, Daniel Hausknecht, A. Sabelfeld
Login webpages are the entry points into sensitive parts of web applications, dividing between public access to a website and private, user-specific, access to the website resources. As such, these entry points must be guarded with great care. A vast majority of today's websites relies on text-based user-name/password pairs for user authentication. While much prior research has focused on the strengths and weaknesses of textual passwords, this paper puts a spotlight on the security of the login webpages themselves. We conduct an empirical study of the Alexa top 100,000 pages to identify login pages and scrutinize their security. Our findings show several widely spread vulnerabilities, such as possibilities for password leaks to third parties and password eavesdropping on the network. They also show that only a scarce number of login pages deploy advanced security measures. Our findings on open-source web frameworks and content management systems confirm the lack of support against the login attacker. To ameliorate the problematic state of the art, we discuss measures to improve the security of login pages.
登录网页是进入web应用程序敏感部分的入口点,分为对网站的公共访问和对网站资源的私有、特定于用户的访问。因此,必须非常小心地保护这些入口点。今天的绝大多数网站都依赖于基于文本的用户名/密码对进行用户身份验证。虽然之前的许多研究都集中在文本密码的优缺点上,但本文将重点放在登录网页本身的安全性上。我们对Alexa排名前10万的页面进行了实证研究,以识别登录页面并审查其安全性。我们的研究结果显示了几个广泛传播的漏洞,例如密码泄露给第三方和网络密码窃听的可能性。它们还表明,只有极少数登录页面部署了高级安全措施。我们在开源web框架和内容管理系统上的发现证实了它们缺乏对登录攻击者的支持。为了改善目前存在的问题,我们讨论了提高登录页面安全性的措施。
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引用次数: 31
Defining an architecture for evolving environments 为不断发展的环境定义体系结构
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019902
Jarkko Hyysalo, Gavin Harper, J. Sauvola, A. Keskinarkaus, I. Juuso, Miikka Salminen, Juha Partala
The architecture of a system specifies how the system should be designed and built. However, shortcomings are identified in current architecture process frameworks concerning evolving domains like healthcare. We claim that an iterative architecture process is required, where the technical concerns are separated from the non-technical ones. Furthermore, a strong guiding vision is required. Based on our experiences from a biobank IT infrastructure process, we present an architecture process that is modular, interoperable, controlled and abstracted, thus being capable of handling complex systems with large uncertainties.
系统的体系结构指定了系统应该如何设计和构建。然而,当前的体系结构流程框架在涉及诸如医疗保健等不断发展的领域时发现了缺点。我们声称需要一个迭代的架构过程,其中技术关注点与非技术关注点是分离的。此外,还需要一个强有力的指导性愿景。基于我们在生物银行IT基础架构过程中的经验,我们提出了一个模块化、可互操作、可控和抽象的架构过程,从而能够处理具有大不确定性的复杂系统。
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引用次数: 1
Iterative multi-scale modeling of software-intensive systems of systems architectures 系统架构中软件密集型系统的迭代多尺度建模
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019801
Ilhem Khlif, M. Kacem, A. Kacem
Modeling correct software-intensive Systems of Systems architectures is a challenging research direction that can be mastered by providing modeling abstractions. For this purpose, we provide an iterative modeling solution for a multi-scale description of software architectures. We provide a visual notation extending the graphical UML notations to represent structural as well as behavioral features of software architectures. We define a step-wise iterative process from a coarse-grain to a fine-grain description. The intermediate iterations provide a description with a given abstraction that allow the validation to be conducted significantly while remaining tractable w.r.t. complexity. The iterative process involves both system-independent structural features ensuring the model correctness, and system-specific features related to the expected behavior of the modeled domain. We apply our approach for a methodological design of an Emergency Response and Crisis Management System (ERCMS).
对系统架构的正确软件密集型系统进行建模是一个具有挑战性的研究方向,可以通过提供建模抽象来掌握。为此,我们为软件架构的多尺度描述提供了一个迭代建模解决方案。我们提供了一种可视化的符号,扩展了图形化的UML符号,以表示软件架构的结构和行为特征。我们定义了一个从粗粒度到细粒度描述的逐步迭代过程。中间迭代提供了具有给定抽象的描述,允许在保持可处理的w.r.t.复杂性的同时进行有效的验证。迭代过程包括确保模型正确性的系统独立结构特性,以及与建模域的预期行为相关的系统特定特性。我们将我们的方法应用于应急响应和危机管理系统(ERCMS)的方法学设计。
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引用次数: 3
DyNetVis: a system for visualization of dynamic networks 动态网络可视化系统
Pub Date : 2017-04-03 DOI: 10.1145/3019612.3019686
Claudio D. G. Linhares, B. Travençolo, J. G. Paiva, Luis E C Rocha
The concept of networks has been important in the study of complex systems. In networks, links connect pairs of nodes forming complex structures. Studies have shown that networks not only contain structure but may also evolve in time. The addition of the temporal dimension adds complexity on the analysis and requests the development of innovative methods for the visualization of real-life networks. In this paper we introduce the Dynamic Network Visualization System (DyNetVis), a software tool for visualization of dynamic networks. The system provides several tools for user interaction and offers two coordinated visual layouts, named structural and temporal. Structural refers to standard network drawing techniques, in which a single snapshot of nodes and links are placed in a plane, whereas the temporal layout allows for simultaneously visualization of several temporal snapshots of the dynamic network. In addition, we also investigate two approaches for temporal layout visualization: (i) Recurrent Neighbors, a node ordering strategy that highlights frequent connections in time, and (ii) Temporal Activity Map (TAM), a layout technique with focus on nodes activity. We illustrate the applicability of the layouts and interaction functionalities provided by the system in two visual analysis case studies, demonstrating their advantages to improve the overall user experience on visualization and exploratory data analysis on dynamic networks.
网络的概念在复杂系统的研究中一直很重要。在网络中,链路将成对的节点连接起来,形成复杂的结构。研究表明,网络不仅包含结构,还可能随时间进化。时间维度的增加增加了分析的复杂性,并要求开发创新的方法来实现现实网络的可视化。本文介绍了动态网络可视化系统(Dynamic Network Visualization System, DyNetVis),一个用于动态网络可视化的软件工具。该系统为用户交互提供了几个工具,并提供了两种协调的视觉布局,称为结构和时间。结构是指标准的网络绘图技术,其中节点和链接的单个快照被放置在一个平面中,而时间布局允许同时可视化动态网络的多个时间快照。此外,我们还研究了两种时间布局可视化方法:(i)经常性邻居,一种突出时间上频繁连接的节点排序策略;(ii)时间活动图(TAM),一种关注节点活动的布局技术。我们在两个可视化分析案例中说明了系统提供的布局和交互功能的适用性,展示了它们在提高动态网络可视化和探索性数据分析的整体用户体验方面的优势。
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引用次数: 31
期刊
Proceedings of the Symposium on Applied Computing
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