Bibliographic Review on Distributed Kalman Filtering

In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area

Consensus clustering and functional interpretation of gene-expression data

Microarray analysis using clustering algorithms can suffer from lack of inter-method consistency in assigning related gene-expression profiles to clusters. Obtaining a consensus set of clusters from a number of clustering methods should improve confidence in gene-expression analysis. Here we introduce consensus clustering, which provides such an advantage. When coupled with a statistically based gene functional analysis, our method allowed the identification of novel genes regulated by NFκB and the unfolded protein response in certain B-cell lymphomas

Belief Consensus Algorithms for Fast Distributed Target Tracking in Wireless Sensor Networks

In distributed target tracking for wireless sensor networks, agreement on the target state can be achieved by the construction and maintenance of a communication path, in order to exchange information regarding local likelihood functions. Such an approach lacks robustness to failures and is not easily applicable to ad-hoc networks. To address this, several methods have been proposed that allow agreement on the global likelihood through fully distributed belief consensus (BC) algorithms, operating on local likelihoods in distributed particle filtering (DPF). However, a unified comparison of the convergence speed and communication cost has not been performed. In this paper, we provide such a comparison and propose a novel BC algorithm based on belief propagation (BP). According to our study, DPF based on metropolis belief consensus (MBC) is the fastest in loopy graphs, while DPF based on BP consensus is the fastest in tree graphs. Moreover, we found that BC-based DPF methods have lower communication overhead than data flooding when the network is sufficiently sparse

Distributed Weight Selection in Consensus Protocols by Schatten Norm Minimization

In average consensus protocols, nodes in a network perform an iterative weighted average of their estimates and those of their neighbors. The protocol converges to the average of initial estimates of all nodes found in the network. The speed of convergence of average consensus protocols depends on the weights selected on links (to neighbors). We address in this paper how to select the weights in a given network in order to have a fast speed of convergence for these protocols. We approximate the problem of optimal weight selection by the minimization of the Schatten p-norm of a matrix with some constraints related to the connectivity of the underlying network. We then provide a totally distributed gradient method to solve the Schatten norm optimization problem. By tuning the parameter p in our proposed minimization, we can simply trade-off the quality of the solution (i.e. the speed of convergence) for communication/computation requirements (in terms of number of messages exchanged and volume of data processed). Simulation results show that our approach provides very good performance already for values of p that only needs limited information exchange. The weight optimization iterative procedure can also run in parallel with the consensus protocol and form a joint consensus-optimization procedure.Comment: N° RR-8078 (2012

MCMC-ODPR : primer design optimization using Markov Chain Monte Carlo sampling

Background Next generation sequencing technologies often require numerous primer designs that require good target coverage that can be financially costly. We aimed to develop a system that would implement primer reuse to design degenerate primers that could be designed around SNPs, thus find the fewest necessary primers and the lowest cost whilst maintaining an acceptable coverage and provide a cost effective solution. We have implemented Metropolis-Hastings Markov Chain Monte Carlo for optimizing primer reuse. We call it the Markov Chain Monte Carlo Optimized Degenerate Primer Reuse (MCMC-ODPR) algorithm. Results After repeating the program 1020 times to assess the variance, an average of 17.14% fewer primers were found to be necessary using MCMC-ODPR for an equivalent coverage without implementing primer reuse. The algorithm was able to reuse primers up to five times. We compared MCMC-ODPR with single sequence primer design programs Primer3 and Primer-BLAST and achieved a lower primer cost per amplicon base covered of 0.21 and 0.19 and 0.18 primer nucleotides on three separate gene sequences, respectively. With multiple sequences, MCMC-ODPR achieved a lower cost per base covered of 0.19 than programs BatchPrimer3 and PAMPS, which achieved 0.25 and 0.64 primer nucleotides, respectively. Conclusions MCMC-ODPR is a useful tool for designing primers at various melting temperatures at good target coverage. By combining degeneracy with optimal primer reuse the user may increase coverage of sequences amplified by the designed primers at significantly lower costs. Our analyses showed that overall MCMC-ODPR outperformed the other primer-design programs in our study in terms of cost per covered base

Average Consensus in the Presence of Delays and Dynamically Changing Directed Graph Topologies

Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions are not necessarily valid in practical settings due to varying delays that might affect transmissions at different times, as well as possible changes in the underlying interconnection topology (e.g., due to component mobility). In this work, we propose protocols to overcome these limitations. We first consider a fixed interconnection topology (captured by a - possibly directed - graph) and propose a discrete-time protocol that can reach asymptotic average consensus in a distributed fashion, despite the presence of arbitrary (but bounded) delays in the communication links. The protocol requires that each component has knowledge of the number of its outgoing links (i.e., the number of components to which it sends information). We subsequently extend the protocol to also handle changes in the underlying interconnection topology and describe a variety of rather loose conditions under which the modified protocol allows the components to reach asymptotic average consensus. The proposed algorithms are illustrated via examples.Comment: 37 page

Privacy-preserving model learning on a blockchain network-of-networks.

ObjectiveTo facilitate clinical/genomic/biomedical research, constructing generalizable predictive models using cross-institutional methods while protecting privacy is imperative. However, state-of-the-art methods assume a "flattened" topology, while real-world research networks may consist of "network-of-networks" which can imply practical issues including training on small data for rare diseases/conditions, prioritizing locally trained models, and maintaining models for each level of the hierarchy. In this study, we focus on developing a hierarchical approach to inherit the benefits of the privacy-preserving methods, retain the advantages of adopting blockchain, and address practical concerns on a research network-of-networks.Materials and methodsWe propose a framework to combine level-wise model learning, blockchain-based model dissemination, and a novel hierarchical consensus algorithm for model ensemble. We developed an example implementation HierarchicalChain (hierarchical privacy-preserving modeling on blockchain), evaluated it on 3 healthcare/genomic datasets, as well as compared its predictive correctness, learning iteration, and execution time with a state-of-the-art method designed for flattened network topology.ResultsHierarchicalChain improves the predictive correctness for small training datasets and provides comparable correctness results with the competing method with higher learning iteration and similar per-iteration execution time, inherits the benefits of the privacy-preserving learning and advantages of blockchain technology, and immutable records models for each level.DiscussionHierarchicalChain is independent of the core privacy-preserving learning method, as well as of the underlying blockchain platform. Further studies are warranted for various types of network topology, complex data, and privacy concerns.ConclusionWe demonstrated the potential of utilizing the information from the hierarchical network-of-networks topology to improve prediction

Iterative Bayesian Learning for Crowdsourced Regression

Crowdsourcing platforms emerged as popular venues for purchasing human intelligence at low cost for large volume of tasks. As many low-paid workers are prone to give noisy answers, a common practice is to add redundancy by assigning multiple workers to each task and then simply average out these answers. However, to fully harness the wisdom of the crowd, one needs to learn the heterogeneous quality of each worker. We resolve this fundamental challenge in crowdsourced regression tasks, i.e., the answer takes continuous labels, where identifying good or bad workers becomes much more non-trivial compared to a classification setting of discrete labels. In particular, we introduce a Bayesian iterative scheme and show that it provably achieves the optimal mean squared error. Our evaluations on synthetic and real-world datasets support our theoretical results and show the superiority of the proposed scheme

Distributed Estimation with Information-Seeking Control in Agent Network

We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking control optimizing the behavior of the agents. It is suited to nonlinear and non-Gaussian problems and, in particular, to location-aware networks. For cooperative estimation, a combination of belief propagation message passing and consensus is used. For cooperative control, the negative posterior joint entropy of all states is maximized via a gradient ascent. The estimation layer provides the control layer with probabilistic information in the form of sample representations of probability distributions. Simulation results demonstrate intelligent behavior of the agents and excellent estimation performance for a simultaneous self-localization and target tracking problem. In a cooperative localization scenario with only one anchor, mobile agents can localize themselves after a short time with an accuracy that is higher than the accuracy of the performed distance measurements.Comment: 17 pages, 10 figure

Triangles to Capture Social Cohesion

Although community detection has drawn tremendous amount of attention across the sciences in the past decades, no formal consensus has been reached on the very nature of what qualifies a community as such. In this article we take an orthogonal approach by introducing a novel point of view to the problem of overlapping communities. Instead of quantifying the quality of a set of communities, we choose to focus on the intrinsic community-ness of one given set of nodes. To do so, we propose a general metric on graphs, the cohesion, based on counting triangles and inspired by well established sociological considerations. The model has been validated through a large-scale online experiment called Fellows in which users were able to compute their social groups on Face- book and rate the quality of the obtained groups. By observing those ratings in relation to the cohesion we assess that the cohesion is a strong indicator of users subjective perception of the community-ness of a set of people