Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

Evolving Large-Scale Data Stream Analytics based on Scalable PANFIS

Many distributed machine learning frameworks have recently been built to speed up the large-scale data learning process. However, most distributed machine learning used in these frameworks still uses an offline algorithm model which cannot cope with the data stream problems. In fact, large-scale data are mostly generated by the non-stationary data stream where its pattern evolves over time. To address this problem, we propose a novel Evolving Large-scale Data Stream Analytics framework based on a Scalable Parsimonious Network based on Fuzzy Inference System (Scalable PANFIS), where the PANFIS evolving algorithm is distributed over the worker nodes in the cloud to learn large-scale data stream. Scalable PANFIS framework incorporates the active learning (AL) strategy and two model fusion methods. The AL accelerates the distributed learning process to generate an initial evolving large-scale data stream model (initial model), whereas the two model fusion methods aggregate an initial model to generate the final model. The final model represents the update of current large-scale data knowledge which can be used to infer future data. Extensive experiments on this framework are validated by measuring the accuracy and running time of four combinations of Scalable PANFIS and other Spark-based built in algorithms. The results indicate that Scalable PANFIS with AL improves the training time to be almost two times faster than Scalable PANFIS without AL. The results also show both rule merging and the voting mechanisms yield similar accuracy in general among Scalable PANFIS algorithms and they are generally better than Spark-based algorithms. In terms of running time, the Scalable PANFIS training time outperforms all Spark-based algorithms when classifying numerous benchmark datasets.Comment: 20 pages, 5 figure

GraphSE2^2: An Encrypted Graph Database for Privacy-Preserving Social Search

In this paper, we propose GraphSE$^2$, an encrypted graph database for online social network services to address massive data breaches. GraphSE$^2$ preserves the functionality of social search, a key enabler for quality social network services, where social search queries are conducted on a large-scale social graph and meanwhile perform set and computational operations on user-generated contents. To enable efficient privacy-preserving social search, GraphSE$^2$ provides an encrypted structural data model to facilitate parallel and encrypted graph data access. It is also designed to decompose complex social search queries into atomic operations and realise them via interchangeable protocols in a fast and scalable manner. We build GraphSE$^2$ with various queries supported in the Facebook graph search engine and implement a full-fledged prototype. Extensive evaluations on Azure Cloud demonstrate that GraphSE$^2$ is practical for querying a social graph with a million of users.Comment: This is the full version of our AsiaCCS paper "GraphSE$^2$: An Encrypted Graph Database for Privacy-Preserving Social Search". It includes the security proof of the proposed scheme. If you want to cite our work, please cite the conference version of i

EAGLE—A Scalable Query Processing Engine for Linked Sensor Data

Recently, many approaches have been proposed to manage sensor data using semantic web technologies for effective heterogeneous data integration. However, our empirical observations revealed that these solutions primarily focused on semantic relationships and unfortunately paid less attention to spatio–temporal correlations. Most semantic approaches do not have spatio–temporal support. Some of them have attempted to provide full spatio–temporal support, but have poor performance for complex spatio–temporal aggregate queries. In addition, while the volume of sensor data is rapidly growing, the challenge of querying and managing the massive volumes of data generated by sensing devices still remains unsolved. In this article, we introduce EAGLE, a spatio–temporal query engine for querying sensor data based on the linked data model. The ultimate goal of EAGLE is to provide an elastic and scalable system which allows fast searching and analysis with respect to the relationships of space, time and semantics in sensor data. We also extend SPARQL with a set of new query operators in order to support spatio–temporal computing in the linked sensor data context.EC/H2020/732679/EU/ACTivating InnoVative IoT smart living environments for AGEing well/ACTIVAGEEC/H2020/661180/EU/A Scalable and Elastic Platform for Near-Realtime Analytics for The Graph of Everything/SMARTE