An on-line algorithm for checkpoint placement

Checkpointing is a common technique for reducing the time to recover from faults in computer systems. By saving intermediate states of programs in a reliable storage, checkpointing enables to reduce the lost processing time caused by faults. The length of the intervals between checkpoints affects the execution time of programs. Long intervals lead to long re-processing time, while too frequent checkpointing leads to high checkpointing overhead. In this paper we present an on-line algorithm for placement of checkpoints. The algorithm uses on-line knowledge of the current cost of a checkpoint when it decides whether or not to place a checkpoint. We show how the execution time of a program using this algorithm can be analyzed. The total overhead of the execution time when the proposed algorithm is used is smaller than the overhead when fixed intervals are used. Although the proposed algorithm uses only on-line knowledge about the cost of checkpointing, its behavior is close to the off-line optimal algorithm that uses a complete knowledge of checkpointing cost

Algorithms and Hardness for Robust Subspace Recovery

We consider a fundamental problem in unsupervised learning called \emph{subspace recovery}: given a collection of $m$ points in $\mathbb{R}^n$, if many but not necessarily all of these points are contained in a $d$-dimensional subspace $T$ can we find it? The points contained in $T$ are called {\em inliers} and the remaining points are {\em outliers}. This problem has received considerable attention in computer science and in statistics. Yet efficient algorithms from computer science are not robust to {\em adversarial} outliers, and the estimators from robust statistics are hard to compute in high dimensions. Are there algorithms for subspace recovery that are both robust to outliers and efficient? We give an algorithm that finds $T$ when it contains more than a $\frac{d}{n}$ fraction of the points. Hence, for say $d = n/2$ this estimator is both easy to compute and well-behaved when there are a constant fraction of outliers. We prove that it is Small Set Expansion hard to find $T$ when the fraction of errors is any larger, thus giving evidence that our estimator is an {\em optimal} compromise between efficiency and robustness. As it turns out, this basic problem has a surprising number of connections to other areas including small set expansion, matroid theory and functional analysis that we make use of here.Comment: Appeared in Proceedings of COLT 201

Coordination of Mobile Mules via Facility Location Strategies

In this paper, we study the problem of wireless sensor network (WSN) maintenance using mobile entities called mules. The mules are deployed in the area of the WSN in such a way that would minimize the time it takes them to reach a failed sensor and fix it. The mules must constantly optimize their collective deployment to account for occupied mules. The objective is to define the optimal deployment and task allocation strategy for the mules, so that the sensors' downtime and the mules' traveling distance are minimized. Our solutions are inspired by research in the field of computational geometry and the design of our algorithms is based on state of the art approximation algorithms for the classical problem of facility location. Our empirical results demonstrate how cooperation enhances the team's performance, and indicate that a combination of k-Median based deployment with closest-available task allocation provides the best results in terms of minimizing the sensors' downtime but is inefficient in terms of the mules' travel distance. A k-Centroid based deployment produces good results in both criteria.Comment: 12 pages, 6 figures, conferenc

Lensfree computational microscopy tools for cell and tissue imaging at the point-of-care and in low-resource settings.

The recent revolution in digital technologies and information processing methods present important opportunities to transform the way optical imaging is performed, particularly toward improving the throughput of microscopes while at the same time reducing their relative cost and complexity. Lensfree computational microscopy is rapidly emerging toward this end, and by discarding lenses and other bulky optical components of conventional imaging systems, and relying on digital computation instead, it can achieve both reflection and transmission mode microscopy over a large field-of-view within compact, cost-effective and mechanically robust architectures. Such high throughput and miniaturized imaging devices can provide a complementary toolset for telemedicine applications and point-of-care diagnostics by facilitating complex and critical tasks such as cytometry and microscopic analysis of e.g., blood smears, Pap tests and tissue samples. In this article, the basics of these lensfree microscopy modalities will be reviewed, and their clinically relevant applications will be discussed

Maskless imaging of dense samples using pixel super-resolution based multi-height lensfree on-chip microscopy.

Lensfree in-line holographic microscopy offers sub-micron resolution over a large field-of-view (e.g., ~24 mm2) with a cost-effective and compact design suitable for field use. However, it is limited to relatively low-density samples. To mitigate this limitation, we demonstrate an on-chip imaging approach based on pixel super-resolution and phase recovery, which iterates among multiple lensfree intensity measurements, each having a slightly different sample-to-sensor distance. By digitally aligning and registering these lensfree intensity measurements, phase and amplitude images of dense and connected specimens can be iteratively reconstructed over a large field-of-view of ~24 mm2 without the use of any spatial masks. We demonstrate the success of this multi-height in-line holographic approach by imaging dense Papanicolaou smears (i.e., Pap smears) and blood samples

Learning to Place New Objects

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to be inserted vertically into the slot of a dish-rack as compared to be placed horizontally in it. Unstructured environments such as homes have a large variety of object types as well as of placing areas. Therefore our algorithms should be able to handle placing new object types and new placing areas. These reasons make placing a challenging manipulation task. In this work, we propose a supervised learning algorithm for finding good placements given the point-clouds of the object and the placing area. It learns to combine the features that capture support, stability and preferred placements using a shared sparsity structure in the parameters. Even when neither the object nor the placing area is seen previously in the training set, our algorithm predicts good placements. In extensive experiments, our method enables the robot to stably place several new objects in several new placing areas with 98% success-rate; and it placed the objects in their preferred placements in 92% of the cases