51,618 research outputs found
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 points in ,
if many but not necessarily all of these points are contained in a
-dimensional subspace can we find it? The points contained in 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 when it contains more than a
fraction of the points. Hence, for say 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 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
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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
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