Efficient Query Processing for SPARQL Federations with Replicated Fragments

Low reliability and availability of public SPARQL endpoints prevent real-world applications from exploiting all the potential of these querying infras-tructures. Fragmenting data on servers can improve data availability but degrades performance. Replicating fragments can offer new tradeoff between performance and availability. We propose FEDRA, a framework for querying Linked Data that takes advantage of client-side data replication, and performs a source selection algorithm that aims to reduce the number of selected public SPARQL endpoints, execution time, and intermediate results. FEDRA has been implemented on the state-of-the-art query engines ANAPSID and FedX, and empirically evaluated on a variety of real-world datasets

Opportunistic linked data querying through approximate membership metadata

Between URI dereferencing and the SPARQL protocol lies a largely unexplored axis of possible interfaces to Linked Data, each with its own combination of trade-offs. One of these interfaces is Triple Pattern Fragments, which allows clients to execute SPARQL queries against low-cost servers, at the cost of higher bandwidth. Increasing a client's efficiency means lowering the number of requests, which can among others be achieved through additional metadata in responses. We noted that typical SPARQL query evaluations against Triple Pattern Fragments require a significant portion of membership subqueries, which check the presence of a specific triple, rather than a variable pattern. This paper studies the impact of providing approximate membership functions, i.e., Bloom filters and Golomb-coded sets, as extra metadata. In addition to reducing HTTP requests, such functions allow to achieve full result recall earlier when temporarily allowing lower precision. Half of the tested queries from a WatDiv benchmark test set could be executed with up to a third fewer HTTP requests with only marginally higher server cost. Query times, however, did not improve, likely due to slower metadata generation and transfer. This indicates that approximate membership functions can partly improve the client-side query process with minimal impact on the server and its interface

Efficient Identification of Equivalences in Dynamic Graphs and Pedigree Structures

We propose a new framework for designing test and query functions for complex structures that vary across a given parameter such as genetic marker position. The operations we are interested in include equality testing, set operations, isolating unique states, duplication counting, or finding equivalence classes under identifiability constraints. A motivating application is locating equivalence classes in identity-by-descent (IBD) graphs, graph structures in pedigree analysis that change over genetic marker location. The nodes of these graphs are unlabeled and identified only by their connecting edges, a constraint easily handled by our approach. The general framework introduced is powerful enough to build a range of testing functions for IBD graphs, dynamic populations, and other structures using a minimal set of operations. The theoretical and algorithmic properties of our approach are analyzed and proved. Computational results on several simulations demonstrate the effectiveness of our approach.Comment: Code for paper available at http://www.stat.washington.edu/~hoytak/code/hashreduc

SkiMap: An Efficient Mapping Framework for Robot Navigation

We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently embedded into a memory and time efficient core data structure organized as a Tree of SkipLists. Compared to the well-known Octree representation, our approach exhibits a better time efficiency, thanks to its simple and highly parallelizable computational structure, and a similar memory footprint when mapping large workspaces. Peculiarly within the realm of mapping for robot navigation, our framework supports realtime erosion and re-integration of measurements upon reception of optimized poses from the sensor tracker, so as to improve continuously the accuracy of the map.Comment: Accepted by International Conference on Robotics and Automation (ICRA) 2017. This is the submitted version. The final published version may be slightly differen