4,472 research outputs found
Quantifiable integrity for Linked Data on the web
We present an approach to publish Linked Data on the Web with quantifiable integrity using Web technologies, and in which rational agents are incentivised to contribute to the integrity of the link network. To this end, we introduce self-verifying resource representations, that include Linked Data Signatures whose signature value is used as a suffix in the resource’s URI. Links among such representations, typically managed as web documents, contribute therefore to preserving the integrity of the resulting document graphs. To quantify how well a document’s integrity can be relied on, we introduce the notion of trust scores and present an interpretation based on hubs and authorities. In addition, we present how specific agent behaviour may be induced by the choice of trust score regarding their optimisation, e.g., in general but also using a heuristic strategy called Additional Reach Strategy (ARS). We discuss our approach in a three-fold evaluation: First, we evaluate the effect of different graph metrics as trust scores on induced agent behaviour and resulting evolution of the document graph. We show that trust scores based on hubs and authorities induce agent behaviour that contributes to integrity preservation in the document graph. Next, we evaluate different heuristics for agents to optimise trust scores when general optimisation strategies are not applicable. We show that ARS outperforms other potential optimisation strategies. Last, we evaluate the whole approach by examining the resilience of integrity preservation in a document graph when resources are deleted. To this end, we propose a simulation system based on the Watts–Strogatz model for simulating a social network. We show that our approach produces a document graph that can recover from such attacks or failures in the document graph
Optimization of Beyond 5G Network Slicing for Smart City Applications
Transitioning from the current fifth-generation (5G) wireless technology, the advent of beyond 5G (B5G) signifies a pivotal stride toward sixth generation (6G) communication technology. B5G, at its essence, harnesses end-to-end (E2E) network slicing (NS) technology, enabling the simultaneous accommodation of multiple logical networks with distinct performance requirements on a shared physical infrastructure. At the forefront of this implementation lies the critical process of network slice design, a phase central to the realization of efficient smart city networks. This thesis assumes a key role in the network slicing life cycle, emphasizing the analysis and formulation of optimal procedures for configuring, customizing, and allocating E2E network slices. The focus extends to catering to the unique demands of smart city applications, encompassing critical areas such as emergency response, smart buildings, and video surveillance. By addressing the intricacies of network slice design, the study navigates through the complexities of tailoring slices to meet specific application needs, thereby contributing to the seamless integration of diverse services within the smart city framework. Addressing the core challenge of NS, which involves the allocation of virtual networks on the physical topology with optimal resource allocation, the thesis introduces a dual integer linear programming (ILP) optimization problem. This problem is formulated to jointly minimize the embedding cost and latency. However, given the NP-hard nature of this ILP, finding an efficient alternative becomes a significant hurdle. In response, this thesis introduces a novel heuristic approach the matroid-based modified greedy breadth-first search (MGBFS) algorithm. This pioneering algorithm leverages matroid properties to navigate the process of virtual network embedding and resource allocation. By introducing this novel heuristic approach, the research aims to provide near-optimal solutions, overcoming the computational complexities associated with the dual integer linear programming problem. The proposed MGBFS algorithm not only addresses the connectivity, cost, and latency constraints but also outperforms the benchmark model delivering solutions remarkably close to optimal. This innovative approach represents a substantial advancement in the optimization of smart city applications, promising heightened connectivity, efficiency, and resource utilization within the evolving landscape of B5G-enabled communication technology
LIPIcs, Volume 251, ITCS 2023, Complete Volume
LIPIcs, Volume 251, ITCS 2023, Complete Volum
Towards Global Neural Network Abstractions with Locally-Exact Reconstruction
Neural networks are a powerful class of non-linear functions. However, their
black-box nature makes it difficult to explain their behaviour and certify
their safety. Abstraction techniques address this challenge by transforming the
neural network into a simpler, over-approximated function. Unfortunately,
existing abstraction techniques are slack, which limits their applicability to
small local regions of the input domain. In this paper, we propose Global
Interval Neural Network Abstractions with Center-Exact Reconstruction
(GINNACER). Our novel abstraction technique produces sound over-approximation
bounds over the whole input domain while guaranteeing exact reconstructions for
any given local input. Our experiments show that GINNACER is several orders of
magnitude tighter than state-of-the-art global abstraction techniques, while
being competitive with local ones.Comment: Under submission to the Neural Networks Journal (revised version).
Sections 2, 4.7, 5.4, Appendix A and B have been adde
Design, Integration, and Field Evaluation of a Robotic Blossom Thinning System for Tree Fruit Crops
The US apple industry relies heavily on semi-skilled manual labor force for
essential field operations such as training, pruning, blossom and green fruit
thinning, and harvesting. Blossom thinning is one of the crucial crop load
management practices to achieve desired crop load, fruit quality, and return
bloom. While several techniques such as chemical, and mechanical thinning are
available for large-scale blossom thinning such approaches often yield
unpredictable thinning results and may cause damage the canopy, spurs, and leaf
tissue. Hence, growers still depend on laborious, labor intensive and expensive
manual hand blossom thinning for desired thinning outcomes. This research
presents a robotic solution for blossom thinning in apple orchards using a
computer vision system with artificial intelligence, a six degrees of freedom
robotic manipulator, and an electrically actuated miniature end-effector for
robotic blossom thinning. The integrated robotic system was evaluated in a
commercial apple orchard which showed promising results for targeted and
selective blossom thinning. Two thinning approaches, center and boundary
thinning, were investigated to evaluate the system ability to remove varying
proportion of flowers from apple flower clusters. During boundary thinning the
end effector was actuated around the cluster boundary while center thinning
involved end-effector actuation only at the cluster centroid for a fixed
duration of 2 seconds. The boundary thinning approach thinned 67.2% of flowers
from the targeted clusters with a cycle time of 9.0 seconds per cluster,
whereas center thinning approach thinned 59.4% of flowers with a cycle time of
7.2 seconds per cluster. When commercially adopted, the proposed system could
help address problems faced by apple growers with current hand, chemical, and
mechanical blossom thinning approaches
Temporal cascade model for analyzing spread in evolving networks
Current approaches for modeling propagation in networks (e.g., of diseases, computer viruses, rumors) cannot adequately capture temporal properties such as order/duration of evolving connections or dynamic likelihoods of propagation along connections. Temporal models on evolving networks are crucial in applications that need to analyze dynamic spread. For example, a disease spreading virus has varying transmissibility based on interactions between individuals occurring with different frequency, proximity, and venue population density. Similarly, propagation of information having a limited active period, such as rumors, depends on the temporal dynamics of social interactions. To capture such behaviors, we first develop the Temporal Independent Cascade (T-IC) model with a spread function that efficiently utilizes a hypergraph-based sampling strategy and dynamic propagation probabilities. We prove this function to be submodular, with guarantees of approximation quality. This enables scalable analysis on highly granular temporal networks where other models struggle, such as when the spread across connections exhibits arbitrary temporally evolving patterns. We then introduce the notion of ‘reverse spread’ using the proposed T-IC processes, and develop novel solutions to identify both sentinel/detector nodes and highly susceptible nodes. Extensive analysis on real-world datasets shows that the proposed approach significantly outperforms the alternatives in modeling both if and how spread occurs, by considering evolving network topology alongside granular contact/interaction information. Our approach has numerous applications, such as virus/rumor/influence tracking. Utilizing T-IC, we explore vital challenges of monitoring the impact of various intervention strategies over real spatio-temporal contact networks where we show our approach to be highly effective
Guided rewriting and constraint satisfaction for parallel GPU code generation
Graphics Processing Units (GPUs) are notoriously hard to optimise for manually due to their scheduling and memory hierarchies. What is needed are good automatic code generators and optimisers for such parallel hardware. Functional approaches such as Accelerate, Futhark and LIFT leverage a high-level algorithmic Intermediate Representation (IR) to expose parallelism and abstract the implementation details away from the user. However, producing efficient code for a given accelerator remains challenging. Existing code generators depend on the user input to choose a subset of hard-coded optimizations or automated exploration of implementation search space. The former suffers from the lack of extensibility, while the latter is too costly due to the size of the search space. A hybrid approach is needed, where a space of valid implementations is built automatically and explored with the aid of human expertise.
This thesis presents a solution combining user-guided rewriting and automatically generated constraints to produce high-performance code. The first contribution is an automatic tuning technique to find a balance between performance and memory consumption. Leveraging its functional patterns, the LIFT compiler is empowered to infer tuning constraints and limit the search to valid tuning combinations only.
Next, the thesis reframes parallelisation as a constraint satisfaction problem. Parallelisation constraints are extracted automatically from the input expression, and a solver is used to identify valid rewriting. The constraints truncate the search space to valid parallel mappings only by capturing the scheduling restrictions of the GPU in the context of a given program. A synchronisation barrier insertion technique is proposed to prevent data races and improve the efficiency of the generated parallel mappings.
The final contribution of this thesis is the guided rewriting method, where the user encodes a design space of structural transformations using high-level IR nodes called rewrite points. These strongly typed pragmas express macro rewrites and expose design choices as explorable parameters. The thesis proposes a small set of reusable rewrite points to achieve tiling, cache locality, data reuse and memory optimisation.
A comparison with the vendor-provided handwritten kernel ARM Compute Library and the TVM code generator demonstrates the effectiveness of this thesis' contributions. With convolution as a use case, LIFT-generated direct and GEMM-based convolution implementations are shown to perform on par with the state-of-the-art solutions on a mobile GPU. Overall, this thesis demonstrates that a functional IR yields well to user-guided and automatic rewriting for high-performance code generation
Exploration autonome et efficiente de chantiers miniers souterrains inconnus avec un drone filaire
Abstract: Underground mining stopes are often mapped using a sensor located at the end of a pole that the operator introduces into the stope from a secure area. The sensor emits laser beams that provide the distance to a detected wall, thus creating a 3D map. This produces shadow zones and a low point density on the distant walls. To address these challenges, a research team from the Université de Sherbrooke is designing a tethered drone equipped with a rotating LiDAR for this mission, thus benefiting from several points of view. The wired transmission allows for unlimited flight time, shared computing, and real-time communication. For compatibility with the movement of the drone after tether entanglements, the excess length is integrated into an onboard spool, contributing to the drone payload. During manual piloting, the human factor causes problems in the perception and comprehension of a virtual 3D environment, as well as the execution of an optimal mission. This thesis focuses on autonomous navigation in two aspects: path planning and exploration. The system must compute a trajectory that maps the entire environment, minimizing the mission time and respecting the maximum onboard tether length. Path planning using a Rapidly-exploring Random Tree (RRT) quickly finds a feasible path, but the optimization is computationally expensive and the performance is variable and unpredictable. Exploration by the frontier method is representative of the space to be explored and the path can be optimized by solving a Traveling Salesman Problem (TSP) but existing techniques for a tethered drone only consider the 2D case and do not optimize the global path. To meet these challenges, this thesis presents two new algorithms. The first one, RRT-Rope, produces an equal or shorter path than existing algorithms in a significantly shorter computation time, up to 70% faster than the next best algorithm in a representative environment. A modified version of RRT-connect computes a feasible path, shortened with a deterministic technique that takes advantage of previously added intermediate nodes. The second algorithm, TAPE, is the first 3D cavity exploration method that focuses on minimizing mission time and unwound tether length. On average, the overall path is 4% longer than the method that solves the TSP, but the tether remains under the allowed length in 100% of the simulated cases, compared to 53% with the initial method. The approach uses a 2-level hierarchical architecture: global planning solves a TSP after frontier extraction, and local planning minimizes the path cost and tether length via a decision function. The integration of these two tools in the NetherDrone produces an intelligent system for autonomous exploration, with semi-autonomous features for operator interaction. This work opens the door to new navigation approaches in the field of inspection, mapping, and Search and Rescue missions.La cartographie des chantiers miniers souterrains est souvent réalisée à l’aide d’un capteur situé au bout d’une perche que l’opérateur introduit dans le chantier, depuis une zone sécurisée. Le capteur émet des faisceaux laser qui fournissent la distance à un mur détecté, créant ainsi une carte en 3D. Ceci produit des zones d’ombres et une faible densité de points sur les parois éloignées. Pour relever ces défis, une équipe de recherche de l’Université de Sherbrooke conçoit un drone filaire équipé d’un LiDAR rotatif pour cette mission, bénéficiant ainsi de plusieurs points de vue. La transmission filaire permet un temps de vol illimité, un partage de calcul et une communication en temps réel. Pour une compatibilité avec le mouvement du drone lors des coincements du fil, la longueur excédante est intégrée dans une bobine embarquée, qui contribue à la charge utile du drone. Lors d’un pilotage manuel, le facteur humain entraîne des problèmes de perception et compréhension d’un environnement 3D virtuel, et d’exécution d’une mission optimale. Cette thèse se concentre sur la navigation autonome sous deux aspects : la planification de trajectoire et l’exploration. Le système doit calculer une trajectoire qui cartographie l’environnement complet, en minimisant le temps de mission et en respectant la longueur maximale de fil embarquée. La planification de trajectoire à l’aide d’un Rapidly-exploring Random Tree (RRT) trouve rapidement un chemin réalisable, mais l’optimisation est coûteuse en calcul et la performance est variable et imprévisible. L’exploration par la méthode des frontières est représentative de l’espace à explorer et le chemin peut être optimisé en résolvant un Traveling Salesman Problem (TSP), mais les techniques existantes pour un drone filaire ne considèrent que le cas 2D et n’optimisent pas le chemin global. Pour relever ces défis, cette thèse présente deux nouveaux algorithmes. Le premier, RRT-Rope, produit un chemin égal ou plus court que les algorithmes existants en un temps de calcul jusqu’à 70% plus court que le deuxième meilleur algorithme dans un environnement représentatif. Une version modifiée de RRT-connect calcule un chemin réalisable, raccourci avec une technique déterministe qui tire profit des noeuds intermédiaires préalablement ajoutés. Le deuxième algorithme, TAPE, est la première méthode d’exploration de cavités en 3D qui minimise le temps de mission et la longueur du fil déroulé. En moyenne, le trajet global est 4% plus long que la méthode qui résout le TSP, mais le fil reste sous la longueur autorisée dans 100% des cas simulés, contre 53% avec la méthode initiale. L’approche utilise une architecture hiérarchique à 2 niveaux : la planification globale résout un TSP après extraction des frontières, et la planification locale minimise le coût du chemin et la longueur de fil via une fonction de décision. L’intégration de ces deux outils dans le NetherDrone produit un système intelligent pour l’exploration autonome, doté de fonctionnalités semi-autonomes pour une interaction avec l’opérateur. Les travaux réalisés ouvrent la porte à de nouvelles approches de navigation dans le domaine des missions d’inspection, de cartographie et de recherche et sauvetage
When Deep Learning Meets Polyhedral Theory: A Survey
In the past decade, deep learning became the prevalent methodology for
predictive modeling thanks to the remarkable accuracy of deep neural networks
in tasks such as computer vision and natural language processing. Meanwhile,
the structure of neural networks converged back to simpler representations
based on piecewise constant and piecewise linear functions such as the
Rectified Linear Unit (ReLU), which became the most commonly used type of
activation function in neural networks. That made certain types of network
structure \unicode{x2014}such as the typical fully-connected feedforward
neural network\unicode{x2014} amenable to analysis through polyhedral theory
and to the application of methodologies such as Linear Programming (LP) and
Mixed-Integer Linear Programming (MILP) for a variety of purposes. In this
paper, we survey the main topics emerging from this fast-paced area of work,
which bring a fresh perspective to understanding neural networks in more detail
as well as to applying linear optimization techniques to train, verify, and
reduce the size of such networks
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