Computational Feasibility of Increasing the Visibility of Vertices in Covert Networks

Disrupting terrorist and other covert networks requires identifying and capturing key leaders. Previous research by Martonosi et al. (2009) defines a load metric on vertices of a covert network representing the amount of communication in which a vertex is expected to participate. They suggest that the visibility of a target vertex can be increased by removing other, more accessible members of the network. This report evaluates the feasibility of efficiently calculating the optimal subset of vertices to remove. We begin by proving that the general problem of identifying the optimally load maximizing vertex set removal is NP-complete. We then consider the feasibility of more quickly computing the load maximizing single vertex removal by designing an efficient algorithm for recomputing Gomory- Hu trees. This leads to a result regarding the uniqueness of Gomory- Hu trees with implications towards the feasibility of one approach for Gomory- Hu tree reconstruction. Finally, we propose a warm start algorithm which performs this reconstruction, and analyze its runtime experimentally

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Nonrigid reconstruction of 3D breast surfaces with a low-cost RGBD camera for surgical planning and aesthetic evaluation

Accounting for 26% of all new cancer cases worldwide, breast cancer remains the most common form of cancer in women. Although early breast cancer has a favourable long-term prognosis, roughly a third of patients suffer from a suboptimal aesthetic outcome despite breast conserving cancer treatment. Clinical-quality 3D modelling of the breast surface therefore assumes an increasingly important role in advancing treatment planning, prediction and evaluation of breast cosmesis. Yet, existing 3D torso scanners are expensive and either infrastructure-heavy or subject to motion artefacts. In this paper we employ a single consumer-grade RGBD camera with an ICP-based registration approach to jointly align all points from a sequence of depth images non-rigidly. Subtle body deformation due to postural sway and respiration is successfully mitigated leading to a higher geometric accuracy through regularised locally affine transformations. We present results from 6 clinical cases where our method compares well with the gold standard and outperforms a previous approach. We show that our method produces better reconstructions qualitatively by visual assessment and quantitatively by consistently obtaining lower landmark error scores and yielding more accurate breast volume estimates

Discovering the roots: Uniform closure results for algebraic classes under factoring

Newton iteration (NI) is an almost 350 years old recursive formula that approximates a simple root of a polynomial quite rapidly. We generalize it to a matrix recurrence (allRootsNI) that approximates all the roots simultaneously. In this form, the process yields a better circuit complexity in the case when the number of roots $r$ is small but the multiplicities are exponentially large. Our method sets up a linear system in $r$ unknowns and iteratively builds the roots as formal power series. For an algebraic circuit $f(x_1,\ldots,x_n)$ of size $s$ we prove that each factor has size at most a polynomial in: $s$ and the degree of the squarefree part of $f$. Consequently, if $f_1$ is a $2^{\Omega(n)}$-hard polynomial then any nonzero multiple $\prod_{i} f_i^{e_i}$ is equally hard for arbitrary positive $e_i$'s, assuming that $\sum_i \text{deg}(f_i)$ is at most $2^{O(n)}$. It is an old open question whether the class of poly($n$)-sized formulas (resp. algebraic branching programs) is closed under factoring. We show that given a polynomial $f$ of degree $n^{O(1)}$ and formula (resp. ABP) size $n^{O(\log n)}$ we can find a similar size formula (resp. ABP) factor in randomized poly($n^{\log n}$)-time. Consequently, if determinant requires $n^{\Omega(\log n)}$ size formula, then the same can be said about any of its nonzero multiples. As part of our proofs, we identify a new property of multivariate polynomial factorization. We show that under a random linear transformation $\tau$, $f(\tau\overline{x})$ completely factors via power series roots. Moreover, the factorization adapts well to circuit complexity analysis. This with allRootsNI are the techniques that help us make progress towards the old open problems, supplementing the large body of classical results and concepts in algebraic circuit factorization (eg. Zassenhaus, J.NT 1969, Kaltofen, STOC 1985-7 \& Burgisser, FOCS 2001).Comment: 33 Pages, No figure

A machine learning approach for layout inference in spreadsheets

Spreadsheet applications are one of the most used tools for content generation and presentation in industry and the Web. In spite of this success, there does not exist a comprehensive approach to automatically extract and reuse the richness of data maintained in this format. The biggest obstacle is the lack of awareness about the structure of the data in spreadsheets, which otherwise could provide the means to automatically understand and extract knowledge from these files. In this paper, we propose a classification approach to discover the layout of tables in spreadsheets. Therefore, we focus on the cell level, considering a wide range of features not covered before by related work. We evaluated the performance of our classifiers on a large dataset covering three different corpora from various domains. Finally, our work includes a novel technique for detecting and repairing incorrectly classified cells in a post-processing step. The experimental results show that our approach deliver s very high accuracy bringing us a crucial step closer towards automatic table extraction.Peer ReviewedPostprint (published version

Mining complex trees for hidden fruit : a graph–based computational solution to detect latent criminal networks : a thesis presented in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Information Technology at Massey University, Albany, New Zealand.

The detection of crime is a complex and difficult endeavour. Public and private organisations – focusing on law enforcement, intelligence, and compliance – commonly apply the rational isolated actor approach premised on observability and materiality. This is manifested largely as conducting entity-level risk management sourcing ‘leads’ from reactive covert human intelligence sources and/or proactive sources by applying simple rules-based models. Focusing on discrete observable and material actors simply ignores that criminal activity exists within a complex system deriving its fundamental structural fabric from the complex interactions between actors - with those most unobservable likely to be both criminally proficient and influential. The graph-based computational solution developed to detect latent criminal networks is a response to the inadequacy of the rational isolated actor approach that ignores the connectedness and complexity of criminality. The core computational solution, written in the R language, consists of novel entity resolution, link discovery, and knowledge discovery technology. Entity resolution enables the fusion of multiple datasets with high accuracy (mean F-measure of 0.986 versus competitors 0.872), generating a graph-based expressive view of the problem. Link discovery is comprised of link prediction and link inference, enabling the high-performance detection (accuracy of ~0.8 versus relevant published models ~0.45) of unobserved relationships such as identity fraud. Knowledge discovery uses the fused graph generated and applies the “GraphExtract” algorithm to create a set of subgraphs representing latent functional criminal groups, and a mesoscopic graph representing how this set of criminal groups are interconnected. Latent knowledge is generated from a range of metrics including the “Super-broker” metric and attitude prediction. The computational solution has been evaluated on a range of datasets that mimic an applied setting, demonstrating a scalable (tested on ~18 million node graphs) and performant (~33 hours runtime on a non-distributed platform) solution that successfully detects relevant latent functional criminal groups in around 90% of cases sampled and enables the contextual understanding of the broader criminal system through the mesoscopic graph and associated metadata. The augmented data assets generated provide a multi-perspective systems view of criminal activity that enable advanced informed decision making across the microscopic mesoscopic macroscopic spectrum

A survey on multi-robot coverage path planning for model reconstruction and mapping

There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives