193 research outputs found

    Contributions to improve the technologies supporting unmanned aircraft operations

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    Mención Internacional en el título de doctorUnmanned Aerial Vehicles (UAVs), in their smaller versions known as drones, are becoming increasingly important in today's societies. The systems that make them up present a multitude of challenges, of which error can be considered the common denominator. The perception of the environment is measured by sensors that have errors, the models that interpret the information and/or define behaviors are approximations of the world and therefore also have errors. Explaining error allows extending the limits of deterministic models to address real-world problems. The performance of the technologies embedded in drones depends on our ability to understand, model, and control the error of the systems that integrate them, as well as new technologies that may emerge. Flight controllers integrate various subsystems that are generally dependent on other systems. One example is the guidance systems. These systems provide the engine's propulsion controller with the necessary information to accomplish a desired mission. For this purpose, the flight controller is made up of a control law for the guidance system that reacts to the information perceived by the perception and navigation systems. The error of any of the subsystems propagates through the ecosystem of the controller, so the study of each of them is essential. On the other hand, among the strategies for error control are state-space estimators, where the Kalman filter has been a great ally of engineers since its appearance in the 1960s. Kalman filters are at the heart of information fusion systems, minimizing the error covariance of the system and allowing the measured states to be filtered and estimated in the absence of observations. State Space Models (SSM) are developed based on a set of hypotheses for modeling the world. Among the assumptions are that the models of the world must be linear, Markovian, and that the error of their models must be Gaussian. In general, systems are not linear, so linearization are performed on models that are already approximations of the world. In other cases, the noise to be controlled is not Gaussian, but it is approximated to that distribution in order to be able to deal with it. On the other hand, many systems are not Markovian, i.e., their states do not depend only on the previous state, but there are other dependencies that state space models cannot handle. This thesis deals a collection of studies in which error is formulated and reduced. First, the error in a computer vision-based precision landing system is studied, then estimation and filtering problems from the deep learning approach are addressed. Finally, classification concepts with deep learning over trajectories are studied. The first case of the collection xviiistudies the consequences of error propagation in a machine vision-based precision landing system. This paper proposes a set of strategies to reduce the impact on the guidance system, and ultimately reduce the error. The next two studies approach the estimation and filtering problem from the deep learning approach, where error is a function to be minimized by learning. The last case of the collection deals with a trajectory classification problem with real data. This work completes the two main fields in deep learning, regression and classification, where the error is considered as a probability function of class membership.Los vehículos aéreos no tripulados (UAV) en sus versiones de pequeño tamaño conocidos como drones, van tomando protagonismo en las sociedades actuales. Los sistemas que los componen presentan multitud de retos entre los cuales el error se puede considerar como el denominador común. La percepción del entorno se mide mediante sensores que tienen error, los modelos que interpretan la información y/o definen comportamientos son aproximaciones del mundo y por consiguiente también presentan error. Explicar el error permite extender los límites de los modelos deterministas para abordar problemas del mundo real. El rendimiento de las tecnologías embarcadas en los drones, dependen de nuestra capacidad de comprender, modelar y controlar el error de los sistemas que los integran, así como de las nuevas tecnologías que puedan surgir. Los controladores de vuelo integran diferentes subsistemas los cuales generalmente son dependientes de otros sistemas. Un caso de esta situación son los sistemas de guiado. Estos sistemas son los encargados de proporcionar al controlador de los motores información necesaria para cumplir con una misión deseada. Para ello se componen de una ley de control de guiado que reacciona a la información percibida por los sistemas de percepción y navegación. El error de cualquiera de estos sistemas se propaga por el ecosistema del controlador siendo vital su estudio. Por otro lado, entre las estrategias para abordar el control del error se encuentran los estimadores en espacios de estados, donde el filtro de Kalman desde su aparición en los años 60, ha sido y continúa siendo un gran aliado para los ingenieros. Los filtros de Kalman son el corazón de los sistemas de fusión de información, los cuales minimizan la covarianza del error del sistema, permitiendo filtrar los estados medidos y estimarlos cuando no se tienen observaciones. Los modelos de espacios de estados se desarrollan en base a un conjunto de hipótesis para modelar el mundo. Entre las hipótesis se encuentra que los modelos del mundo han de ser lineales, markovianos y que el error de sus modelos ha de ser gaussiano. Generalmente los sistemas no son lineales por lo que se realizan linealizaciones sobre modelos que a su vez ya son aproximaciones del mundo. En otros casos el ruido que se desea controlar no es gaussiano, pero se aproxima a esta distribución para poder abordarlo. Por otro lado, multitud de sistemas no son markovianos, es decir, sus estados no solo dependen del estado anterior, sino que existen otras dependencias que los modelos de espacio de estados no son capaces de abordar. Esta tesis aborda un compendio de estudios sobre los que se formula y reduce el error. En primer lugar, se estudia el error en un sistema de aterrizaje de precisión basado en visión por computador. Después se plantean problemas de estimación y filtrado desde la aproximación del aprendizaje profundo. Por último, se estudian los conceptos de clasificación con aprendizaje profundo sobre trayectorias. El primer caso del compendio estudia las consecuencias de la propagación del error de un sistema de aterrizaje de precisión basado en visión artificial. En este trabajo se propone un conjunto de estrategias para reducir el impacto sobre el sistema de guiado, y en última instancia reducir el error. Los siguientes dos estudios abordan el problema de estimación y filtrado desde la perspectiva del aprendizaje profundo, donde el error es una función que minimizar mediante aprendizaje. El último caso del compendio aborda un problema de clasificación de trayectorias con datos reales. Con este trabajo se completan los dos campos principales en aprendizaje profundo, regresión y clasificación, donde se plantea el error como una función de probabilidad de pertenencia a una clase.I would like to thank the Ministry of Science and Innovation for granting me the funding with reference PRE2018-086793, associated to the project TEC2017-88048-C2-2-R, which provide me the opportunity to carry out all my PhD. activities, including completing an international research internship.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidente: Antonio Berlanga de Jesús.- Secretario: Daniel Arias Medina.- Vocal: Alejandro Martínez Cav

    Federated Variational Inference Methods for Structured Latent Variable Models

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    Federated learning methods enable model training across distributed data sources without data leaving their original locations and have gained increasing interest in various fields. However, existing approaches are limited, excluding many structured probabilistic models. We present a general and elegant solution based on structured variational inference, widely used in Bayesian machine learning, adapted for the federated setting. Additionally, we provide a communication-efficient variant analogous to the canonical FedAvg algorithm. The proposed algorithms' effectiveness is demonstrated, and their performance is compared with hierarchical Bayesian neural networks and topic models

    Modelling, Dimensioning and Optimization of 5G Communication Networks, Resources and Services

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    This reprint aims to collect state-of-the-art research contributions that address challenges in the emerging 5G networks design, dimensioning and optimization. Designing, dimensioning and optimization of communication networks resources and services have been an inseparable part of telecom network development. The latter must convey a large volume of traffic, providing service to traffic streams with highly differentiated requirements in terms of bit-rate and service time, required quality of service and quality of experience parameters. Such a communication infrastructure presents many important challenges, such as the study of necessary multi-layer cooperation, new protocols, performance evaluation of different network parts, low layer network design, network management and security issues, and new technologies in general, which will be discussed in this book

    Statistical Learning for Structured Models: Tree Based Methods and Neural Networks

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    In this thesis, estimation in regression and classification problems which include low dimensional structures are considered. The underlying question is the following. How well do statistical learn- ing methods perform for models with low dimensional structures? We approach this question using various algorithms in various settings. For our first main contribution, we prove optimal convergence rates in a classification setting using neural networks. While non-optimal rates ex- isted for this problem, we are the first to prove optimal ones. Secondly, we introduce a new tree based algorithm we named random planted forest. It adapts particularly well to models which consist of low dimensional structures. We examine its performance in simulation studies and include some theoretical backing by proving optimal convergence rates in certain settings for a modification of the algorithm. Additionally, a generalized version of the algorithm is included, which can be used in classification settings. In a further contribution, we prove optimal con- vergence rates for the local linear smooth backfitting algorithm. While such rates have already been established, we bring a new simpler perspective to the problem which leads to better understanding and easier interpretation. Additionally, given an estimator in a regression setting, we propose a constraint which leads to a unique decomposition. This decomposition is useful for visualising and interpreting the estimator, in particular if it consits of low dimenional structures

    Frequentist Guarantees of Distributed (Non)-Bayesian Inference

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    Motivated by the need to analyze large, decentralized datasets, distributed Bayesian inference has become a critical research area across multiple fields, including statistics, electrical engineering, and economics. This paper establishes Frequentist properties, such as posterior consistency, asymptotic normality, and posterior contraction rates, for the distributed (non-)Bayes Inference problem among agents connected via a communication network. Our results show that, under appropriate assumptions on the communication graph, distributed Bayesian inference retains parametric efficiency while enhancing robustness in uncertainty quantification. We also explore the trade-off between statistical efficiency and communication efficiency by examining how the design and size of the communication graph impact the posterior contraction rate. Furthermore, We extend our analysis to time-varying graphs and apply our results to exponential family models, distributed logistic regression, and decentralized detection models

    Improving Dual-Encoder Training through Dynamic Indexes for Negative Mining

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    Dual encoder models are ubiquitous in modern classification and retrieval. Crucial for training such dual encoders is an accurate estimation of gradients from the partition function of the softmax over the large output space; this requires finding negative targets that contribute most significantly ("hard negatives"). Since dual encoder model parameters change during training, the use of traditional static nearest neighbor indexes can be sub-optimal. These static indexes (1) periodically require expensive re-building of the index, which in turn requires (2) expensive re-encoding of all targets using updated model parameters. This paper addresses both of these challenges. First, we introduce an algorithm that uses a tree structure to approximate the softmax with provable bounds and that dynamically maintains the tree. Second, we approximate the effect of a gradient update on target encodings with an efficient Nystrom low-rank approximation. In our empirical study on datasets with over twenty million targets, our approach cuts error by half in relation to oracle brute-force negative mining. Furthermore, our method surpasses prior state-of-the-art while using 150x less accelerator memory.Comment: To appear at AISTATS 202

    LIPIcs, Volume 274, ESA 2023, Complete Volume

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    LIPIcs, Volume 274, ESA 2023, Complete Volum

    Sharded Bayesian Additive Regression Trees

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    In this paper we develop the randomized Sharded Bayesian Additive Regression Trees (SBT) model. We introduce a randomization auxiliary variable and a sharding tree to decide partitioning of data, and fit each partition component to a sub-model using Bayesian Additive Regression Tree (BART). By observing that the optimal design of a sharding tree can determine optimal sharding for sub-models on a product space, we introduce an intersection tree structure to completely specify both the sharding and modeling using only tree structures. In addition to experiments, we also derive the theoretical optimal weights for minimizing posterior contractions and prove the worst-case complexity of SBT.Comment: 46 pages, 10 figures (Appendix included

    Private Data Exploring, Sampling, and Profiling

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    Data analytics is being widely used not only as a business tool, which empowers organizations to drive efficiencies, glean deeper operational insights and identify new opportunities, but also for the greater good of society, as it is helping solve some of world's most pressing issues, such as developing COVID-19 vaccines, fighting poverty and climate change. Data analytics is a process involving a pipeline of tasks over the underlying datasets, such as data acquisition and cleaning, data exploration and profiling, building statistics and training machine learning models. In many cases, conducting data analytics faces two practical challenges. First, many sensitive datasets have restricted access and do not allow unfettered access; Second, data assets are often owned and stored in silos by multiple business units within an organization with different access control. Therefore, data scientists have to do analytics on private and siloed data. There is a fundamental trade-off between data privacy and the data analytics tasks. On the one hand, achieving good quality data analytics requires understanding the whole picture of the data; on the other hand, despite recent advances in designing privacy and security primitives such as differential privacy and secure computation, when naivly applied, they often significantly downgrade tasks' efficiency and accuracy, due to the expensive computations and injected noise, respectively. Moreover, those techniques are often piecemeal and they fall short in holistically integrating into end-to-end data analytics tasks. In this thesis, we approach this problem by treating privacy and utility as constraints on data analytics. First, we study each task and express its utility as data constraints; then, we select a principled data privacy and security model for each task; and finally, we develop mechanisms to combine them into end to end analytics tasks. This dissertation addresses the specific technical challenges of trading off privacy and utility in three popular analytics tasks. The first challenge is to ensure query accuracy in private data exploration. Current systems for answering queries with differential privacy place an inordinate burden on the data scientist to understand differential privacy, manage their privacy budget, and even implement new algorithms for noisy query answering. Moreover, current systems do not provide any guarantees to the data analyst on the quality they care about, namely accuracy of query answers. We propose APEx, a generic accuracy-aware privacy query engine for private data exploration. The key distinction of APEx is to allow the data scientist to explicitly specify the desired accuracy bounds to a SQL query. Using experiments with query benchmarks and a case study, we show that APEx allows high exploration quality with a reasonable privacy loss. The second challenge is to preserve the structure of the data in private data synthesis. Existing differentially private data synthesis methods aim to generate useful data based on applications, but they fail in keeping one of the most fundamental data properties of the structured data — the underlying correlations and dependencies among tuples and attributes. As a result, the synthesized data is not useful for any downstream tasks that require this structure to be preserved. We propose Kamino, a data synthesis system to ensure differential privacy and to preserve the structure and correlations present in the original dataset. We empirically show that while preserving the structure of the data, Kamino achieves comparable and even better usefulness in applications of training classification models and answering marginal queries than the state-of-the-art methods of differentially private data synthesis. The third challenge is efficient and secure private data profiling. Discovering functional dependencies (FDs) usually requires access to all data partitions to find constraints that hold on the whole dataset. Simply applying general secure multi-party computation protocols incurs high computation and communication cost. We propose SMFD to formulate the FD discovery problem in the secure multi-party scenario, and design secure and efficient cryptographic protocols to discover FDs over distributed partitions. Experimental results show that SMFD is practically efficient over non-secure distributed FD discovery, and can significantly outperform general purpose multi-party computation framework

    Understanding Quantum Technologies 2022

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    Understanding Quantum Technologies 2022 is a creative-commons ebook that provides a unique 360 degrees overview of quantum technologies from science and technology to geopolitical and societal issues. It covers quantum physics history, quantum physics 101, gate-based quantum computing, quantum computing engineering (including quantum error corrections and quantum computing energetics), quantum computing hardware (all qubit types, including quantum annealing and quantum simulation paradigms, history, science, research, implementation and vendors), quantum enabling technologies (cryogenics, control electronics, photonics, components fabs, raw materials), quantum computing algorithms, software development tools and use cases, unconventional computing (potential alternatives to quantum and classical computing), quantum telecommunications and cryptography, quantum sensing, quantum technologies around the world, quantum technologies societal impact and even quantum fake sciences. The main audience are computer science engineers, developers and IT specialists as well as quantum scientists and students who want to acquire a global view of how quantum technologies work, and particularly quantum computing. This version is an extensive update to the 2021 edition published in October 2021.Comment: 1132 pages, 920 figures, Letter forma
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