Bounding probabilistic relationships in Bayesian networks using qualitative influences: methods and applications

AbstractWe present conditions under which one can bound the probabilistic relationships between random variables in a Bayesian network by exploiting known or induced qualitative relationships. Generic strengthening and weakening operations produce bounds on cumulative distributions, and the directions of these bounds are maintained through qualitative influences. We show how to incorporate these operations in a state-space abstraction method, so that bounds provably tighten as an approximate network is refined. We apply these techniques to qualitative tradeoff resolution demonstrating an ability to identify qualitative relationships among random variables without exhaustively using the probabilistic information encoded in the given network. In an application to path planning, we present an anytime algorithm with run-time computable error bounds

Toward safe and stable time-delayed mobile robot teleoperation through sampling-based path planning

This work proposes a teleoperation architecture for mobile robots in partially unknown environments under the presence of variable time delay. The system is provided with artificial intelligence represented by a probabilistic path planner that, in combination with a prediction module, assists the operator while guaranteeing a collision-free motion. For this purpose, a certain level of autonomy is given to the system. The structure was tested in indoor environments for different kinds of operators. A maximum time delay of 2s was successfully coped with. © 2011 Cambridge University Press

Capture and reconstruction of the topology of undirected graphs from partial coordinates: a matrix completion based approach

2017 Spring.Includes bibliographical references.With the advancement in science and technology, new types of complex networks have become common place across varied domains such as computer networks, Internet, bio-technological studies, sociology, and condensed matter physics. The surge of interest in research towards graphs and topology can be attributed to important applications such as graph representation of words in computational linguistics, identification of terrorists for national security, studying complicated atomic structures, and modeling connectivity in condensed matter physics. Well-known social networks, Facebook, and twitter, have millions of users, while the science citation index is a repository of millions of records and citations. These examples indicate the importance of efficient techniques for measuring, characterizing and mining large and complex networks. Often analysis of graph attributes to understand the graph topology and embedded properties on these complex graphs becomes difficult due to causes such need to process huge data volumes, lack of compressed representation forms and lack of complete information. Due to improper or inadequate acquiring processes, inaccessibility, etc., often we end up with partial graph representational data. Thus there is immense significance in being able to extract this missing information from the available data. Therefore obtaining the topology of a graph, such as a communication network or a social network from incomplete information is our research focus. Specifically, this research addresses the problem of capturing and reconstructing the topology of a network from a small set of path length measurements. An accurate solution for this problem also provides means of describing graphs with a compressed representation. A technique to obtain the topology from only a partial set of information about network paths is presented. Specifically, we demonstrate the capture of the network topology from a small set of measurements corresponding to a) shortest hop distances of nodes with respect to small set of nodes called as anchors, or b) a set of pairwise hop distances between random node pairs. These two measurement sets can be related to the Distance matrix D, a common representation of the topology, where an entry contains the shortest hop distance between two nodes. In an anchor based method, the shortest hop distances of nodes to a set of M anchors constitute what is known as a Virtual Coordinate (VC) matrix. This is a submatrix of columns of D corresponding to the anchor nodes. Random pairwise measurements correspond to a random subset of elements of D. The proposed technique depends on a low rank matrix completion method based on extended Robust Principal Component Analysis to extract the unknown elements. The application of the principles of matrix completion relies on the conjecture that many natural data sets are inherently low dimensional and thus corresponding matrix is relatively low ranked. We demonstrate that this is applicable to D of many large-scale networks as well. Thus we are able to use results from the theory of matrix completion for capturing the topology. Two important types of graphs have been used for evaluation of the proposed technique, namely, Wireless Sensor Network (WSN) graphs and social network graphs. For WSN examples, we use the Topology Preserving Map (TPM), which is a homeomorphic representation of the original layout, to evaluate the effectiveness of the technique from partial sets of entries of VC matrix. A double centering based approach is used to evaluate the TPMs from VCs, in comparison with the existing non-centered approach. Results are presented for both random anchors and nodes that are farthest apart on the boundaries. The idea of obtaining topology is extended towards social network link prediction. The significance of this result lies in the fact that with increasing privacy concerns, obtaining the data in the form of VC matrix or as hop distance matrix becomes difficult. This approach of predicting the unknown entries of a matrix provides a novel approach for social network link predictions, and is supported by the fact that the distance matrices of most real world networks are naturally low ranked. The accuracy of the proposed techniques is evaluated using 4 different WSN and 3 different social networks. Two 2D and two 3D networks have been used for WSNs with the number of nodes ranging from 500 to 1600. We are able to obtain accurate TPMs for both random anchors and extreme anchors with only 20% to 40% of VC matrix entries. The mean error quantifies the error introduced in TPMs due to unknown entries. The results indicate that even with 80% of entries missing, the mean error is around 35% to 45%. The Facebook, Collaboration and Enron Email sub networks, with 744, 4158, 3892 nodes respectively, have been used for social network capture. The results obtained are very promising. With 80% of information missing in the hop-distance matrix, a maximum error of only around 6% is incurred. The error in prediction of hop distance is less than 0.5 hops. This has also opened up the idea of compressed representation of networks by its VC matrix

Greedy routing with guaranteed delivery using Ricci flows

Greedy forwarding with geographical locations in a wireless sensor network may fail at a local minimum. In this paper we propose to use conformal mapping to compute a new embedding of the sensor nodes in the plane such that greedy forwarding with the virtual coordinates guarantees delivery. In particular, we extract a planar triangulation of the sensor network with non-triangular faces as holes, by either using the nodes ’ location or using a landmark-based scheme without node location. The conformal map is computed with Ricci flow such that all the non-triangular faces are mapped to perfect circles. Thus greedy forwarding will never get stuck at an intermediate node. The computation of the conformal map and the virtual coordinates is performed at a preprocessing phase and can be implemented by local gossip-style computation. The method applies to both unit disk graph models and quasi-unit disk graph models. Simulation results are presented for these scenarios

Leveraging Client Processing for Location Privacy in Mobile Local Search

Usage of mobile services is growing rapidly. Most Internet-based services targeted for PC based browsers now have mobile counterparts. These mobile counterparts often are enhanced when they use user\u27s location as one of the inputs. Even some PC-based services such as point of interest Search, Mapping, Airline tickets, and software download mirrors now use user\u27s location in order to enhance their services. Location-based services are exactly these, that take the user\u27s location as an input and enhance the experience based on that. With increased use of these services comes the increased risk to location privacy. The location is considered an attribute that user\u27s hold as important to their privacy. Compromise of one\u27s location, in other words, loss of location privacy can have several detrimental effects on the user ranging from trivial annoyance to unreasonable persecution. More and more companies in the Internet economy rely exclusively on the huge data sets they collect about users. The more detailed and accurate the data a company has about its users, the more valuable the company is considered. No wonder that these companies are often the same companies that offer these services for free. This gives them an opportunity to collect more accurate location information. Research community in the location privacy protection area had to reciprocate by modeling an adversary that could be the service provider itself. To further drive this point, we show that a well-equipped service provider can infer user\u27s location even if the location information is not directly available by using other information he collects about the user. There is no dearth of proposals of several protocols and algorithms that protect location privacy. A lot of these earlier proposals require a trusted third party to play as an intermediary between the service provider and the user. These protocols use anonymization and/or obfuscation techniques to protect user\u27s identity and/or location. This requirement of trusted third parties comes with its own complications and risks and makes these proposals impractical in real life scenarios. Thus it is preferable that protocols do not require a trusted third party. We look at existing proposals in the area of private information retrieval. We present a brief survey of several proposals in the literature and implement two representative algorithms. We run experiments using different sizes of databases to ascertain their practicability and performance features. We show that private information retrieval based protocols still have long ways to go before they become practical enough for local search applications. We propose location privacy preserving mechanisms that take advantage of the processing power of modern mobile devices and provide configurable levels of location privacy. We propose these techniques both in the single query scenario and multiple query scenario. In single query scenario, the user issues a query to the server and obtains the answer. In the multiple query scenario, the user keeps sending queries as she moves about in the area of interest. We show that the multiple query scenario increases the accuracy of adversary\u27s determination of user\u27s location, and hence improvements are needed to cope with this situation. So, we propose an extension of the single query scenario that addresses this riskier multiple query scenario, still maintaining the practicability and acceptable performance when implemented on a modern mobile device. Later we propose a technique based on differential privacy that is inspired by differential privacy in statistical databases. All three mechanisms proposed by us are implemented in realistic hardware or simulators, run against simulated but real life data and their characteristics ascertained to show that they are practical and ready for adaptation. This dissertation study the privacy issues for location-based services in mobile environment and proposes a set of new techniques that eliminate the need for a trusted third party by implementing efficient algorithms on modern mobile hardware

Realizing Quality-Of-Service With Link Lifetime Prediction In Mobile Ad Hoc Networks

Recent research in mobile ad hoc networks (MANETs) has been studying the feasibility of provisioning the Quality-of-Service in such a network. One major factor that makes this a difficult task is the node mobility, which induces a dynamic network topology and makes a multi-hop path susceptible to abrupt breakage when any of its constituent links breaks. It is therefore desirable to acquire predictive knowledge of the path lifetime, which reflects its reliability and is closely associated with the lifetime of each constituent link. We first study how node mobility impacts the lifetime of a path in the MANET, and propose three algorithms that employ link age as the decision parameter to select the best path from all available paths between the sender (source) and recipient (destination) of data for transmissions. Performance evaluation results show that these path-selection algorithms achieve a robust performance in choosing a path that meets a specified path-lifetime requirement. We next propose the Mobile-projected Trajectory (MPT) algorithm that employs four periodically measured distances between two nodes of a link to compute the relative movement trajectory and the remaining lifetime of a link. This algorithm is based on linear curve fitting, and does not require any knowledge of node position, speed, and direction. To account for the frequent occurrences of velocity change during the link lifetime, we propose a simple velocity-change detection test that is augmented to the MPT. The new algorithm, Mobile-Projected Trajectory with Velocity Change Detection, improves the performance of the algorithm by recomputing the remaining link lifetime more accurately after a velocity change is detected. We also propose a novel link lifetime prediction algorithm based on the Unscented Kalman Filter, which casts the link lifetime as a non-linear dynamic system model, and recursively estimates its states to compute the remaining link lifetime. Performance evaluation of the proposed algorithm demonstrates robust performance to estimate the link lifetime while nodes move along various trajectories induced by velocity changes