365 research outputs found
Robust PCA as Bilinear Decomposition with Outlier-Sparsity Regularization
Principal component analysis (PCA) is widely used for dimensionality
reduction, with well-documented merits in various applications involving
high-dimensional data, including computer vision, preference measurement, and
bioinformatics. In this context, the fresh look advocated here permeates
benefits from variable selection and compressive sampling, to robustify PCA
against outliers. A least-trimmed squares estimator of a low-rank bilinear
factor analysis model is shown closely related to that obtained from an
-(pseudo)norm-regularized criterion encouraging sparsity in a matrix
explicitly modeling the outliers. This connection suggests robust PCA schemes
based on convex relaxation, which lead naturally to a family of robust
estimators encompassing Huber's optimal M-class as a special case. Outliers are
identified by tuning a regularization parameter, which amounts to controlling
sparsity of the outlier matrix along the whole robustification path of (group)
least-absolute shrinkage and selection operator (Lasso) solutions. Beyond its
neat ties to robust statistics, the developed outlier-aware PCA framework is
versatile to accommodate novel and scalable algorithms to: i) track the
low-rank signal subspace robustly, as new data are acquired in real time; and
ii) determine principal components robustly in (possibly) infinite-dimensional
feature spaces. Synthetic and real data tests corroborate the effectiveness of
the proposed robust PCA schemes, when used to identify aberrant responses in
personality assessment surveys, as well as unveil communities in social
networks, and intruders from video surveillance data.Comment: 30 pages, submitted to IEEE Transactions on Signal Processin
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
Global Sensitivity Analysis of MAP inference in Selective Sum-Product Networks
International audienc
Latency Analysis of Coded Computation Schemes over Wireless Networks
Large-scale distributed computing systems face two major bottlenecks that
limit their scalability: straggler delay caused by the variability of
computation times at different worker nodes and communication bottlenecks
caused by shuffling data across many nodes in the network. Recently, it has
been shown that codes can provide significant gains in overcoming these
bottlenecks. In particular, optimal coding schemes for minimizing latency in
distributed computation of linear functions and mitigating the effect of
stragglers was proposed for a wired network, where the workers can
simultaneously transmit messages to a master node without interference. In this
paper, we focus on the problem of coded computation over a wireless
master-worker setup with straggling workers, where only one worker can transmit
the result of its local computation back to the master at a time. We consider 3
asymptotic regimes (determined by how the communication and computation times
are scaled with the number of workers) and precisely characterize the total
run-time of the distributed algorithm and optimum coding strategy in each
regime. In particular, for the regime of practical interest where the
computation and communication times of the distributed computing algorithm are
comparable, we show that the total run-time approaches a simple lower bound
that decouples computation and communication, and demonstrate that coded
schemes are times faster than uncoded schemes
Robustifying Scholia: paving the way for knowledge discovery and research assessment through Wikidata
Knowledge workers like researchers, students, journalists, research evaluators or funders need tools to explore what is known, how it was discovered, who made which contributions, and where the scholarly record has gaps. Existing tools and services of this kind are not available as Linked Open Data, but Wikidata is. It has the technology, active contributor base, and content to build a large-scale knowledge graph for scholarship, also known as WikiCite. Scholia visualizes this graph in an exploratory interface with profiles and links to the literature. However, it is just a working prototype. This project aims to "robustify Scholia" with back-end development and testing based on pilot corpora. The main objective at this stage is to attain stability in challenging cases such as server throttling and handling of large or incomplete datasets. Further goals include integrating Scholia with data curation and manuscript writing workflows, serving more languages, generating usage stats, and documentation
- …