Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair

A New Cryptosystem Based On Hidden Order Groups

Let $G_1$ be a cyclic multiplicative group of order $n$. It is known that the Diffie-Hellman problem is random self-reducible in $G_1$ with respect to a fixed generator $g$ if $\phi(n)$ is known. That is, given $g, g^x\in G_1$ and having oracle access to a `Diffie-Hellman Problem' solver with fixed generator $g$, it is possible to compute $g^{1/x} \in G_1$ in polynomial time (see theorem 3.2). On the other hand, it is not known if such a reduction exists when $\phi(n)$ is unknown (see conjuncture 3.1). We exploit this ``gap'' to construct a cryptosystem based on hidden order groups and present a practical implementation of a novel cryptographic primitive called an \emph{Oracle Strong Associative One-Way Function} (O-SAOWF). O-SAOWFs have applications in multiparty protocols. We demonstrate this by presenting a key agreement protocol for dynamic ad-hoc groups.Comment: removed examples for multiparty key agreement and join protocols, since they are redundan

Iterative Temporal Learning and Prediction with the Sparse Online Echo State Gaussian Process

Abstract—In this work, we contribute the online echo state gaussian process (OESGP), a novel Bayesian-based online method that is capable of iteratively learning complex temporal dy-namics and producing predictive distributions (instead of point predictions). Our method can be seen as a combination of the echo state network with a sparse approximation of Gaussian processes (GPs). Extensive experiments on the one-step prediction task on well-known benchmark problems show that OESGP produced statistically superior results to current online ESNs and state-of-the-art regression methods. In addition, we characterise the benefits (and drawbacks) associated with the considered online methods, specifically with regards to the trade-off between computational cost and accuracy. For a high-dimensional action recognition task, we demonstrate that OESGP produces high accuracies comparable to a recently published graphical model, while being fast enough for real-time interactive scenarios. I

Towards Early Mobility Independence: An Intelligent Paediatric Wheelchair with Case Studies

Standard powered wheelchairs are still heavily dependent on the cognitive capabilities of users. Unfortunately, this excludes disabled users who lack the required problem-solving and spatial skills, particularly young children. For these children to be denied powered mobility is a crucial set-back; exploration is important for their cognitive, emotional and psychosocial development. In this paper, we present a safer paediatric wheelchair: the Assistive Robot Transport for Youngsters (ARTY). The fundamental goal of this research is to provide a key-enabling technology to young children who would otherwise be unable to navigate independently in their environment. In addition to the technical details of our smart wheelchair, we present user-trials with able-bodied individuals as well as one 5-year-old child with special needs. ARTY promises to provide young children with early access to the path towards mobility independence

The Modality of the Textual Institutionalisation of Literary Studies: Towards a Sociology of Literature

This paper aims to present a sociology of literary studies that is distinguished from the sociology of literature in that its focus is on literary studies as a social practice rather than as a socio-cultural institution: how literary studies is institutionalized as such not how it functions in relation to literature. The sociological analysis of literary studies in this paper entails two tasks. Firstly, it constructs a methodological frame within which literary studies can be observed and analysed in terms of the rules of discursive formation rather than as a pre-discursive entity. This is achieved through conceptualizing the Foucauldian notion of discursive formation and knowledge practice as an analytic strategy and operationalising it via Paul Dowling's Social Activity Method. Empirically, the analysis produces a description of the practice of literary studies as instantiated in the particular region of the practice constituted with what I refer to as the crisis discourse. The analysis describes literary studies as that which is emergent upon differing institutionalising strategies articulated by its participants to mark out literary studies from other practices and to maintain its disciplinarity through regulating the distribution and the access of the distribution of the discourse within and beyond the practice. The generalisability of the research in this paper lies in the applicability of the analytical method that can be employed at any given level of analysis to examine discursive practice—such as literary studies—as the effects of the particular discourses in terms of how they articulate and sustain the institutionalised identity of the practice.Sociology of Literature, Sociology of Literary Studies, Cultural Studies, Sociology of Knowledge, Foucault, Discursive Formation, Social Activity Method, Disciplinarity, Institutionalisation, Research Methodology

Numerical simulation of free shear flows: Towards a predictive computational aeroacoustics capability

Implicit and explicit spatial differencing techniques with fourth order accuracy have been developed. The implicit technique is based on the Pade compact scheme. A Dispersion Relation Preserving concept has been incorporated into both of the numerical schemes. Two dimensional Euler computation of a spatially-developing free shear flow, with and without external excitation, has been performed to demonstrate the capability of numerical schemes developed. Results are in good agreement with theory and experimental observation regarding the growth rate of fluctuating velocity, the convective velocity, and the vortex-pairing process