An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor

Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the underactuated characteristics of the quadrotor and the coupled kinematics with the animal, nonlinear optimal tracking approaches, other than smooth feedback control, are required. However, with severe nonlinearities, it would be time-consuming to evaluate control inputs, and real-time tracking may not be achieved with generic optimizers onboard. To tackle this problem, a novel efficient egocentric regulation approach with high computational efficiency is proposed in this paper. Specifically, it directly formulates the optimal tracking problem in an egocentric manner regarding the quadrotors body coordinates. Meanwhile, the nonlinearities of the system are peeled off through a mapping of the feedback states as well as control inputs, between the inertial and body coordinates. In this way, the proposed efficient egocentric regulator only requires solving a quadratic performance objective with linear constraints and then generate control inputs analytically. Comparative simulations and mimic biological experiment are carried out to verify the effectiveness and computational efficiency. Results demonstrate that the proposed control approach presents the highest and stablest computational efficiency than generic optimizers on different platforms. Particularly, on a commonly utilized onboard computer, our method can compute the control action in approximately 0.3 ms, which is on the order of 350 times faster than that of generic nonlinear optimizers, establishing a control frequency around 3000 Hz.

Using Query Expansion in Manifold Ranking for Query-Oriented Multi-Document Summarization

Manifold ranking has been successfully applied in query-oriented multi-document summarization. It not only makes use of the relationships among the sentences, but also the relationships between the given query and the sentences. However, the information of original query is often insufficient. So we present a query expansion method, which is combined in the manifold ranking to resolve this problem. Our method not only utilizes the information of the query term itself and the knowledge base WordNet to expand it by synonyms, but also uses the information of the document set itself to expand the query in various ways (mean expansion, variance expansion and TextRank expansion). Compared with the previous query expansion methods, our method combines multiple query expansion methods to better represent query information, and at the same time, it makes a useful attempt on manifold ranking. In addition, we use the degree of word overlap and the proximity between words to calculate the similarity between sentences. We performed experiments on the datasets of DUC 2006 and DUC2007, and the evaluation results show that the proposed query expansion method can significantly improve the system performance and make our system comparable to the state-of-the-art systems.

Learning-To-Ensemble by Contextual Rank Aggregation in E-Commerce

Ensemble models in E-commerce combine predictions from multiple sub-models for ranking and revenue improvement. Industrial ensemble models are typically deep neural networks, following the supervised learning paradigm to infer conversion rate given inputs from sub-models. However, this process has the following two problems. Firstly, the point-wise scoring approach disregards the relationships between items and leads to homogeneous displayed results, while diversified display benefits user experience and revenue. Secondly, the learning paradigm focuses on the ranking metrics and does not directly optimize the revenue. In our work, we propose a new Learning-To-Ensemble (LTE) framework RAEGO, which replaces the ensemble model with a contextual Rank Aggregator (RA) and explores the best weights of sub-models by the Evaluator-Generator Optimization (EGO). To achieve the best online performance, we propose a new rank aggregation algorithm TournamentGreedy as a refinement of classic rank aggregators, which also produces the best average weighted Kendall Tau Distance (KTD) amongst all the considered algorithms with quadratic time complexity. Under the assumption that the best output list should be Pareto Optimal on the KTD metric for sub-models, we show that our RA algorithm has higher efficiency and coverage in exploring the optimal weights. Combined with the idea of Bayesian Optimization and gradient descent, we solve the online contextual Black-Box Optimization task that finds the optimal weights for sub-models given a chosen RA model. RA-EGO has been deployed in our online system and has improved the revenue significantly.

Markov Genealogy Processes

We construct a family of genealogy-valued Markov processes that are induced by a continuous-time Markov population process. We derive exact expressions for the likelihood of a given genealogy conditional on the history of the underlying population process. These lead to a version of the nonlinear filtering equation, which can be used to design efficient Monte Carlo inference algorithms. Existing full-information approaches for phylodynamic inference are special cases of the theory.

Personalized Entity Resolution with Dynamic Heterogeneous Knowledge Graph Representations

The growing popularity of Virtual Assistants poses new challenges for Entity Resolution, the task of linking mentions in text to their referent entities in a knowledge base. Specifically, in the shopping domain, customers tend to use implicit utterances (e.g., organic milk) rather than explicit names, leading to a large number of candidate products. Meanwhile, for the same query, different customers may expect different results. For example, with add milk to my cart, a customer may refer to a certain organic product, while some customers may want to re-order products they regularly purchase. To address these issues, we propose a new framework that leverages personalized features to improve the accuracy of product ranking. We first build a cross-source heterogeneous knowledge graph from customer purchase history and product knowledge graph to jointly learn customer and product embeddings. After that, we incorporate product, customer, and history representations into a neural reranking model to predict which candidate is most likely to be purchased for a specific customer. Experiments show that our model substantially improves the accuracy of the top ranked candidates by 24.6% compared to the state-of-the-art product search model.

The Sampled Moran Genealogy Process

We define the Sampled Moran Genealogy Process, a continuous-time Markov process on the space of genealogies with the demography of the classical Moran process, sampled through time. To do so, we begin by defining the Moran Genealogy Process using a novel representation. We then extend this process to include sampling through time. We derive exact conditional and marginal probability distributions for the sampled process under a stationarity assumption, and an exact expression for the likelihood of any sequence of genealogies it generates. This leads to some interesting observations pertinent to existing phylodynamic methods in the literature. Throughout, our proofs are original and make use of strictly forward-in-time calculations and are exact for all population sizes and sampling processes.

Prophet: Proactive Candidate-Selection for Federated Learning by Predicting the Qualities of Training and Reporting Phases

Although the challenge of the device connection is much relieved in 5G networks, the training latency is still an obstacle preventing Federated Learning (FL) from being largely adopted. One of the most fundamental problems that lead to large latency is the bad candidate-selection for FL. In the dynamic environment, the mobile devices selected by the existing reactive candidate-selection algorithms very possibly fail to complete the training and reporting phases of FL, because the FL parameter server only knows the currently-observed resources of all candidates. To this end, we study the proactive candidate-selection for FL in this paper. We first let each candidate device predict the qualities of both its training and reporting phases locally using LSTM. Then, the proposed candidateselection algorithm is implemented by the Deep Reinforcement Learning (DRL) framework. Finally, the real-world trace-driven experiments prove that the proposed approach outperforms the existing reactive algorithms

Joint Lifelong Topic Model and Manifold Ranking for Document Summarization

Due to the manifold ranking method has a significant effect on the ranking of unknown data based on known data by using a weighted network, many researchers use the manifold ranking method to solve the document summarization task. However, their models only consider the original features but ignore the semantic features of sentences when they construct the weighted networks for the manifold ranking method. To solve this problem, we proposed two improved models based on the manifold ranking method. One is combining the topic model and manifold ranking method (JTMMR) to solve the document summarization task. This model not only uses the original feature, but also uses the semantic feature to represent the document, which can improve the accuracy of the manifold ranking method. The other one is combining the lifelong topic model and manifold ranking method (JLTMMR). On the basis of the JTMMR, this model adds the constraint of knowledge to improve the quality of the topic. At the same time, we also add the constraint of the relationship between documents to dig out a better document semantic features. The JTMMR model can improve the effect of the manifold ranking method by using the better semantic feature. Experiments show that our models can achieve a better result than other baseline models for multi-document summarization task. At the same time, our models also have a good performance on the single document summarization task. After combining with a few basic surface features, our model significantly outperforms some model based on deep learning in recent years. After that, we also do an exploring work for lifelong machine learning by analyzing the effect of adding feedback. Experiments show that the effect of adding feedback to our model is significant.

Religious Festivals and Influenza

Objectives Influenza outbreaks have been widely studied. However, the patterns between influenza and religious festivals remained unexplored. This study examined the patterns of influenza and Hanukkah in Israel, and that of influenza and Hajj in Bahrain, Egypt, Iraq, Jordan, Oman and Qatar. Method Influenza surveillance data of these seven countries from 2009 to 2017 were downloaded from the FluNet of the World Health Organization. Secondary data were collected for the countries population, and the dates of Hajj and Hanukkah. We aggregated the weekly influenza A and B laboratory confirmations for each country over the study period. Weekly influenza A patterns and religious festival dates were further explored across the study period. Results We found that influenza A peaks closely followed Hanukkah in Israel in six out of seven years from 2010 to 2017. Aggregated influenza A peaks of the other six Middle East countries also occurred right after Hajj every year during the study period. Conclusions We predict that unless there is an emergence of new influenza strain, such influenza patterns are likely to persist in future years. Our results suggested that the optimal timing of mass influenza vaccination should take into considerations of the dates of these religious festivals.

Acquiring Background Knowledge to Improve Moral Value Prediction

In this paper, we address the problem of detecting expressions of moral values in tweets using content analysis. This is a particularly challenging problem because moral values are often only implicitly signaled in language, and tweets contain little contextual information due to length constraints. To address these obstacles, we present a novel approach to automatically acquire background knowledge from an external knowledge base to enrich input texts and thus improve moral value prediction. By combining basic text features with background knowledge, our overall context-aware framework achieves performance comparable to a single human annotator. To the best of our knowledge, this is the first attempt to incorporate background knowledge for the prediction of implicit psychological variables in the area of computational social science.