query: Inverse Reinforcement Learning

positive: Maximum margin planning Imitation learning of sequential, goal-directed behavior by standard supervised techniques is often difficult. We frame learning such behaviors as a maximum margin structured prediction problem over a space of policies. In this approach, we learn mappings from features to cost so an optimal policy in an MDP with these cost mimics the expert's behavior. Further, we demonstrate a simple, provably efficient approach to structured maximum margin learning, based on the subgradient method, that leverages existing fast algorithms for inference. Although the technique is general, it is particularly relevant in problems where A* and dynamic programming approaches make learning policies tractable in problems beyond the limitations of a QP formulation. We demonstrate our approach applied to route planning for outdoor mobile robots, where the behavior a designer wishes a planner to execute is often clear, while specifying cost functions that engender this behavior is a much more difficult task.

positive: Maximum Entropy Inverse Reinforcement Learning Recent research has shown the benefit of framing problems of imitation learning as solutions to Markov Decision Problems. This approach reduces learning to the problem of recovering a utility function that makes the behavior induced by a near-optimal policy closely mimic demonstrated behavior. In this work, we develop a probabilistic approach based on the principle of maximum entropy. Our approach provides a well-defined, globally normalized distribution over decision sequences, while providing the same performance guarantees as existing methods. We develop our technique in the context of modeling realworld navigation and driving behaviors where collected data is inherently noisy and imperfect. Our probabilistic approach enables modeling of route preferences as well as a powerful new approach to inferring destinations and routes based on partial trajectories.

positive: Learning Agents for Uncertain Environments (Extended Abstract) This talk proposes a very simple “baseline architecture” for a learning agent that can handle stochastic, partially observable environments. The architecture uses reinforcement learning together with a method for representing temporal processes as graphical models. I will discuss methods for leaming the parameters and structure of such representations from sensory inputs, and for computing posterior probabilities. Some open problems remain before we can try out the complete agent; more arise when we consider scaling up. A second theme of the talk will be whether reinforcement learning can provide a good model of animal and human learning. To answer this question, we must do inverse reinforcement learning: given the observed behaviour, what reward signal, if any, is being optimized? This seems to be a very interesting problem for the COLT, UAI, and ML communities, and has been addressed in econometrics under the heading of structural estimation of Markov decision processes. 1 Learning in uncertain environments AI is about the construction of intelligent agents, i.e., systems that perceive and act effectively (according to some performance measure) in an environment. I have argued elsewhere Russell and Norvig (1995) that most AI research has focused on environments that are static, deterministic, discrete, and fully observable. What is to be done when, as in the real world, the environment is dynamic, stochastic, continuous, and partially observable? ‘This paper draws on a variety of research efforts supported by NSF @I-9634215), ONR (N00014-97-l-0941), and AR0 (DAAH04-96-1-0341). Permission to make digital or hard copies of all or p.art of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for prolit or commercial adwantage and that copies bear this notice and the full citation on the first page. To copy otherwise. to republish, to post on servers or to redistribute to lists, requires prior specific pemlission and/or a fee. COLT 98 Madison WI IJSA Copyright ACM 1998 1-5X1 13-057--0/9X/ 7...$5.00 In recent years, reinforcement learning (also called neurodynamic programming) has made rapid progress as an approachfor building agents automatically (Sutton, 1988; Kaelbling et al., 1996; Bertsekas & Tsitsiklis, 1996). The basic idea is that the performance measure is made available to the agent in the form of a rewardfunction specifying the reward for each state that the agent passes through. The performance measure is then the sum of the rewards obtained. For example, when a bumble bee forages, the reward function at each time step might be some combination of the distance flown (weighted negatively) and the nectar ingested. Reinforcement learning (RL) methods are essentially online algorithmd for solving Markovdecisionprocesses (MDPs). An MDP is defined by the reward function and a model, that is, the state transition probabilities conditioned on each possible action. RL algorithms can be model-based, where the agent learns a model, or model-free-e.g., Q-learning citeWatkins: 1989, which learns just a function Q(s, a) specifying the long-term value of taking action a in state s and acting optimally thereafter. Despite their successes, RL methods have been restricted largely tofully observable MDPs, in which the sensory input at each state is sufficient to identify the state. Obviously, in the real world, we must often deal with partially observable MDPs (POMDPs). Astrom (1965) proved that optimal decisions in POMDPs depend on the belief state b at each point in time, i.e., the posterior probability distribution over all possible actual states, given all evidence to date. The functions V and Q then become functions of b instead of s. Parr and Russell (1995) describes a very simple POMDP RL algorithm using an explicit representation of b as a vector of probabilities, and McCallum (1993) shows a way to approximate the belief state using recent percept sequences. Neither approach is likely to scale up to situations with large numbers of state variables and long-term temporal dependencies. What is needed is a way of representing the model compactly and updating the belief state efficiently given the model and each new observation. Dynamic Bayesian networks (Dean & Kanazawa, 1989) seem to have some of the required properties; in particular, they have significant advantages over other approaches such as Kalman filters and hidden Markov models. Our baseline architecture, shown in Figure 1, uses DBNs to represent and update the belief state as new sensor information arrives. Given a representation for b, the reward signal is used to learn a Q-function represented by some “black-box” function approximator such as a neural network. Provided we can handle hybrid (dis-

positive: Algorithms for Inverse Reinforcement Learning

positive: Learning to search: Functional gradient techniques for imitation learning Programming robot behavior remains a challenging task. While it is often easy to abstractly define or even demonstrate a desired behavior, designing a controller that embodies the same behavior is difficult, time consuming, and ultimately expensive. The machine learning paradigm offers the promise of enabling “programming by demonstration” for developing high-performance robotic systems. Unfortunately, many “behavioral cloning” (Bain & Sammut, 1995; Pomerleau, 1989; LeCun et al., 2006) approaches that utilize classical tools of supervised learning (e.g. decision trees, neural networks, or support vector machines) do not fit the needs of modern robotic systems. These systems are often built atop sophisticated planning algorithms that efficiently reason far into the future; consequently, ignoring these planning algorithms in lieu of a supervised learning approach often leads to myopic and poor-quality robot performance. While planning algorithms have shown success in many real-world applications ranging from legged locomotion (Chestnutt et al., 2003) to outdoor unstructured navigation (Kelly et al., 2004; Stentz, 2009), such algorithms rely on fully specified cost functions that map sensor readings and environment models to quantifiable costs. Such cost functions are usually manually designed and programmed. Recently, a set of techniques has been developed that explore learning these functions from expert human demonstration. These algorithms apply an inverse optimal control approach to find a cost function for which planned behavior mimics an expert’s demonstration. The work we present extends the Maximum Margin Planning (MMP) (Ratliff et al., 2006a) framework to admit learning of more powerful, non-linear cost functions. These algorithms, known collectively as LEARCH (LEArning to seaRCH ), are simpler to implement than most existing methods, more efficient than previous attempts at non-linearization (Ratliff et al., 2006b), more naturally satisfy common constraints on the cost function, and better represent our prior beliefs about the function’s form. We derive and discuss the framework both mathematically and intuitively, and demonstrate practical realworld performance with three applied case-studies including legged locomotion, grasp planning, and autonomous outdoor unstructured navigation. The latter study includes hundreds of kilometers of autonomous traversal through complex natural environments. These case-studies address key challenges in applying the algorithm in practical settings that utilize state-of-the-art planners, and which may be constrained by efficiency requirements and imperfect expert demonstration.

negative: The benefits of hybridization This article presents the impact of the performance of an FC and control strategies on the benefits of hybridization of fuel cell/supercapacitor hybrid sources for vehicle applications. Then, the storage device can complement the main source to produce the compatibility and performance characteristics needed in a load. The studies of two hybrid power systems for vehicle applications, FC/battery and FC/supercapacitor hybrid power sources, are explained. Experimental results with small-scale devices (a PEMFC of 500 W, 40 A, and 13 V; a lead-xicid battery module of 33 Ah and 48 V; and a supercapacitor module of 292 F, 500 A, and 30 V) in laboratory will illustrate the performance of the system during motor-drive cycles.

negative: RF-MEMS Switches for Reconfigurable Integrated Circuits This paper deals with a relatively new area of radio-frequency (RF) technology based on microelectromechanical systems (MEMS). RF MEMS provides a class of new devices and components which display superior high-frequency performance relative to conventional (usually semiconductor) devices, and which enable new system capabilities. In addition, MEMS devices are designed and fabricated by techniques similar to those of very large-scale integration, and can be manufactured by traditional batch-processing methods. In this paper, the only device addressed is the electrostatic microswitch—perhaps the paradigm RF-MEMS device. Through its superior performance characteristics, the microswitch is being developed in a number of existing circuits and systems, including radio front-ends, capacitor banks, and time-delay networks. The superior performance combined with ultra-low-power dissipation and large-scale integration should enable new system functionality as well. Two possibilities addressed here are quasi-optical beam steering and electrically reconfigurable antennas.

negative: Modeling Complex Air Traffic Management Systems In this work, we propose the use of multi-agent system (MAS) models as the basis for predictive reasoning about various safety conditions and the performance of Air Traffic Management (ATM) Systems. To this end, we describe the engineering of a domain-specific MAS model that provides constructs for creating scenarios related to ATM systems and procedures; we then instantiate the constructs in the ATM model for different scenarios. As a case study we generate a model for a concept that provides the ability to maximize departure throughput at La Guardia airport (LGA) without impacting the flow of the arrival traffic; the model consists of approximately 1.5 hours real time flight data. During this time, between 130 and 150 airplanes are managed by four en-route controllers, three TRACON controllers, and one tower controller at LGA who is responsible for departures and arrivals. The planes are landing at approximately 36 to 40 planes an hour. A key contribution of this work is that the model can be extended to various air-traffic management scenarios and can serve as a template for engineering large-scale models in other domains.

negative: Union and Difference of Models, 10 years later This paper contains a summary of the talk given by the author on the occasion of the MODELS 2013 most influential paper award. The talk discussed the original paper as published in 2003, the research work done by others afterwards and the author’s personal reflection on the award. 1 Version Control of Software and System Models There are two main usage scenarios for design models in software and system development: models as sketches, that serve as a communication aid in informal discussions, and models as formal artifacts, to be analyzed, transformed into other artifacts, maintained and evolved during the whole software and system development process. In this second scenario, models are valuable assets that should be kept in a trusted repository. In a complex development project, these models will be updated often and concurrently by different developers. Therefore, there is a need for a version control system for models with optimistic locking. This is a system to compare, merge and store all versions of all models created within a development project. We can illustrate the use of a version control system for models as follows. Let us assume that the original model shown at the top of Figure 1 is edited simultaneously by two developers. One developer has decided that the subclass B is no longer necessary in the model. Simultaneously, the other developer has decided that class C should have a subclass D. The problem is to combine the contributions of both developers into a single model. This is the model shown at the bottom of Fig. 1. We presented the basic algorithms to solve this problem in the original paper published in the proceedings of the UML 2003 conference [1]. The proposed solution is based on calculating the final model as the merge of the differences between the original and the edited models. Figure 2 shows an example of the difference of two models, in this case the difference between the models edited by the developers and the original model. The result of the difference is not always a model, in a similar way that the difference between two natural numbers is not a natural number but a negative one. An example of this is shown in the bottom B C A Original Model

negative: Stakeholder Identification in the Requirements Engineering Process Adequate, timely and effective consultation of relevant stakeholders is of paramount importance in the requirements engineering process. However, the thorny issue of making sure that all relevant stakeholders are consulted has received less attention than other areas which depend on it, such as scenario-based requirements, involving users in development, negotiating between different viewpoints and so on. The literature suggests examples of stakeholders, and categories of stakeholder, but does not provide help in identifying stakeholders for a specific system. In this paper, we discuss current work in stakeholder identification, propose an approach to identifying relevant stakeholders for a specific system, and propose future directions for the work. 1. What is a ÔstakeholderÕ? There is a large body of literature in the strategic management area which discusses organisations in terms of a stakeholder model. Stakeholder analysis, it is claimed, can be used to analyse an organisationÕs performance and determine its future strategic direction. An oft-quoted definition of ÔstakeholderÕ, taken from a key reference in this literature is: ÔA stakeholder in an organisation is (by definition) any group or individual who can affect or is affected by the achievement of the organisationÕs objectives.Õ [10] A much broader definition, which has also been attributed to Freeman, is that a stakeholder is Ôanything influencing or influenced byÕ the firm, but it has been claimed that this definition is problematic because it leads to the identification of a very broad set of stakeholders. It is important to distinguish between influencers and stakeholders because while some potential stakeholders may indeed be both stakeholders and influencers, some who have a real stake in an enterprise may have no influence, e.g. a job applicant, while some influencers may have no stake, e.g. the media [8]. Information systems (IS) researchers have also taken up the idea of stakeholders: ÔWe define stakeholders as these participants <in the development process> together with any other individuals, groups or organisations whose actions can influence or be influenced by the development and use of the system whether directly or indirectly.Õ [22] In software engineering, stakeholders have been defined as: ÔThe people and organisations affected by the applicationÕ [3] ÔSystem stakeholders are people or organisations who will be affected by the system and who have a direct or indirect influence on the system requirementsÕ [16] ÔStakeholders are people who have a stake or interest in the projectÕ [4] A more explicit refinement of this definition is: ÔÉ anyone whose jobs will be altered, who supplies or gains information from it, or whose power or influence within the organisation will increase or decrease.Õ [7] They go on to say that ÔIt will frequently be the case that the formal ÔclientÕ who orders the system falls very low on the list of those affected. Be very wary of changes which take power, influence or control from some stakeholders without returning something tangible in its place.Õ [7] When faced with the practical problem of how to identify the set of stakeholders relevant to a specific project, these definitions are not particularly helpful. The main concern is that, although such definitions are usually accompanied by example groups of stakeholders, they are vague and may lead to consideration of inappropriate or incomplete groups of stakeholders. Categories of stakeholder include end-users, managers and others involved in the organisational processes influenced by the system, engineers responsible for system development and maintenance, customers of the Sharp, Finkelstein & Galal 11/12/99 2 organisation who will use the system to provide a service, external bodies such as regulators, domain experts, and so on. They will each have different goals, and will try to satisfy their own without recourse to others [16]. Cotterell and Hughes [4] suggest that stakeholders might be in one of three categories: internal to the project team; external to the project team, but internal to the organisation; and external to both the project team and the organisation. Newman and Lamming [20] suggest a different division: into those who will use the system directly or indirectly, and those who will be involved in developing the system. This distinction is also taken up with respect to the development of knowledge-based systems [22]. The set of stakeholders in the knowledge acquisition process and the set of stakeholders in the use of a knowledge-based system, are not necessarily identical; they are likely to vary in membership, and for those members in common, the type and level of stake they have is likely to vary. The IS literature suggests a different division again, into ÔhubsÕ or ÔsponsorsÕ and ÔspokesÕ or ÔadaptorsÕ, where the former are those initiating and sustaining the system, while the latter are those participating [21]. Macaulay [19] identifies four categories of stakeholder in any computer system: 1. Those responsible for design and development; 2. Those with a financial interest, responsible for its sale or purchase; 3. Those responsible for introduction and maintenance; 4. Those who have an interest in its use. But again, she offers no guidelines for identifying specific stakeholders for a given system. So far, we have not distinguished between individuals or groups and roles. As with other situations, the mapping between stakeholders and individuals or groups is not oneto-one. It is therefore more appropriate to think of stakeholders as roles rather than as specific people. In subsequent discussion, we shall use ÔstakeholderÕ to mean Ôstakeholder roleÕ. 2. Identifying stakeholders There has been little focus on the participants of the requirements engineering (RE) process, for example in terms of how to trace participants in the RE process and how to identify stakeholders [13]. All of the references cited above emphasise the importance of identifying stakeholders, and although they provide examples, or broad guidance for identifying them, none describes a model or a concrete approach for identifying stakeholders for a specific project. This deficiency has been noted in the management literature, and in the IS literature [21], where the approaches have been criticised for either assuming that stakeholders are ÔobviousÕ, or for providing broad categories which are too generic to be of practical use. Expert identification for knowledge-based systems development has similarities with stakeholder identification in RE, although here too there has been an assumption that experts are readily identifiable [22]. Pouloudi and Whitley [21] suggest four principles of stakeholder identification, and describe an approach which is based on these principles, and which they used to identify stakeholders in the drug use management domain. Lyytinen and Hirschheim [17] also provides some guidance for stakeholder identification for IS, while acknowledging that Ôthe identification of the set of all stakeholders is far from trivialÕ. Methods for requirements engineering, e.g. KAOS [5], do not directly support stakeholder identification; it seems to be assumed that it is straightforward. The task of identifying actors for use case development [15] has similarities with stakeholder identification, but is targeted only at a fraction of system stakeholders. Stakeholders are related to each other and interact with each other [22,11,17]. Interactions between them include: exchanging information, products, or instructions, or providing supporting tasks. Information about the stakeholders and the nature of their relationships and interactions needs to be identified and recorded. Dimensions of importance are: relationships between stakeholders, the relationship of each stakeholder to the system, and the priority to be given to each stakeholderÕs view. This information is needed to manage, interpret, balance and process stakeholder input. Reconciling different stakeholder views is beyond this paper, but is considered in [12]. 3. An approach to identifying stakeholders for requirements engineering Here, we propose an approach to discovering all relevant stakeholders of a specific system that we believe is domain-independent, effective and pragmatic. We draw on the literature cited above, and on aspects of ethical decision-making in software systems [18]. Our starting point is a set of stakeholders that we refer to as ÔbaselineÕ stakeholders. From these, we can recognise ÔsupplierÕ stakeholders and ÔclientÕ stakeholders: the former provides information or supporting tasks to the baseline, and the latter processes or inspects the products of the baseline. Other stakeholders that we call ÔsatelliteÕs interact with the baseline in a variety of ways. ÔInteractionÕ may involve communicating, reading a set of rules or guidelines, searching for information and so on. Our approach focuses on interactions between stakeholders rather than relationships between the system and the stakeholder, Sharp, Finkelstein & Galal 11/12/99 3 because they are easier to follow. Figure 1 illustrates the main elements of stakeholder identification. Figure 1. The main elements of stakeholder identification addressed by our approach 3.1 Baseline stakeholders We have identified four groups of baseline stakeholder: users, developers, legislators and decision-makers. We have dubbed these ÔbaselineÕ because the web of stakeholders and their relationships can be identified from them. The nature of each group is explored below. 3.1.1 Users. The term ÔuserÕ has many interpretations. For example, Holtzblatt and Jones [14] include in their definition of ÔusersÕ those who manage direct users, those who receive products from the system, those who test the system, those who make the purchasing decision, and those who use competitive products. Eason [9] identifies three categories of user: primary, secondary and te

negative: A Smart Cloud Robotic System Based on Cloud Computing Services In this paper, we present a smart service robotic system based on cloud computing services. The design and implementation of infrastructure, computation components and communication components are introduced. The proposed system can alleviate the complex computation and storage load of robots to cloud and provide various services to the robots. The computation components can dynamically allocate resources to the robots. The communication components allow easy access of the robots and provide flexible resource management. Furthermore, we modeled the task-scheduling problem and proposed a max-heaps algorithm. The simulation results demonstrate that the proposed algorithm minimized the overall task costs.

negative: The spread of behavior in an online social network experiment. How do social networks affect the spread of behavior? A popular hypothesis states that networks with many clustered ties and a high degree of separation will be less effective for behavioral diffusion than networks in which locally redundant ties are rewired to provide shortcuts across the social space. A competing hypothesis argues that when behaviors require social reinforcement, a network with more clustering may be more advantageous, even if the network as a whole has a larger diameter. I investigated the effects of network structure on diffusion by studying the spread of health behavior through artificially structured online communities. Individual adoption was much more likely when participants received social reinforcement from multiple neighbors in the social network. The behavior spread farther and faster across clustered-lattice networks than across corresponding random networks.

negative: Voltage buffer compensation using Flipped Voltage Follower in a two-stage CMOS op-amp In Miller and current buffer compensation techniques, the compensation capacitor often loads the output node. If a voltage buffer is used in feedback, the compensation capacitor obviates the loading on the output node. In this paper, we introduce an implementation of a voltage buffer compensation using a Flipped Voltage Follower (FVF) for stabilizing a two-stage CMOS op-amp. The op-amps are implemented in a 180-nm CMOS process with a power supply of 1.8V while operating with a quiescent current of 110μA. Results indicate that the proposed voltage buffer compensation using FVF improves the Unity Gain Frequency from 5.5MHz to 12.2MHz compared to Miller compensation. Also, the proposed technique enhances the transient response while lowering the compensation capacitance by 47% and 17.7% compared to Miller and common-drain compensation topologies. Utilization of FVF or its variants as a voltage buffer in a feedback compensation network has wide potential applications in the analog design space.

negative: Dynamic question generation system for web-based testing using particle swarm optimization One aim of testing is to identify weaknesses in students’ knowledge. Computerized tests are now one of the most important ways to judge learning, and, selecting tailored questions for each learner is a significant part of such tests. Therefore, one current trend is that computerized adaptive tests (CATs) not only assist teachers in estimating the learning performance of students, but also facilitate understanding of problems in their learning process. These tests, must effectively and efficiently select questions from a large-scale item bank, and to cope with this problem we propose a dynamic question generation system for web-based tests using the novel approach of particle swarm optimization (PSO). The dynamic question generation system is built to select tailored questions for each learner from the item bank to satisfy multiple assessment requirements. Furthermore, the proposed approach is able to efficiently generate near-optimal questions that satisfy multiple assessment criteria. With a series of experiments, we compare the efficiency and efficacy of the PSO approach with other approaches. The experimental results show that the PSO approach is suitable for the selection of near-optimal questions from large-scale item banks. 2007 Elsevier Ltd. All rights reserved.

negative: Deep Embedding for Spatial Role Labeling This paper introduces the visually informed embedding of word (VIEW), a continuous vector representation for a word extracted from a deep neural model trained using the Microsoft COCO data set to forecast the spatial arrangements between visual objects, given a textual description. The model is composed of a deep multilayer perceptron (MLP) stacked on the top of a Long Short Term Memory (LSTM) network, the latter being preceded by an embedding layer. The VIEW is applied to transferring multimodal background knowledge to Spatial Role Labeling (SpRL) algorithms, which recognize spatial relations between objects mentioned in the text. This work also contributes with a new method to select complementary features and a fine-tuning method for MLP that improves the F1 measure in classifying the words into spatial roles. The VIEW is evaluated with the Task 3 of SemEval-2013 benchmark data set, SpaceEval.

negative: To recognize shapes, first learn to generate images. The uniformity of the cortical architecture and the ability of functions to move to different areas of cortex following early damage strongly suggest that there is a single basic learning algorithm for extracting underlying structure from richly structured, high-dimensional sensory data. There have been many attempts to design such an algorithm, but until recently they all suffered from serious computational weaknesses. This chapter describes several of the proposed algorithms and shows how they can be combined to produce hybrid methods that work efficiently in networks with many layers and millions of adaptive connections.

negative: Design and optimization of thermo-mechanical reliability in wafer level packaging Article history: Received 4 July 2009 Received in revised form 16 November 2009 Available online 29 January 2010 0026-2714/$ see front matter 2009 Elsevier Ltd. A doi:10.1016/j.microrel.2009.11.010 * Corresponding author. Address: Department of M University, P.O. Box 10028, Beaumont, TX 77710, USA +1 409 880 8121. E-mail address: xuejun.fan@lamar.edu (X.J. Fan). In this paper, a variety of wafer level packaging (WLP) structures, including both fan-in and fan-out WLPs, are investigated for solder joint thermo-mechanical reliability performance, from a structural design point of view. The effects of redistribution layer (RDL), bump structural design/material selection, polymer-cored ball application, and PCB design/material selection are studied. The investigation focuses on four different WLP technologies: standard WLP (ball on I/O WLP), ball on polymer WLP without under bump metallurgy (UBM) layer, ball on polymer WLP with UBM layer, and encapsulated copper post WLP. Ball on I/O WLP, in which solder balls are directly attached to the metal pads on silicon wafer, is used as a benchmark for the analysis. 3-D finite element modeling is performed to investigate the effects of WLP structures, UBM layer, polymer film material properties (in ball on polymer WLP), and encapsulated epoxy material properties (in copper post WLP). Both ball on polymer and copper post WLPs have shown great reliability improvement in thermal cycling. For ball on polymer WLP structures, polymer film between silicon and solder balls creates a ‘cushion’ effect to reduce the stresses in solder joints. Such cushion effect can be achieved either by an extremely compliant film or a ‘hard’ film with a large coefficient of thermal expansion. Encapsulated copper post WLP shows the best thermo-mechanical performance among the four WLP structures. Furthermore, for a fan-out WLP, it has been found that the critical solder balls are the outermost solder balls under die-area, where the maximum thermal mismatch takes place. In a fan-out WLP package, chip size, other than package size, determines the limit of solder joint reliability. This paper also discusses the polymer-cored solder ball applications to enhance thermo-mechanical reliability of solder joints. Finally, both experimental and finite element analysis have demonstrated that making corner balls non-electrically connected can greatly improve the WLP thermomechanical reliability. 2009 Elsevier Ltd. All rights reserved.

negative: Introducing Expected Returns into Risk Parity Portfolios : A New Framework for Tactical and Strategic Asset Allocation Risk parity is an allocation method used to build diversified portfolios that does not rely on any assumptions of expected returns, thus placing risk management at the heart of the strategy. This explains why risk parity became a popular investment model after the global financial crisis in 2008. However, risk parity has also been criticized because it focuses on managing risk concentration rather than portfolio performance, and is therefore seen as being closer to passive management than active management. In this article, we show how to introduce assumptions of expected returns into risk parity portfolios. To do this, we consider a generalized risk measure that takes into account both the portfolio return and volatility. However, the trade-off between performance and volatility contributions creates some difficulty, while the risk budgeting problem must be clearly defined. After deriving the theoretical properties of such risk budgeting portfolios, we apply this new model to asset allocation. First, we consider long-term investment policy and the determination of strategic asset allocation. We then consider dynamic allocation and show how to build risk parity funds that depend on expected returns.

negative: wradlib – An Open Source Library for Weather Radar Data Processing Observation data from weather radars is deemed to have great potential in hydrology and meteorology for forecasting of severe weather or floods in small and urban catchments by providing high resolution measurements of precipitation. With the time series from operational weather radar networks attaining lengths suitable for the long term calibration of hydrological models, the interest in using this data is growing. There are, however, several challenges impeding a widespread use of weather radar data. The first being a multitude of different file formats for data storage and exchange. Although the OPERA project [1] has taken steps towards harmonizing the data exchange inside the European radar network [2], different dialects still exist in addition to a large variety of legacy formats. The second barrier is what we would like to describe as the product dilemma. A great number of potential applications also implies a great number of different and often competing requirements as to the quality of the data. As an example, while one user might be willing to accept more false alarms in a clutter detection filter, e.g. to avoid erroneous data assimilation results, another might want a more conservative product in order not to miss the small scale convection that leads to a hundred year flood in a small head catchment. A single product from a radar operator, even if created with the best methods currently available, will never be able to accommodate all these needs simultaneously. Thus the product will either be a compromise or it will accommodate one user more than the other. Often the processing chain needs to be in a specific order, where a change of a certain processing step is impossible without affecting the results of all following steps. Sometimes some post-processing of the product might be possible, but if not, the user’s only choice is to either take the product as is or leave it. If a user should decide that he would take a raw radar product and try to do customized corrections, he is faced with basically reinventing the wheel, writing routines for data I/O, error corrections, georeferencing and visualization, trying to find relevant literature and to extract algorithms from publications, which, often enough, do not offer all implementation details. This takes a lot of time and effort, which could be used much more effectively, if standard algorithms were available in a well documented and easy to use manner. wradlib is intended to provide this collection of routines and algorithms in order to facilitate and foster the use of weather radar data in as many disciplines as possible including research, application development and teaching.

negative: A survey of hardware Trojan threat and defense Hardware Trojans (HTs) can be implanted in security-weak parts of a chip with various means to steal the internal sensitive data or modify original functionality, which may lead to huge economic losses and great harm to society. Therefore, it is very important to analyze the specific HT threats existing in the whole life cycle of integrated circuits (ICs), and perform protection against hardware Trojans. In this paper, we elaborate an IC market model to illustrate the potential HT threats faced by the parties involved in the model. Then we categorize the recent research advances in the countermeasures against HT attacks. Finally, the challenges and prospects for HT defense are illuminated. & 2016 Elsevier B.V. All rights reserved.

negative: An overview of Fog computing and its security issues Fog computing is a paradigm that extends Cloud computing and services to the edge of the network. Similar to Cloud, Fog provides data, compute, storage and application services to end users. In this article, we elaborate the motivation and advantages of Fog computing and analyse its applications in a series of real scenarios, such as Smart Grid, smart traffic lights in vehicular networks and software defined networks. We discuss the state of the art of Fog computing and similar work under the same umbrella. Distinguished from other reviewing work of Fog computing, this paper further discloses the security and privacy issues according to current Fog computing paradigm. As an example, we study a typical attack, man-in-the-middle attack, for the discussion of system security in Fog computing. We investigate the stealthy features of this attack by examining its CPU and memory consumption on Fog device. In addition, we discuss the authentication and authorization techniques that can be used in Fog computing. An example of authentication techniques is introduced to address the security scenario where the connection between Fog and Cloud is fragile. Copyright © 2015 John Wiley & Sons, Ltd.

negative: Investigating the Impact of Data Volume and Domain Similarity on Transfer Learning Applications Transfer learning allows practitioners to recognize and apply knowledge learned in previous tasks (source task) to new tasks or new domains (target task), which share some commonality. The two important factors impacting the performance of transfer learning models are: (a) the size of the target dataset, and (b) the similarity in distribution between source and target domains. Thus far, there has been little investigation into just how important these factors are. In this paper, we investigate the impact of target dataset size and source/target domain similarity on model performance through a series of experiments. We find that more data is always beneficial, and model performance improves linearly with the log of data size, until we are out of data. As source/target domains differ, more data is required and fine tuning will render better performance than feature extraction. When source/target domains are similar and data size is small, fine tuning and feature extraction renders equivalent performance. Our hope is that by beginning this quantitative investigation on the effect of data volume and domain similarity in transfer learning we might inspire others to explore the significance of data in developing more accurate statistical models.

negative: Determining the effectiveness of prompts for self-regulated learning in problem-solving scenarios Cognitive scientists have studied internal cognitive structures, processes, and systems for decades in order to understand how they function in human learning. In order to solve challenging tasks in problem situations, learners not only have to perform cognitive activities, e.g., activating existing cognitive structures or organizing new information, they also have to set specific goals, plan their activities, monitor their performance during the problem-solving process, and evaluate the efficiency of their actions. This paper reports an experimental study with 98 participants where effective instructional interventions for self-regulated learning within problemsolving processes are investigated. Furthermore, an automated assessment and analysis methodology for determining the quality of learning outcomes is introduced. The results indicate that generic prompts are an important aid for developing cognitive structures while solving problems.

negative: Synchronising movements with the sounds of a virtual partner enhances partner likeability Previous studies have demonstrated that synchronising movements with other people can influence affiliative behaviour towards them. While research has focused on synchronisation with visually observed movement, synchronisation with a partner who is heard may have similar effects. We replicate findings showing that synchronisation can influence ratings of likeability of a partner, but demonstrate that this is possible with virtual interaction, involving a video of a partner. Participants performed instructed synchrony in time to sounds instead of the observable actions of another person. Results show significantly higher ratings of likeability of a partner after moving at the same time as sounds attributed to that partner, compared with moving in between sounds. Objectively quantified synchrony also correlated with ratings of likeability. Belief that sounds were made by another person was manipulated in Experiment 2, and results demonstrate that when sounds are attributed to a computer, ratings of likeability are not affected by moving in or out of time. These findings demonstrate that interaction with sound can be experienced as social interaction in the absence of genuine interpersonal contact, which may help explain why people enjoy engaging with recorded music.

negative: KeyGraph: Automatic Indexing by Co-Occurrence Graph Based on Building Construction Metaphor In this paper, we present an algorithm for extracting keywords representing the asserted main point in a document, without relying on external devices such as natural language processing tools or a document corpus. Our algorithm KeyGraph is based on the segmentation of a graph, representing the co-occurrence between terms in a document, into clusters. Each cluster corresponds to a concept on which author's idea is based, and top ranked terms by a statistic based on each term's relationship to these clusters are selected as keywords. This strategy comes from considering that a document is constructed like a building for expressing new ideas based on traditional concepts. The experimental results show that thus extracted terms match author's point quite accurately, even though KeyGraph does not use each term's average frequency in a corpus, i.e., KeyGraph is a contentsensitive, domain independent device of indexing.

negative: Community detection using a neighborhood strength driven Label Propagation Algorithm Studies of community structure and evolution in large social networks require a fast and accurate algorithm for community detection. As the size of analyzed communities grows, complexity of the community detection algorithm needs to be kept close to linear. The Label Propagation Algorithm (LPA) has the benefits of nearly-linear running time and easy implementation, thus it forms a good basis for efficient community detection methods. In this paper, we propose new update rule and label propagation criterion in LPA to improve both its computational efficiency and the quality of communities that it detects. The speed is optimized by avoiding unnecessary updates performed by the original algorithm. This change reduces significantly (by order of magnitude for large networks) the number of iterations that the algorithm executes. We also evaluate our generalization of the LPA update rule that takes into account, with varying strength, connections to the neighborhood of a node considering a new label. Experiments on computer generated networks and a wide range of social networks show that our new rule improves the quality of the detected communities compared to those found by the original LPA. The benefit of considering positive neighborhood strength is pronounced especially on real-world networks containing sufficiently large fraction of nodes with high clustering coefficient.

negative: Fast Supervised Discrete Hashing Learning-based hashing algorithms are “hot topics” because they can greatly increase the scale at which existing methods operate. In this paper, we propose a new learning-based hashing method called “fast supervised discrete hashing” (FSDH) based on “supervised discrete hashing” (SDH). Regressing the training examples (or hash code) to the corresponding class labels is widely used in ordinary least squares regression. Rather than adopting this method, FSDH uses a very simple yet effective regression of the class labels of training examples to the corresponding hash code to accelerate the algorithm. To the best of our knowledge, this strategy has not previously been used for hashing. Traditional SDH decomposes the optimization into three sub-problems, with the most critical sub-problem - discrete optimization for binary hash codes - solved using iterative discrete cyclic coordinate descent (DCC), which is time-consuming. However, FSDH has a closed-form solution and only requires a single rather than iterative hash code-solving step, which is highly efficient. Furthermore, FSDH is usually faster than SDH for solving the projection matrix for least squares regression, making FSDH generally faster than SDH. For example, our results show that FSDH is about 12-times faster than SDH when the number of hashing bits is 128 on the CIFAR-10 data base, and FSDH is about 151-times faster than FastHash when the number of hashing bits is 64 on the MNIST data-base. Our experimental results show that FSDH is not only fast, but also outperforms other comparative methods.

negative: Vascular structures in dermoscopy* Dermoscopy is an aiding method in the visualization of the epidermis and dermis. It is usually used to diagnose melanocytic lesions. In recent years, dermoscopy has increasingly been used to diagnose non-melanocytic lesions. Certain vascular structures, their patterns of arrangement and additional criteria may demonstrate lesion-specific characteristics. In this review, vascular structures and their arrangements are discussed separately in the light of conflicting views and an overview of recent literature.

negative: Audio-visual emotion recognition : A dynamic , multimodal approach Designing systems able to interact with students in a natural manner is a complex and far from solved problem. A key aspect of natural interaction is the ability to understand and appropriately respond to human emotions. This paper details our response to the continuous Audio/Visual Emotion Challenge (AVEC'12) whose goal is to predict four affective signals describing human emotions. The proposed method uses Fourier spectra to extract multi-scale dynamic descriptions of signals characterizing face appearance, head movements and voice. We perform a kernel regression with very few representative samples selected via a supervised weighted-distance-based clustering, that leads to a high generalization power. We also propose a particularly fast regressor-level fusion framework to merge systems based on different modalities. Experiments have proven the efficiency of each key point of the proposed method and our results on challenge data were the highest among 10 international research teams. Key-words Affective computing, Dynamic features, Multimodal fusion, Feature selection, Facial expressions. ACM Classification

negative: Lane detection using Fourier-based line detector In this paper a new approach to lane marker detection problem is introduced as a significant complement for a semi/fully autonomous driver assistance system. The method incorporates advance line detection using multilayer fractional Fourier transform (MLFRFT) and the state-of-the-art advance lane detector (ALD). Experimental results have shown a considerable reduction in computational complexity.

negative: Large-scale cost function learning for path planning using deep inverse reinforcement learning

negative: Cooperative Inverse Reinforcement Learning For an autonomous system to be helpful to humans and to pose no unwarranted risks, it needs to align its values with those of the humans in its environment in such a way that its actions contribute to the maximization of value for the humans. We propose a formal definition of the value alignment problem as cooperative inverse reinforcement learning (CIRL). A CIRL problem is a cooperative, partialinformation game with two agents, human and robot; both are rewarded according to the human’s reward function, but the robot does not initially know what this is. In contrast to classical IRL, where the human is assumed to act optimally in isolation, optimal CIRL solutions produce behaviors such as active teaching, active learning, and communicative actions that are more effective in achieving value alignment. We show that computing optimal joint policies in CIRL games can be reduced to solving a POMDP, prove that optimality in isolation is suboptimal in CIRL, and derive an approximate CIRL algorithm.

negative: An Application of Inverse Reinforcement Learning to Medical Records of Diabetes Treatment It is an important issue to utilize large amount of medical records which are being accumulated on medical information systems to improve the quality of medical treatment. The process of medical treatment can be considered as a sequential interaction process between doctors and patients. From this viewpoint, we have been modeling medical records using Markov decision processes (MDPs). Using our model, we can simulate the future of each patient and evaluate each treatment. In order to do so, the reward function of the MDP should be specified. However, there is no explicit information regarding the reward value in medical records. In this study we report our results of applying an inverse reinforcement learning (IRL) algorithm to medical records of diabetes treatment to explore the reward function that doctors have in mind during their treatments.

negative: Human-Interactive Subgoal Supervision for Efficient Inverse Reinforcement Learning Humans are able to understand and perform complex tasks by strategically structuring the tasks into incremental steps or subgoals. For a robot attempting to learn to perform a sequential task with critical subgoal states, such states can provide a natural opportunity for interaction with a human expert. This paper analyzes the benefit of incorporating a notion of subgoals into Inverse Reinforcement Learning (IRL) with a Human-In-The-Loop (HITL) framework. The learning process is interactive, with a human expert first providing input in the form of full demonstrations along with some subgoal states. These subgoal states define a set of subtasks for the learning agent to complete in order to achieve the final goal. The learning agent queries for partial demonstrations corresponding to each subtask as needed when the agent struggles with the subtask. The proposed Human Interactive IRL (HI-IRL) framework is evaluated on several discrete path-planning tasks. We demonstrate that subgoal-based interactive structuring of the learning task results in significantly more efficient learning, requiring only a fraction of the demonstration data needed for learning the underlying reward function with the baseline IRL model.

negative: Map Matching with Inverse Reinforcement Learning We study map-matching, the problem of estimating the route that is traveled by a vehicle, where the points observed with the Global Positioning System are available. A state-of-the-art approach for this problem is a Hidden Markov Model (HMM). We propose a particular transition probability between latent road segments by the use of the number of turns in addition to the travel distance between the latent road segments. We use inverse reinforcement learning to estimate the importance of the number of turns relative to the travel distance. This estimated importance is incorporated in the transition probability of the HMM. We show, through numerical experiments, that the error of map-matching can be reduced substantially with the proposed transition probability.

negative: Generalizing Skills with Semi-Supervised Reinforcement Learning Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known to achieve remarkable generalization when provided with massive amounts of labeled data, but can we provide this breadth of experience to an RL agent, such as a robot? The robot might continuously learn as it explores the world around it, even while it is deployed and performing useful tasks. However, this learning requires access to a reward function, to tell the agent whether it is succeeding or failing at its task. Such reward functions are often hard to measure in the real world, especially in domains such as robotics and dialog systems, where the reward could depend on the unknown positions of objects or the emotional state of the user. On the other hand, it is often quite practical to provide the agent with reward functions in a limited set of situations, such as when a human supervisor is present, or in a controlled laboratory setting. Can we make use of this limited supervision, and still benefit from the breadth of experience an agent might collect in the unstructured real world? In this paper, we formalize this problem setting as semisupervised reinforcement learning (SSRL), where the reward function can only be evaluated in a set of “labeled” MDPs, and the agent must generalize its behavior to the wide range of states it might encounter in a set of “unlabeled” MDPs, by using experience from both settings. Our proposed method infers the task objective in the unlabeled MDPs through an algorithm that resembles inverse RL, using the agent’s own prior experience in the labeled MDPs as a kind of demonstration of optimal behavior. We evaluate our method on challenging, continuous control tasks that require control directly from images, and show that our approach can improve the generalization of a learned deep neural network policy by using experience for which no reward function is available. We also show that our method outperforms direct supervised learning of the reward.

negative: Deep reinforcement learning for robotic manipulation with asynchronous off-policy updates Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of the learning process in favor of achieving training times that are practical for real physical systems. This typically involves introducing hand-engineered policy representations and human-supplied demonstrations. Deep reinforcement learning alleviates this limitation by training general-purpose neural network policies, but applications of direct deep reinforcement learning algorithms have so far been restricted to simulated settings and relatively simple tasks, due to their apparent high sample complexity. In this paper, we demonstrate that a recent deep reinforcement learning algorithm based on off-policy training of deep Q-functions can scale to complex 3D manipulation tasks and can learn deep neural network policies efficiently enough to train on real physical robots. We demonstrate that the training times can be further reduced by parallelizing the algorithm across multiple robots which pool their policy updates asynchronously. Our experimental evaluation shows that our method can learn a variety of 3D manipulation skills in simulation and a complex door opening skill on real robots without any prior demonstrations or manually designed representations.


query: A Survey on Resource Management in IoT Operating Systems

positive: Intelligent Device-to-Device Communication in the Internet of Things Analogous to the way humans use the Internet, devices will be the main users in the Internet of Things (IoT) ecosystem. Therefore, device-to-device (D2D) communication is expected to be an intrinsic part of the IoT. Devices will communicate with each other autonomously without any centralized control and collaborate to gather, share, and forward information in a multihop manner. The ability to gather relevant information in real time is key to leveraging the value of the IoT as such information will be transformed into intelligence, which will facilitate the creation of an intelligent environment. Ultimately, the quality of the information gathered depends on how smart the devices are. In addition, these communicating devices will operate with different networking standards, may experience intermittent connectivity with each other, and many of them will be resource constrained. These characteristics open up several networking challenges that traditional routing protocols cannot solve. Consequently, devices will require intelligent routing protocols in order to achieve intelligent D2D communication. We present an overview of how intelligent D2D communication can be achieved in the IoT ecosystem. In particular, we focus on how state-of-the-art routing algorithms can achieve intelligent D2D communication in the IoT.

positive: Social trust and social reciprocity based cooperative D2D communications Thanks to the convergence of pervasive mobile communications and fast-growing online social networking, mobile social networking is penetrating into our everyday life. Aiming to develop a systematic understanding of the interplay between social structure and mobile communications, in this paper we exploit social ties in human social networks to enhance cooperative device-to-device communications. Specifically, as hand-held devices are carried by human beings, we leverage two key social phenomena, namely social trust and social reciprocity, to promote efficient cooperation among devices. With this insight, we develop a coalitional game theoretic framework to devise social-tie based cooperation strategies for device-to-device communications. We also develop a network assisted relay selection mechanism to implement the coalitional game solution, and show that the mechanism is immune to group deviations, individually rational, and truthful. We evaluate the performance of the mechanism by using real social data traces. Numerical results show that the proposed mechanism can achieve up-to 122% performance gain over the case without D2D cooperation.

positive: Resource allocation for device-to-device communications underlaying LTE-advanced networks The Long Term Evolution-Advanced (LTEAdvanced) networks are being developed to provide mobile broadband services for the fourth generation (4G) cellular wireless systems. Deviceto- device (D2D) communications is a promising technique to provide wireless peer-to-peer services and enhance spectrum utilization in the LTE-Advanced networks. In D2D communications, the user equipments (UEs) are allowed to directly communicate between each other by reusing the cellular resources rather than using uplink and downlink resources in the cellular mode when communicating via the base station. However, enabling D2D communications in a cellular network poses two major challenges. First, the interference caused to the cellular users by D2D devices could critically affect the performances of the cellular devices. Second, the minimum quality-of-service (QoS) requirements of D2D communications need to be guaranteed. In this article, we introduce a novel resource allocation scheme (i.e. joint resource block scheduling and power control) for D2D communications in LTE-Advanced networks to maximize the spectrum utilization while addressing the above challenges. First, an overview of LTE-Advanced networks, and architecture and signaling support for provisioning of D2D communications in these networks are described. Furthermore, research issues and the current state-of-the-art of D2D communications are discussed. Then, a resource allocation scheme based on a column generation method is proposed for D2D communications. The objective is to maximize the spectrum utilization by finding the minimum transmission length in terms of time slots for D2D links while protecting the cellular users from harmful interference and guaranteeing the QoS of D2D links. The performance of this scheme is evaluated through simulations.

negative: THREE LAYERS APPROACH FOR NETWORK SCANNING DETECTION Computer networks became one of the most important dimensions in any organization. This importance is due to the connectivity benefits that can be given by networks, such as computing power, data sharing and enhanced performance. However using networks comes with a cost, there are some threats and issues that need to be addressed, such as providing sufficient level of security. One of the most challenging issues in network security is network scanning. Network scanning is considered to be the initial step in any attacking process. Therefore, detecting networks scanning helps to protect networks resources, services, and data before the real attack happens. This paper proposes an approach that consists of three layers to detect Sequential and Random network scanning for both TCP and UDP protocols. The proposed Three Layers Approach aims to increase network scanning detection accuracy. The Three Layers Approach defines some packets to be used as signs of network scanning existence. Before applying the approach in a network, there is a Thresholds Generation Stage to that aims to determine descriptive set of thresholds. After that, the first layer of the approach aggregates sign packets in separated tables. Then the second layer of the approach analyzes these tables in new tables by counting packets generated by each IP. Finally, the last layer makes a decision of whether or not a network is being scanned.

negative: Study of induction heating power supply based on fuzzy controller In order to satisfy the higher control performance requirement of the Induction Heating Supply, a fuzzy logic control technology for induction heating power supply power control system is researched. This study presents the composition and design of the induction heating control system based on the fuzzy logic controller. In this paper, a complete simulation model of induction heating systems is obtained by using the Matlab /Simulink software, Simulation results show the effectiveness and superiority of the control system.

negative: Kawaii/Cute interactive media Cuteness in interactive systems is a relatively new development yet has its roots in the aesthetics of many historical and cultural elements. Symbols of cuteness abound in nature as in the creatures of neotenous proportions: drawing in the care and concern of the parent and the care from a protector. We provide an in-depth look at the role of cuteness in interactive systems beginning with a history. We particularly focus on the Japanese culture of Kawaii, which has made large impact around the world, especially in entertainment, fashion, and animation. We then take the approach of defining cuteness in contemporary popular perception. User studies are presented offering an in-depth understanding of key perceptual elements, which are identified as cute. This knowledge provides for the possibility to create a cute filter that can transform inputs and automatically create more cute outputs. This paper also provides an insight into the next generation of interactive systems that bring happiness and comfort to users of all ages and cultures through the soft power of cute.

negative: A unified approach for mining outliers This paper deals with nding outliers (exceptions) in large datasets. The identiication of outliers can often lead to the discovery of truly unexpected knowledge in areas such as electronic commerce, credit card fraud, and even the analysis of performance statistics of professional athletes. One contribution of this paper is to show how our proposed, intuitive notion of outliers can unify or generalize many of the existing notions of outliers provided by discordancy tests for standard statistical distributions. Thus, when mining large datasets containing many attributes, a uniied approach can replace many statistical discordancy tests, regardless of any knowledge about the underlying distribution of the attributes. A second contribution of this paper is the development of an algorithm to nd all outliers in a dataset. An important advantage of this algorithm is that its time complexity is linear with respect to the number of objects in the dataset. We include preliminary performance results.

negative: An efficient centroid type-reduction strategy for general type-2 fuzzy logic system

negative: Automatic Ontology Matching via Upper Ontologies: A Systematic Evaluation ¿Ontology matching¿ is the process of finding correspondences between entities belonging to different ontologies. This paper describes a set of algorithms that exploit upper ontologies as semantic bridges in the ontology matching process and presents a systematic analysis of the relationships among features of matched ontologies (number of simple and composite concepts, stems, concepts at the top level, common English suffixes and prefixes, and ontology depth), matching algorithms, used upper ontologies, and experiment results. This analysis allowed us to state under which circumstances the exploitation of upper ontologies gives significant advantages with respect to traditional approaches that do no use them. We run experiments with SUMO-OWL (a restricted version of SUMO), OpenCyc, and DOLCE. The experiments demonstrate that when our ¿structural matching method via upper ontology¿ uses an upper ontology large enough (OpenCyc, SUMO-OWL), the recall is significantly improved while preserving the precision obtained without upper ontologies. Instead, our ¿nonstructural matching method¿ via OpenCyc and SUMO-OWL improves the precision and maintains the recall. The ¿mixed method¿ that combines the results of structural alignment without using upper ontologies and structural alignment via upper ontologies improves the recall and maintains the F-measure independently of the used upper ontology.

negative: A Wideband Slotted Bow-Tie Antenna With Reconfigurable CPW-to-Slotline Transition for Pattern Diversity We propose a slotted bow-tie antenna with pattern reconfigurability. The antenna consists of a coplanar waveguide (CPW) input, a pair of reconfigurable CPW-to-slotline transitions, a pair of Vivaldi-shaped radiating tapered slots, and four PIN diodes for reconfigurability. With suitable arrangement of the bias network, the proposed antenna demonstrates reconfigurable radiation patterns in the frequency range from 3.5 to 6.5 GHz in three states: a broadside radiation with fairly omnidirectional pattern and two end-fire radiations whose main beams are directed to exactly opposite directions. The proposed antenna is investigated comprehensively with the help of the radiation patterns in the two principal cuts and also the antenna gain responses versus frequencies. The simulation and measurement results reveal fairly good agreement and hence sustain the reconfigurability of the proposed design.

negative: Analysis of Software Aging in a Web Server Several recent studies have reported & examined the phenomenon that long-running software systems show an increasing failure rate and/or a progressive degradation of their performance. Causes of this phenomenon, which has been referred to as "software aging", are the accumulation of internal error conditions, and the depletion of operating system resources. A proactive technique called "software rejuvenation" has been proposed as a way to counteract software aging. It involves occasionally terminating the software application, cleaning its internal state and/or its environment, and then restarting it. Due to the costs incurred by software rejuvenation, an important question is when to schedule this action. While periodic rejuvenation at constant time intervals is straightforward to implement, it may not yield the best results. The rate at which software ages is usually not constant, but it depends on the time-varying system workload. Software rejuvenation should therefore be planned & initiated in the face of the actual system behavior. This requires the measurement, analysis, and prediction of system resource usage. In this paper, we study the development of resource usage in a web server while subjecting it to an artificial workload. We first collect data on several system resource usage & activity parameters. Non-parametric statistical methods are then applied toward detecting & estimating trends in the data sets. Finally, we fit time series models to the data collected. Unlike the models used previously in the research on software aging, these time series models allow for seasonal patterns, and we show how the exploitation of the seasonal variation can help in adequately predicting the future resource usage. Based on the models employed here, proactive management techniques like software rejuvenation triggered by actual measurements can be built

negative: A Flexible Fabrication Approach Toward the Shape Engineering of Microscale Soft Pneumatic Actuators The recent developments of soft robots have inspired a variety of applications that require compliance for safety and softness for biomimetics. With such prevalence and advantages of soft robots, researchers are diverting their interests toward applications like micromanipulation of biological tissue. However, the progress has been thwarted by the difficulty in producing soft robots in miniature scale. In this paper, we present a new kind of microscale soft pneumatic actuators (SPA) made from streamlined and standardized fabrication procedure with customizable bending modalities inspired by shape engineering. Preliminary mathematical models are given to interpret width-based shape engineering for customization and to compare the bending angle and radius of curvature measured from the characterization experiments. The fabricated SPA was tested on the sciatic nerve of a rat in order to show its future potentials in biomedical field. Ultimately, this paper will contribute to the diversification of SPA fabrication and customization, as well as biomedical applications that demand smaller dimensions and higher precision.

negative: Cognitive Wireless Powered Network: Spectrum Sharing Models and Throughput Maximization The recent advance in radio-frequency (RF) wireless energy transfer (WET) has motivated the study of wireless powered communication network (WPCN) in which distributed wireless devices are powered via dedicated WET by the hybrid access-point (H-AP) in the downlink (DL) for uplink (UL) wireless information transmission (WIT). In this paper, by utilizing the cognitive radio (CR) technique, we study a new type of CR enabled secondary WPCN, called cognitive WPCN, under spectrum sharing with the primary wireless communication system. In particular, we consider a cognitive WPCN, consisting of one single H-AP with constant power supply and distributed wireless powered users, shares the same spectrum for its DL WET and UL WIT with an existing primary communication link, where the WPCN's WET/WIT and the primary link's WIT may interfere with each other. Under this new setup, we propose two coexisting models for spectrum sharing of the two systems, namely underlay and overlay-based cognitive WPCNs, depending on different types of knowledge on the primary user transmission available for the cognitive WPCN. For each model, we maximize the sum-throughput of the cognitive WPCN by optimizing its transmission under different constraints applied to protect the primary user transmission. Analysis and simulation results are provided to compare the sum-throughput of the cognitive WPCN versus the achievable rate of the primary user under two proposed coexisting models. It is shown that the overlay based cognitive WPCN outperforms the underlay based counterpart, thanks to its fully co-operative WET/WIT design with the primary WIT, while also requiring higher complexity for implementation.

negative: Accounting Restatements and External Financing Choices There is little research on how accounting information quality affects a firm’s external financing choices. In this paper, we use the occurrence of accounting restatements as a proxy for the reduced credibility of accounting information and investigate how restatements affect a firm’s external financing choices. We find that for firms that obtain external financing after restatements, they rely more on debt financing, especially private debt financing, and less on equity financing. The increase in debt financing is more pronounced for firms with more severe information problems and less pronounced for firms with prompt CEO/CFO turnover and auditor dismissal. Our evidence indicates that accounting information quality affects capital providers’ resource allocation and that debt holders help alleviate information problems after accounting restatements.

negative: Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the problem lies in the coupling of two crucial robotic capabilities, namely perception and planning. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system

negative: The international personality item pool and the future of public-domain personality measures Seven experts on personality measurement here discuss the viability of public-domain personality measures, focusing on the International Personality Item Pool (IPIP) as a prototype. Since its inception in 1996, the use of items and scales from the IPIP has increased dramatically. Items from the IPIP have been translated from English into more than 25 other languages. Currently over 80 publications using IPIP scales are listed at the IPIP Web site (http://ipip.ori.org), and the rate of IPIPrelated publications has been increasing rapidly. The growing popularity of the IPIP can be attributed to Wve factors: (1) It is cost free; (2) its items can be obtained instantaneously via the Internet; (3) it includes over 2000 items, all easily available for inspection; (4) scoring keys for IPIP scales are This article represents a synthesis of contributions to the presidential symposium, The International Personality Item Pool and the Future of Public-Domain Personality Measures (L.R. Goldberg, Chair) at the sixth annual meeting of the Association for Research in Personality, New Orleans, January 20, 2005. Authorship order is based on the order of participation in the symposium. The IPIP project has been continually supported by Grant MH049227 from the National Institute of Mental Health, U.S. Public Health Service. J.A. Johnson’s research was supported by the DuBois Educational Foundation. The authors thank Paul T. Costa Jr., Samuel D. Gosling, Leonard G. Rorer, Richard Reed, and Krista Trobst for their helpful suggestions. * Corresponding author. Fax: +1 814 375 4784. E-mail address: j5j@psu.edu (J.A. Johnson). 0092-6566/$ see front matter  2005 Elsevier Inc. All rights reserved. doi:10.1016/j.jrp.2005.08.007 L.R. Goldberg et al. / Journal of Research in Personality 40 (2006) 84–96 85 provided; and (5) its items can be presented in any order, interspersed with other items, reworded, translated into other languages, and administered on the World Wide Web without asking permission of anyone. The unrestricted availability of the IPIP raises concerns about possible misuse by unqualiWed persons, and the freedom of researchers to use the IPIP in idiosyncratic ways raises the possibility of fragmentation rather than scientiWc uniWcation in personality research.  2005 Elsevier Inc. All rights reserved.

negative: A CCPP algorithm based on the standard map for the mobile robot This paper introduces a new integrated algorithm to achieve the complete coverage path planning (CCPP) task for the mobile robot in a given obstacles-included terrain. The algorithm combines the cellular decomposition approach and the chaotic Standard map together to design the coverage procedure. The cellular decomposition approach decompose the target region into several rectangular feasible sub-regions. Then the chaotic Standard map in the full mapping state produces the complete coverage trajectories inside the feasible sub-regions, and the connection trajectories between two adjacent feasible sub-regions. Compared with the general cellular decomposition method, the proposed integrated algorithm needs no designated start point and goal point to link two adjacent sub-regions. The planned trajectories demonstrate a good distribution characteristics with regard to completeness and evenness. No obstacles-avoidance method and boundaries detection are needed in the coverage procedure.

negative: Probabilistic slope stability analysis by finite elements The paper investigates the probability of failure of a cohesive slope using both simple and more advanced probabilistic analysis tools. The influence of local averaging on the probability of failure of a test problem is thoroughly investigated. In the simple approach, classical slope stability analysis techniques are used, and the shear strength is treated as a single random variable. The advanced method, called the random finite element method (RFEM), uses elastoplasticity combined with random field theory. The RFEM method is shown to offer many advantages over traditional probabilistic slope stability techniques, because it enables slope failure to develop naturally by “seeking out” the most critical mechanism. Of particular importance in this work, is the conclusion that simplified probabilistic analysis, in which spatial variability is ignored by assuming perfect correlation, can lead to unconservative estimates of the probability of failure. This contradicts the findings of other investigators using classical slope stability analysis tools.

negative: New low-voltage class AB/AB CMOS op amp with rail-to-rail input/output swing A new low-voltage CMOS Class AB/AB fully differential opamp with rail-to-rail input/output swing and supply voltage lower than two V/sub GS/ drops is presented. The scheme is based on combining floating-gate transistors and Class AB input and output stages. The op amp is characterized by low static power consumption and enhanced slew-rate. Moreover the proposed opamp does not suffer from typical reliability problems related to initial charge trapped in the floating-gate devices. Simulation and experimental results in 0.5-/spl mu/m CMOS technology verify the scheme operating with /spl plusmn/0.9-V supplies and close to rail-to-rail input and output swing.

negative: Ultrafast photonic reinforcement learning based on laser chaos Reinforcement learning involves decision making in dynamic and uncertain environments and constitutes an important element of artificial intelligence (AI). In this work, we experimentally demonstrate that the ultrafast chaotic oscillatory dynamics of lasers efficiently solve the multi-armed bandit problem (MAB), which requires decision making concerning a class of difficult trade-offs called the exploration–exploitation dilemma. To solve the MAB, a certain degree of randomness is required for exploration purposes. However, pseudorandom numbers generated using conventional electronic circuitry encounter severe limitations in terms of their data rate and the quality of randomness due to their algorithmic foundations. We generate laser chaos signals using a semiconductor laser sampled at a maximum rate of 100 GSample/s, and combine it with a simple decision-making principle called tug of war with a variable threshold, to ensure ultrafast, adaptive, and accurate decision making at a maximum adaptation speed of 1 GHz. We found that decision-making performance was maximized with an optimal sampling interval, and we highlight the exact coincidence between the negative autocorrelation inherent in laser chaos and decision-making performance. This study paves the way for a new realm of ultrafast photonics in the age of AI, where the ultrahigh bandwidth of light wave can provide new value.

negative: A generalized maximum entropy approach to bregman co-clustering and matrix approximation Co-clustering is a powerful data mining technique with varied applications such as text clustering, microarray analysis and recommender systems. Recently, an information-theoretic co-clustering approach applicable to empirical joint probability distributions was proposed. In many situations, co-clustering of more general matrices is desired. In this paper, we present a substantially generalized co-clustering framework wherein any Bregman divergence can be used in the objective function, and various conditional expectation based constraints can be considered based on the statistics that need to be preserved. Analysis of the co-clustering problem leads to the minimum Bregman information principle, which generalizes the maximum entropy principle, and yields an elegant meta algorithm that is guaranteed to achieve local optimality. Our methodology yields new algorithms and also encompasses several previously known clustering and co-clustering algorithms based on alternate minimization.

negative: Adolescent coping style and behaviors: conceptualization and measurement. The developmental tasks associated with adolescence pose a unique set of stressors and strains. Included in the normative tasks of adolescence are developing and identity, differentiating from the family while still staying connected, and fitting into a peer group. The adolescent's adaptation to these and other, often competing demands is achieved through the process of coping which involves cognitive and behavioral strategies directed at eliminating or reducing demands, redefining demands so as to make them more manageable, increasing resources for dealing with demands, and/or managing the tension which is felt as a result of experiencing demands. In this paper, individual copying theory and family stress theory are reviewed to provide a theoretical foundation for assessing adolescent coping. In addition, the development and testing of an adolescent self-report coping inventory, Adolescent Coping Orientation for Problem Experiences (A-COPE) is presented. Gender differences in coping style are presented and discussed. These coping patterns were validated against criterion indices of adolescents' use of cigarettes, liquor, and marijuana using data from a longitudinal study of 505 families with adolescents. The findings are discussed in terms of coping theory and measurement and in terms of adolescent development and substance use.

negative: VisTA: Visual Terminology Alignment Tool for Factual Knowledge Aggregation The alignment of terminologies can be considered as a kind of “translation” between two or more terminologies that aims to enhance the communication among people coming from different domains or expertise. In this paper we introduce the Visual Terminology Alignment tool (VisTA) that enables the exact alignment for RDF/SKOS-like terminologies, suitable for integrating knowledge bases, rather than information retrieval systems. The tool provides a simple and friendly web-based user interface for the alignment between two terminologies, while it visualizes the terminology hierarchies, enables the interactive alignment process, and presents the alignment result. The latter is a native RDF/SKOS graph that interconnects the two terminology graphs, supporting interoperability and extending the search capabilities over the integrated semantic graph, using the broader and exact match properties.

negative: Evaluating State-of-the-Art Object Detector on Challenging Traffic Light Data Traffic light detection (TLD) is a vital part of both intelligent vehicles and driving assistance systems (DAS). General for most TLDs is that they are evaluated on small and private datasets making it hard to determine the exact performance of a given method. In this paper we apply the state-of-the-art, real-time object detection system You Only Look Once, (YOLO) on the public LISA Traffic Light dataset available through the VIVA-challenge, which contain a high number of annotated traffic lights, captured in varying light and weather conditions.,,,,,,The YOLO object detector achieves an AUC of impressively 90.49% for daysequence1, which is an improvement of 50.32% compared to the latest ACF entry in the VIVAchallenge. Using the exact same training configuration as the ACF detector, the YOLO detector reaches an AUC of 58.3%, which is in an increase of 18.13%.

negative: A Variational Observation Model of 3 D Object for Probabilistic Semantic SLAM We present a Bayesian object observation model for complete probabilistic semantic SLAM. Recent studies on object detection and feature extraction have become important for scene understanding and 3D mapping. However, 3D shape of the object is too complex to formulate the probabilistic observation model; therefore, performing the Bayesian inference of the object-oriented features as well as their pose is less considered. Besides, when the robot equipped with an RGB mono camera only observes the projected single view of an object, a significant amount of the 3D shape information is abandoned. Due to these limitations, semantic SLAM and viewpoint-independent loop closure using volumetric 3D object shape is challenging. In order to enable the complete formulation of probabilistic semantic SLAM, we approximate the observation model of a 3D object with a tractable distribution. We also estimate the variational likelihood from the 2D image of the object to exploit its observed single view. In order to evaluate the proposed method, we perform pose and feature estimation, and demonstrate that the automatic loop closure works seamlessly without additional loop detector in various environments.

negative: The level and nature of autistic intelligence. Autistics are presumed to be characterized by cognitive impairment, and their cognitive strengths (e.g., in Block Design performance) are frequently interpreted as low-level by-products of high-level deficits, not as direct manifestations of intelligence. Recent attempts to identify the neuroanatomical and neurofunctional signature of autism have been positioned on this universal, but untested, assumption. We therefore assessed a broad sample of 38 autistic children on the preeminent test of fluid intelligence, Raven's Progressive Matrices. Their scores were, on average, 30 percentile points, and in some cases more than 70 percentile points, higher than their scores on the Wechsler scales of intelligence. Typically developing control children showed no such discrepancy, and a similar contrast was observed when a sample of autistic adults was compared with a sample of nonautistic adults. We conclude that intelligence has been underestimated in autistics.

negative: A theory of biological pattern formation One of the elementary processes in morphogenesis is the formation of a spatial pattern of tissue structures, starting from almost homogeneous tissue. It will be shown that relatively simple molecular mechanisms based on auto- and cross catalysis can account for a primary pattern of morphogens to determine pattern formation of the tissue. The theory is based on short range activation, long range inhibition, and a distinction between activator and inhibitor concentrations on one hand, and the densities of their sources on the other. While source density is expected to change slowly, e.g. as an effect of cell differentiation, the concentration of activators and inhibitors can change rapidly to establish the primary pattern; this results from auto- and cross catalytic effects on the sources, spreading by diffusion or other mechanisms, and degradation. Employing an approximative equation, a criterium is derived for models, which lead to a striking pattern, starting from an even distribution of morphogens, and assuming a shallow source gradient. The polarity of the pattern depends on the direction of the source gradient, but can be rather independent of other features of source distribution. Models are proposed which explain size regulation (constant proportion of the parts of the pattern irrespective of total size). Depending on the choice of constants, aperiodic patterns, implying a one-to-one correlation between morphogen concentration and position in the tissue, or nearly periodic patterns can be obtained. The theory can be applied not only to multicellular tissues, but also to intracellular differentiation, e.g. of polar cells. The theory permits various molecular interpretations. One of the simplest models involves bimolecular activation and monomolecular inhibition. Source gradients may be substituted by, or added to, sink gradients, e.g. of degrading enzymes. Inhibitors can be substituted by substances required for, and depleted by activation. Sources may be either synthesizing systems or particulate structures releasing activators and inhibitors. Calculations by computer are presented to exemplify the main features of the theory proposed. The theory is applied to quantitative data on hydra — a suitable one-dimensional model for pattern formation — and is shown to account for activation and inhibition of secondary head formation.

negative: Topological Value Iteration Algorithm for Markov Decision Processes Value Iteration is an inefficient algorithm for Markov decision processes (MDPs) because it puts the majority of its effort into backing up the entire state space, which turns out to be unnecessary in many cases. In order to overcome this problem, many approaches have been proposed. Among them, LAO*, LRTDP and HDP are state-of-theart ones. All of these use reachability analysis and heuristics to avoid some unnecessary backups. However, none of these approaches fully exploit the graphical features of the MDPs or use these features to yield the best backup sequence of the state space. We introduce an algorithm named Topological Value Iteration (TVI) that can circumvent the problem of unnecessary backups by detecting the structure of MDPs and backing up states based on topological sequences. We prove that the backup sequence TVI applies is optimal. Our experimental results show that TVI outperforms VI, LAO*, LRTDP and HDP on our benchmark MDPs.

negative:
High performance work systems: the gap between policy and practice in health care reform. PURPOSE
Studies of high-performing organisations have consistently reported a positive relationship between high performance work systems (HPWS) and performance outcomes. Although many of these studies have been conducted in manufacturing, similar findings of a positive correlation between aspects of HPWS and improved care delivery and patient outcomes have been reported in international health care studies. The purpose of this paper is to bring together the results from a series of studies conducted within Australian health care organisations. First, the authors seek to demonstrate the link found between high performance work systems and organisational performance, including the perceived quality of patient care. Second, the paper aims to show that the hospitals studied do not have the necessary aspects of HPWS in place and that there has been little consideration of HPWS in health system reform.

DESIGN/METHODOLOGY/APPROACH
The paper draws on a series of correlation studies using survey data from hospitals in Australia, supplemented by qualitative data collection and analysis. To demonstrate the link between HPWS and perceived quality of care delivery the authors conducted regression analysis with tests of mediation and moderation to analyse survey responses of 201 nurses in a large regional Australian health service and explored HRM and HPWS in detail in three casestudy organisations. To achieve the second aim, the authors surveyed human resource and other senior managers in all Victorian health sector organisations and reviewed policy documents related to health system reform planned for Australia.

FINDINGS
The findings suggest that there is a relationship between HPWS and the perceived quality of care that is mediated by human resource management (HRM) outcomes, such as psychological empowerment. It is also found that health care organisations in Australia generally do not have the necessary aspects of HPWS in place, creating a policy and practice gap. Although the chief executive officers of health service organisations reported high levels of strategic HRM, the human resource and other managers reported a distinct lack of HPWS from their perspectives. The authors discuss why health care organisations may have difficulty in achieving HPWS.

ORIGINALITY/VALUE
Leaders in health care organisations should focus on ensuring human resource management systems, structures and processes that support HPWS. Policy makers need to consider HPWS as a necessary component of health system reform. There is a strong need to reorient organisational human resource management policies and procedures in public health care organisations towards high performing work systems.

negative: Developing Competency Models to Promote Integrated Human Resource Practices • 309 DEVELOPING COMPETENCY MODELS TO PROMOTE INTEGRATED HUMAN RESOURCE PRACTICES Today, competencies are used in many facets of human resource management, ranging from individual selection, development, and performance management to organizational strategic planning. By incorporating competencies into job analysis methodologies, the Office of Personnel Management (OPM) has developed robust competency models that can form the foundation for each of these initiatives. OPM has placed these models into automated systems to ensure access for employees, human resources professionals, and managers. Shared access to the data creates a shared frame of reference and a common language of competencies that have provided the basis for competency applications in public sector agencies. © 2002 Wiley Periodicals, Inc.

negative: Enterprise systems implementation and accounting benefits Purpose – The aim of this paper is to examine the accounting benefits involved in adopting enterprise systems, but also to comprehend the underlying causes that motivate their adoption. Design/methodology/approach – This paper presents evidence from a survey of 73 companies which implemented ES on the related benefits to their accounting information provision and practices. Findings – Empirical evidence confirms a number of benefits derived from the application of ES that focus on the following dimensions: organisation, operations, management and IT infrastructure. These benefits are related both to the reasons leading to the implementation of ES and to the relevant selection of ES modules. Originality/value – The corresponding results from this survey can then be used as a basis for establishing the best approach in order to fully exploit the potential of future ES applications in accounting practice.