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Distributed computing enables large-scale computation tasks to be processed over multiple workers in parallel. However, the randomness of communication and computation delays across workers causes the straggler effect, which may degrade the performance. Coded computation helps to mitigate the straggler effect, but the amount of redundant load and their assignment to the workers should be carefully optimized. In this work, we consider a multi-master heterogeneous-worker distributed computing scenario, where multiple matrix multiplication tasks are encoded and allocated to workers for parallel computation. The goal is to minimize the communication plus computation delay of the slowest task. We propose worker assignment, resource allocation and load allocation algorithms under both dedicated and fractional worker assignment policies, where each worker can process the encoded tasks of either a single master or multiple masters, respectively. Then, the non-convex delay minimization problem is solved by employing the Markov's inequality-based approximation, Karush-Kuhn-Tucker conditions, and successive convex approximation methods. Through extensive simulations, we show that the proposed algorithms can reduce the task completion delay compared to the benchmarks, and observe that dedicated and fractional worker assignment policies have different scopes of applications.

Edge computing has been an efficient way to provide prompt and near-data computing services for resource-and-delay sensitive IoT applications via computation offloading. Effective computation offloading strategies need to comprehensively cope with several major issues, including the allocation of dynamic communication and computational resources, the deadline constraints of heterogeneous tasks, and the requirements for computationally inexpensive and distributed algorithms. However, most of the existing works mainly focus on part of these issues, which would not suffice to achieve expected performance in complex and practical scenarios. To tackle this challenge, in this paper, we systematically study a distributed computation offloading problem with hard delay constraints, where heterogeneous computational tasks require continually offloading to a set of edge servers via a limiting number of stochastic communication channels. The task offloading problem is then cast as a delay-constrained long-term stochastic optimization problem under unknown priori statistical knowledge. To resolve this problem, we first provide a technical path to transform and decompose it into several slot-level subproblems, then we develop a distributed online algorithm, namely TODG, to efficiently allocate the resources and schedule the offloading tasks with delay guarantees. Further, we present a comprehensive analysis for TODG, in terms of the optimality gap, the delay guarantees, and the impact of system parameters. Extensive simulation results demonstrate the effectiveness and efficiency of TODG.

Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an increased workspace, with potential application in home environments. This paper presents an approach for design optimization of such robots to reach specified targets while minimizing the number of discrete joints and thus construction and actuation costs. We define a maximum number of allowable joints, as well as hardware constraints imposed by the materials and actuation available for soft growing robots, and we formulate and solve an optimization problem to output a planar robot design, i.e., the total number of potential joints and their locations along the robot body, which reaches all the desired targets, avoids known obstacles, and maximizes the workspace. We demonstrate a process to rapidly construct the resulting soft growing robot design. Finally, we use our algorithm to evaluate the ability of this design to reach new targets and demonstrate the algorithm's utility as a design tool to explore robot capabilities given various constraints and objectives.

We show that highly accurate approximations can often be obtained from constructing Thiele interpolating continued fractions by a Greedy selection of the interpolation points together with an early termination condition. The obtained results are comparable with the outcome from state-of-the-art rational interpolation techniques based on the barycentric form.

Website Fingerprinting (WF) attacks are used by local passive attackers to determine the destination of encrypted internet traffic by comparing the sequences of packets sent to and received by the user to a previously recorded data set. As a result, WF attacks are of particular concern to privacy-enhancing technologies such as Tor. In response, a variety of WF defenses have been developed, though they tend to incur high bandwidth and latency overhead or require additional infrastructure, thus making them difficult to implement in practice. Some lighter-weight defenses have been presented as well; still, they attain only moderate effectiveness against recently published WF attacks. In this paper, we aim to present a realistic and novel defense, RegulaTor, which takes advantage of common patterns in web browsing traffic to reduce both defense overhead and the accuracy of current WF attacks. In the closed-world setting, RegulaTor reduces the accuracy of the state-of-the-art attack, Tik-Tok, against comparable defenses from 66% to 25.4%. To achieve this performance, it requires limited added latency and a bandwidth overhead 39.3% less than the leading moderate-overhead defense. In the open-world setting, RegulaTor limits a precision-tuned Tik-Tok attack to an F-score of .135, compared to .625 for the best comparable defense.

Scalability remains one of the biggest challenges to the adoption of permissioned blockchain technologies for large-scale deployments. Permissioned blockchains typically exhibit low latencies, compared to permissionless deployments -- however at the cost of poor scalability. Various solutions were proposed to capture "the best of both worlds", targeting low latency and high scalability simultaneously, the most prominent technique being blockchain sharding. However, most existing sharding proposals exploit features of the permissionless model and are therefore restricted to cryptocurrency applications. We present MITOSIS, a novel approach to practically improve scalability of permissioned blockchains. Our system allows the dynamic creation of blockchains, as more participants join the system, to meet practical scalability requirements. Crucially, it enables the division of an existing blockchain (and its participants) into two -- reminiscent of mitosis, the biological process of cell division. MITOSIS inherits the low latency of permissioned blockchains while preserving high throughput via parallel processing. Newly created chains in our system are fully autonomous, can choose their own consensus protocol, and yet they can interact with each other to share information and assets -- meeting high levels of interoperability. We analyse the security of MITOSIS and evaluate experimentally the performance of our solution when instantiated over Hyperledger Fabric. Our results show that MITOSIS can be ported with little modifications and manageable overhead to existing permissioned blockchains, such as Hyperledger Fabric.

We introduce a secure hardware device named a QEnclave that can secure the remote execution of quantum operations while only using classical controls. This device extends to quantum computing the classical concept of a secure enclave which isolates a computation from its environment to provide privacy and tamper-resistance. Remarkably, our QEnclave only performs single-qubit rotations, but can nevertheless be used to secure an arbitrary quantum computation even if the qubit source is controlled by an adversary. More precisely, attaching a QEnclave to a quantum computer, a remote client controlling the QEnclave can securely delegate its computation to the server solely using classical communication. We investigate the security of our QEnclave by modeling it as an ideal functionality named Remote State Rotation. We show that this resource, similar to previously introduced functionality of remote state preparation, allows blind delegated quantum computing with perfect security. Our proof relies on standard tools from delegated quantum computing. Working in the Abstract Cryptography framework, we show a construction of remote state preparation from remote state rotation preserving the security. An immediate consequence is the weakening of the requirements for blind delegated computation. While previous delegated protocols were relying on a client that can either generate or measure quantum states, we show that this same functionality can be achieved with a client that only transforms quantum states without generating or measuring them.

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with cross-schedule dependencies that constrain the schedules of the different robots in the system. The proposed approach involves a multi-objective heuristic search of the mission, represented as a hierarchical tree that defines the mission goal. This procedure outputs several favorable ways to fulfill the mission, which directly feed into the next stage of the method. We propose a distributed metaheuristic based on evolutionary computation to allocate tasks and generate schedules for the set of chosen decompositions. The method is evaluated in a simulation setup of an automated greenhouse use case, where we demonstrate the method's ability to adapt the planning strategy depending on the available robots and the given optimization criteria.

We define a computational type theory combining the contentful equality structure of cartesian cubical type theory with internal parametricity primitives. The combined theory supports both univalence and its relational equivalent, which we call relativity. We demonstrate the use of the theory by analyzing polymorphic functions between higher inductive types, observe how cubical equality regularizes parametric type theory, and examine the similarities and discrepancies between cubical and parametric type theory, which are closely related. We also abstract a formal interface to the computational interpretation and show that this also has a presheaf model.

Multi-source translation is an approach to exploit multiple inputs (e.g. in two different languages) to increase translation accuracy. In this paper, we examine approaches for multi-source neural machine translation (NMT) using an incomplete multilingual corpus in which some translations are missing. In practice, many multilingual corpora are not complete due to the difficulty to provide translations in all of the relevant languages (for example, in TED talks, most English talks only have subtitles for a small portion of the languages that TED supports). Existing studies on multi-source translation did not explicitly handle such situations. This study focuses on the use of incomplete multilingual corpora in multi-encoder NMT and mixture of NMT experts and examines a very simple implementation where missing source translations are replaced by a special symbol <NULL>. These methods allow us to use incomplete corpora both at training time and test time. In experiments with real incomplete multilingual corpora of TED Talks, the multi-source NMT with the <NULL> tokens achieved higher translation accuracies measured by BLEU than those by any one-to-one NMT systems.