This paper develops a method to detect model structural changes by applying a Corrected Kernel Principal Component Analysis (CKPCA) to construct the so-called central distribution deviation subspaces. This approach can efficiently identify the mean and distribution changes in these dimension reduction subspaces. We derive that the locations and number changes in the dimension reduction data subspaces are identical to those in the original data spaces. Meanwhile, we also explain the necessity of using CKPCA as the classical KPCA fails to identify the central distribution deviation subspaces in these problems. Additionally, we extend this approach to clustering by embedding the original data with nonlinear lower dimensional spaces, providing enhanced capabilities for clustering analysis. The numerical studies on synthetic and real data sets suggest that the dimension reduction versions of existing methods for change point detection and clustering significantly improve the performances of existing approaches in finite sample scenarios.
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This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and experimental studies reveal that the designed joint can replicate the human head's anthropomorphic range of motion. We enumerate the analytical modelling for SMA actuators and the kinematic model of the proposed design configuration. A series of experiments were conducted to assess the performance of the anthropomorphic neck by measuring the range of motion with varying input currents. Furthermore, the experiments were conducted to validate the analytical model of the SMA Multiphysics and the continuum backbone. The existing humanoid necks have been powered by conventional actuators that have relatively low energy efficiency and are prone to wear. The current research envisages application of nonconventional actuator such as SMA springs with specific geometric configuration yielding high power to weight ratio that delivers smooth motion for continuum robots as demonstrated in this present work.
In this paper we establish limit theorems for power variations of stochastic processes controlled by fractional Brownian motions with Hurst parameter $H\leq 1/2$. We show that the power variations of such processes can be decomposed into the mix of several weighted random sums plus some remainder terms, and the convergences of power variations are dominated by different combinations of those weighted sums depending on whether $H<1/4$, $H=1/4$, or $H>1/4$. We show that when $H\geq 1/4$ the centered power variation converges stably at the rate $n^{-1/2}$, and when $H<1/4$ it converges in probability at the rate $n^{-2H}$. We determine the limit of the mixed weighted sum based on a rough path approach developed in \cite{LT20}.
Researchers are solving the challenges of spatial-temporal prediction by combining Federated Learning (FL) and graph models with respect to the constrain of privacy and security. In order to make better use of the power of graph model, some researchs also combine split learning(SL). However, there are still several issues left unattended: 1) Clients might not be able to access the server during inference phase; 2) The graph of clients designed manually in the server model may not reveal the proper relationship between clients. This paper proposes a new GNN-oriented split federated learning method, named node {\bfseries M}asking and {\bfseries M}ulti-granularity {\bfseries M}essage passing-based Federated Graph Model (M$^3$FGM) for the above issues. For the first issue, the server model of M$^3$FGM employs a MaskNode layer to simulate the case of clients being offline. We also redesign the decoder of the client model using a dual-sub-decoders structure so that each client model can use its local data to predict independently when offline. As for the second issue, a new GNN layer named Multi-Granularity Message Passing (MGMP) layer enables each client node to perceive global and local information. We conducted extensive experiments in two different scenarios on two real traffic datasets. Results show that M$^3$FGM outperforms the baselines and variant models, achieves the best results in both datasets and scenarios.
Security and dependability of devices are paramount for the IoT ecosystem. Message Queuing Telemetry Transport protocol (MQTT) is the de facto standard and the most common alternative for those limited devices that cannot leverage HTTP. However, the MQTT protocol was designed with no security concern since initially designed for private networks of the oil and gas industry. Since MQTT is widely used for real applications, it is under the lens of the security community, also considering the widespread attacks targeting IoT devices. Following this direction research, in this paper we present an empirical security evaluation of several widespread implementations of MQTT system components, namely five broker libraries and three client libraries. While the results of our research do not capture very critical flaws, there are several scenarios where some libraries do not fully adhere to the standard and leave some margins that could be maliciously exploited and potentially cause system inconsistencies.
Ne\v{s}et\v{r}il and Ossona de Mendez recently proposed a new definition of graph convergence called structural convergence. The structural convergence framework is based on the probability of satisfaction of logical formulas from a fixed fragment of first-order formulas. The flexibility of choosing the fragment allows to unify the classical notions of convergence for sparse and dense graphs. Since the field is relatively young, the range of examples of convergent sequences is limited and only a few methods of construction are known. Our aim is to extend the variety of constructions by considering the gadget construction. We show that, when restricting to the set of sentences, the application of gadget construction on elementarily convergent sequences yields an elementarily convergent sequence. On the other hand, we show counterexamples witnessing that a generalization to the full first-order convergence is not possible without additional assumptions. We give several different sufficient conditions to ensure the full convergence. One of them states that the resulting sequence is first-order convergent if the replaced edges are dense in the original sequence of structures.
The robustness of the kernel recursive least square (KRLS) algorithm has recently been improved by combining them with more robust information-theoretic learning criteria, such as minimum error entropy (MEE) and generalized MEE (GMEE), which also improves the computational complexity of the KRLS-type algorithms to a certain extent. To reduce the computational load of the KRLS-type algorithms, the quantized GMEE (QGMEE) criterion, in this paper, is combined with the KRLS algorithm, and as a result two kinds of KRLS-type algorithms, called quantized kernel recursive MEE (QKRMEE) and quantized kernel recursive GMEE (QKRGMEE), are designed. As well, the mean error behavior, mean square error behavior, and computational complexity of the proposed algorithms are investigated. In addition, simulation and real experimental data are utilized to verify the feasibility of the proposed algorithms.
The Multilevel Monte Carlo (MLMC) approach usually works well when estimating the expected value of a quantity which is a Lipschitz function of intermediate quantities, but if it is a discontinuous function it can lead to a much slower decay in the variance of the MLMC correction. This article reviews the literature on techniques which can be used to overcome this challenge in a variety of different contexts, and discusses recent developments using either a branching diffusion or adaptive sampling.
We study a quadrature, proposed by Ermakov and Zolotukhin in the sixties, through the lens of kernel methods. The nodes of this quadrature rule follow the distribution of a determinantal point process, while the weights are defined through a linear system, similarly to the optimal kernel quadrature. In this work, we show how these two classes of quadrature are related, and we prove a tractable formula of the expected value of the squared worst-case integration error on the unit ball of an RKHS of the former quadrature. In particular, this formula involves the eigenvalues of the corresponding kernel and leads to improving on the existing theoretical guarantees of the optimal kernel quadrature with determinantal point processes.
This paper proposes a Cartesian grid-based boundary integral method for efficiently and stably solving two representative moving interface problems, the Hele-Shaw flow and the Stefan problem. Elliptic and parabolic partial differential equations (PDEs) are reformulated into boundary integral equations and are then solved with the matrix-free generalized minimal residual (GMRES) method. The evaluation of boundary integrals is performed by solving equivalent and simple interface problems with finite difference methods, allowing the use of fast PDE solvers, such as fast Fourier transform (FFT) and geometric multigrid methods. The interface curve is evolved utilizing the $\theta-L$ variables instead of the more commonly used $x-y$ variables. This choice simplifies the preservation of mesh quality during the interface evolution. In addition, the $\theta-L$ approach enables the design of efficient and stable time-stepping schemes to remove the stiffness that arises from the curvature term. Ample numerical examples, including simulations of complex viscous fingering and dendritic solidification problems, are presented to showcase the capability of the proposed method to handle challenging moving interface problems.
In recent years, object detection has experienced impressive progress. Despite these improvements, there is still a significant gap in the performance between the detection of small and large objects. We analyze the current state-of-the-art model, Mask-RCNN, on a challenging dataset, MS COCO. We show that the overlap between small ground-truth objects and the predicted anchors is much lower than the expected IoU threshold. We conjecture this is due to two factors; (1) only a few images are containing small objects, and (2) small objects do not appear enough even within each image containing them. We thus propose to oversample those images with small objects and augment each of those images by copy-pasting small objects many times. It allows us to trade off the quality of the detector on large objects with that on small objects. We evaluate different pasting augmentation strategies, and ultimately, we achieve 9.7\% relative improvement on the instance segmentation and 7.1\% on the object detection of small objects, compared to the current state of the art method on MS COCO.
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