We outline a class of problems, typical of Mars rover operations, that are problematic for current methods of planning under uncertainty. The existing methods fail because they suffer from one or more of the following limitations: 1) they rely on very simple models of actions and time, 2) they assume that uncertainty is manifested in discrete action outcomes, 3) they are only practical for very small problems. For many real world problems, these assumptions fail to hold. In particular, when planning the activities for a Mars rover, none of the above assumptions is valid: 1) actions can be concurrent and have differing durations, 2) there is uncertainty concerning action durations and consumption of continuous resources like power, and 3) typical daily plans involve on the order of a hundred actions. This class of problems may be of particular interest to the UAI community because both classical and decision-theoretic planning techniques may be useful in solving it. We describe the rover problem, discuss previous work on planning under uncertainty, and present a detailed, but very small, example illustrating some of the difficulties of finding good plans.

Results are presented on the performance of Adaptive Neuro-Fuzzy Inference system (ANFIS) for wind velocity forecasts in the Isthmus of Tehuantepec region in the state of Oaxaca, Mexico. The data bank was provided by the meteorological station located at the University of Isthmus, Tehuantepec campus, and this data bank covers the period from 2008 to 2011. Three data models were constructed to carry out 16, 24 and 48 hours forecasts using the following variables: wind velocity, temperature, barometric pressure, and date. The performance measure for the three models is the mean standard error (MSE). In this work, performance analysis in short-term prediction is presented, because it is essential in order to define an adequate wind speed model for eolian parks, where a right planning provide economic benefits.

We present a graph-based variational algorithm for multiclass classification of high-dimensional data, motivated by total variation techniques. The energy functional is based on a diffuse interface model with a periodic potential. We augment the model by introducing an alternative measure of smoothness that preserves symmetry among the class labels. Through this modification of the standard Laplacian, we construct an efficient multiclass method that allows for sharp transitions between classes. The experimental results demonstrate that our approach is competitive with the state of the art among other graph-based algorithms.

We consider an important class of signal processing problems where the signal of interest is known to be sparse, and can be recovered from data given auxiliary information about how the data was generated. For example, a sparse Green's function may be recovered from seismic experimental data using sparsity optimization when the source signature is known. Unfortunately, in practice this information is often missing, and must be recovered from data along with the signal using deconvolution techniques. In this paper, we present a novel methodology to simultaneously solve for the sparse signal and auxiliary parameters using a recently proposed variable projection technique. Our main contribution is to combine variable projection with sparsity promoting optimization, obtaining an efficient algorithm for large-scale sparse deconvolution problems. We demonstrate the algorithm on a seismic imaging example.

The optimal selection of experimental conditions is essential to maximizing the value of data for inference and prediction, particularly in situations where experiments are time-consuming and expensive to conduct. We propose a general mathematical framework and an algorithmic approach for optimal experimental design with nonlinear simulation-based models; in particular, we focus on finding sets of experiments that provide the most information about targeted sets of parameters. Our framework employs a Bayesian statistical setting, which provides a foundation for inference from noisy, indirect, and incomplete data, and a natural mechanism for incorporating heterogeneous sources of information. An objective function is constructed from information theoretic measures, reflecting expected information gain from proposed combinations of experiments. Polynomial chaos approximations and a two-stage Monte Carlo sampling method are used to evaluate the expected information gain. Stochastic approximation algorithms are then used to make optimization feasible in computationally intensive and high-dimensional settings. These algorithms are demonstrated on model problems and on nonlinear parameter estimation problems arising in detailed combustion kinetics.

Graph embedding techniques are useful to characterize spectral signature relations for hyperspectral images. However, such images consists of disjoint classes due to spatial details that are often ignored by existing graph computing tools. Robust parameter estimation is a challenge for kernel functions that compute such graphs. Finding a corresponding high quality coordinate system to map signature relations remains an open research question. We answer positively on these challenges by first proposing a kernel function of spatial and spectral information in computing neighborhood graphs. Secondly, the study exploits the force field interpretation from mechanics and devise a unifying nonlinear graph embedding framework. The generalized framework leads to novel unsupervised multidimensional artificial field embedding techniques that rely on the simple additive assumption of pair-dependent attraction and repulsion functions. The formulations capture long range and short range distance related effects often associated with living organisms and help to establish algorithmic properties that mimic mutual behavior for the purpose of dimensionality reduction. The main benefits from the proposed models includes the ability to preserve the local topology of data and produce quality visualizations i.e. maintaining disjoint meaningful neighborhoods. As part of evaluation, visualization, gradient field trajectories, and semisupervised classification experiments are conducted for image scenes acquired by multiple sensors at various spatial resolutions over different types of objects. The results demonstrate the superiority of the proposed embedding framework over various widely used methods.

A comparative study of the application of Gaussian Mixture Model (GMM) and Radial Basis Function (RBF) in biometric recognition of voice has been carried out and presented. The application of machine learning techniques to biometric authentication and recognition problems has gained a widespread acceptance. In this research, a GMM model was trained, using Expectation Maximization (EM) algorithm, on a dataset containing 10 classes of vowels and the model was used to predict the appropriate classes using a validation dataset. For experimental validity, the model was compared to the performance of two different versions of RBF model using the same learning and validation datasets. The results showed very close recognition accuracy between the GMM and the standard RBF model, but with GMM performing better than the standard RBF by less than 1% and the two models outperformed similar models reported in literature. The DTREG version of RBF outperformed the other two models by producing 94.8% recognition accuracy. In terms of recognition time, the standard RBF was found to be the fastest among the three models.

In this paper, we present CrowdSense, an algorithm for estimating the crowd’s majority opinion by querying only a subset of it. CrowdSense works in an online fashion where examples come one at a time and it dynamically samples subsets of labelers based on an exploration/exploitation criterion. The algorithm produces a weighted combination of a subset of the labelers’ votes that approximates the crowd’s opinion. We also present two probabilistic variants of CrowdSense that are based on different assumptions on the joint probability distribution between the labelers’ votes and the majority vote. Our experiments demonstrate that we can reliably approximate the entire crowd’s vote by collecting opinions from a representative subset of the crowd.

There is growing interest in automating the detection of interesting new developments in science and technology. BAE Systems is pursuing ARBITER (Abductive Reasoning Based on Indicators and Topics of EmeRgence), a multi-disciplinary study and development effort to analyze full- text and metadata for indicators of emergent technologies and scientific fields. To define these indicators, our team has applied the primary insights of actant network theory developed within the disciplines of Science and Technology Studies and the history of technology and science to create a pragmatic theory of technoscientific emergence. Specifically, this practical theory articulates emergence in terms of the robustness of actant networks. This applied actant-network theory currently guides our definition of indicators and indicator patterns for the ARBITER system, and represents a novel contribution to the discussion of emergent technologies and fields. Several elements of our theory were validated with 15 case studies and 25 example technologies.

When constructing visualization pipelines using toolkits, developers must understand what sequencing of operators will transform their data from its raw state to some requested visual representation. In some cases, the requested visual representation must be generated from hybrid pipelines, composed of both toolkit-based and custom operators. Traditionally, developers learn about how to construct these visualization pipelines by word of mouth, by reading documentation and by inspecting code examples, all of which can be costly in terms of time and effort expended. The Visualization Knowledge Project (VisKo) is built on a knowledge base of visualization toolkit operators including rules for how operators are chained together to form pipelines. VisKo helps scientists by automatically generating and suggesting fully functional visualization pipelines, alleviating scientists from having to write any pipeline code. This paper reports on the kinds of knowledge required to support automatic pipeline generation as well our successes when applying VisKo to a number of visualizations scenarios spanning geophysics, environmental and materials science.