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Title: Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique
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Abstract: The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators.
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Title: Entropy inference and the James-Stein estimator, with application to nonlinear gene association networks
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Abstract: We present a procedure for effective estimation of entropy and mutual information from small-sample data, and apply it to the problem of inferring high-dimensional gene association networks. Specifically, we develop a James-Stein-type shrinkage estimator, resulting in a procedure that is highly efficient statistically as well as computationally. Despite its simplicity, we show that it outperforms eight other entropy estimation procedures across a diverse range of sampling scenarios and data-generating models, even in cases of severe undersampling. We illustrate the approach by analyzing E. coli gene expression data and computing an entropy-based gene-association network from gene expression data. A computer program is available that implements the proposed shrinkage estimator.
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Title: Random Forests: some methodological insights
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Abstract: This paper examines from an experimental perspective random forests, the increasingly used statistical method for classification and regression problems introduced by Leo Breiman in 2001. It first aims at confirming, known but sparse, advice for using random forests and at proposing some complementary remarks for both standard problems as well as high dimensional ones for which the number of variables hugely exceeds the sample size. But the main contribution of this paper is twofold: to provide some insights about the behavior of the variable importance index based on random forests and in addition, to propose to investigate two classical issues of variable selection. The first one is to find important variables for interpretation and the second one is more restrictive and try to design a good prediction model. The strategy involves a ranking of explanatory variables using the random forests score of importance and a stepwise ascending variable introduction strategy.
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Title: High-dimensional covariance estimation by minimizing $\ell_1$-penalized log-determinant divergence
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Abstract: Given i.i.d. observations of a random vector $X \in ^p$, we study the problem of estimating both its covariance matrix $\Sigma^*$, and its inverse covariance or concentration matrix $\Theta^* = (\Sigma^*)^-1$. We estimate $\Theta^*$ by minimizing an $\ell_1$-penalized log-determinant Bregman divergence; in the multivariate Gaussian case, this approach corresponds to $\ell_1$-penalized maximum likelihood, and the structure of $\Theta^*$ is specified by the graph of an associated Gaussian Markov random field. We analyze the performance of this estimator under high-dimensional scaling, in which the number of nodes in the graph $p$, the number of edges $s$ and the maximum node degree $d$, are allowed to grow as a function of the sample size $n$. In addition to the parameters $(p,s,d)$, our analysis identifies other key quantities covariance matrix $\Sigma^*$; and (b) the $\ell_\infty$ operator norm of the sub-matrix $\Gamma^*_S S$, where $S$ indexes the graph edges, and $\Gamma^* = (\Theta^*)^-1 \otimes (\Theta^*)^-1$; and (c) a mutual incoherence or irrepresentability measure on the matrix $\Gamma^*$ and (d) the rate of decay $1/f(n,\delta)$ on the probabilities $ \|^n_ij- \Sigma^*_ij| > \delta \$, where $^n$ is the sample covariance based on $n$ samples. Our first result establishes consistency of our estimate $$ in the elementwise maximum-norm. This in turn allows us to derive convergence rates in Frobenius and spectral norms, with improvements upon existing results for graphs with maximum node degrees $d = o()$. In our second result, we show that with probability converging to one, the estimate $$ correctly specifies the zero pattern of the concentration matrix $\Theta^*$.
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Title: Zero-state Markov switching count-data models: an empirical assessment
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Abstract: In this study, a two-state Markov switching count-data model is proposed as an alternative to zero-inflated models to account for the preponderance of zeros sometimes observed in transportation count data, such as the number of accidents occurring on a roadway segment over some period of time. For this accident-frequency case, zero-inflated models assume the existence of two states: one of the states is a zero-accident count state, in which accident probabilities are so low that they cannot be statistically distinguished from zero, and the other state is a normal count state, in which counts can be non-negative integers that are generated by some counting process, for example, a Poisson or negative binomial. In contrast to zero-inflated models, Markov switching models allow specific roadway segments to switch between the two states over time. An important advantage of this Markov switching approach is that it allows for the direct statistical estimation of the specific roadway-segment state (i.e., zero or count state) whereas traditional zero-inflated models do not. To demonstrate the applicability of this approach, a two-state Markov switching negative binomial model (estimated with Bayesian inference) and standard zero-inflated negative binomial models are estimated using five-year accident frequencies on Indiana interstate highway segments. It is shown that the Markov switching model is a viable alternative and results in a superior statistical fit relative to the zero-inflated models.
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Title: Markov switching multinomial logit model: an application to accident injury severities
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Abstract: In this study, two-state Markov switching multinomial logit models are proposed for statistical modeling of accident injury severities. These models assume Markov switching in time between two unobserved states of roadway safety. The states are distinct, in the sense that in different states accident severity outcomes are generated by separate multinomial logit processes. To demonstrate the applicability of the approach presented herein, two-state Markov switching multinomial logit models are estimated for severity outcomes of accidents occurring on Indiana roads over a four-year time interval. Bayesian inference methods and Markov Chain Monte Carlo (MCMC) simulations are used for model estimation. The estimated Markov switching models result in a superior statistical fit relative to the standard (single-state) multinomial logit models. It is found that the more frequent state of roadway safety is correlated with better weather conditions. The less frequent state is found to be correlated with adverse weather conditions.
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Title: Grapham: Graphical Models with Adaptive Random Walk Metropolis Algorithms
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Abstract: Recently developed adaptive Markov chain Monte Carlo (MCMC) methods have been applied successfully to many problems in Bayesian statistics. Grapham is a new open source implementation covering several such methods, with emphasis on graphical models for directed acyclic graphs. The implemented algorithms include the seminal Adaptive Metropolis algorithm adjusting the proposal covariance according to the history of the chain and a Metropolis algorithm adjusting the proposal scale based on the observed acceptance probability. Different variants of the algorithms allow one, for example, to use these two algorithms together, employ delayed rejection and adjust several parameters of the algorithms. The implemented Metropolis-within-Gibbs update allows arbitrary sampling blocks. The software is written in C and uses a simple extension language Lua in configuration.
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Title: Penalized Orthogonal-Components Regression for Large p Small n Data
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Abstract: We propose a penalized orthogonal-components regression (POCRE) for large p small n data. Orthogonal components are sequentially constructed to maximize, upon standardization, their correlation to the response residuals. A new penalization framework, implemented via empirical Bayes thresholding, is presented to effectively identify sparse predictors of each component. POCRE is computationally efficient owing to its sequential construction of leading sparse principal components. In addition, such construction offers other properties such as grouping highly correlated predictors and allowing for collinear or nearly collinear predictors. With multivariate responses, POCRE can construct common components and thus build up latent-variable models for large p small n data.
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Title: An information-theoretic derivation of min-cut based clustering
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Abstract: Min-cut clustering, based on minimizing one of two heuristic cost-functions proposed by Shi and Malik, has spawned tremendous research, both analytic and algorithmic, in the graph partitioning and image segmentation communities over the last decade. It is however unclear if these heuristics can be derived from a more general principle facilitating generalization to new problem settings. Motivated by an existing graph partitioning framework, we derive relationships between optimizing relevance information, as defined in the Information Bottleneck method, and the regularized cut in a K-partitioned graph. For fast mixing graphs, we show that the cost functions introduced by Shi and Malik can be well approximated as the rate of loss of predictive information about the location of random walkers on the graph. For graphs generated from a stochastic algorithm designed to model community structure, the optimal information theoretic partition and the optimal min-cut partition are shown to be the same with high probability.
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Title: A Spectral Algorithm for Learning Hidden Markov Models
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Abstract: Hidden Markov Models (HMMs) are one of the most fundamental and widely used statistical tools for modeling discrete time series. In general, learning HMMs from data is computationally hard (under cryptographic assumptions), and practitioners typically resort to search heuristics which suffer from the usual local optima issues. We prove that under a natural separation condition (bounds on the smallest singular value of the HMM parameters), there is an efficient and provably correct algorithm for learning HMMs. The sample complexity of the algorithm does not explicitly depend on the number of distinct (discrete) observations---it implicitly depends on this quantity through spectral properties of the underlying HMM. This makes the algorithm particularly applicable to settings with a large number of observations, such as those in natural language processing where the space of observation is sometimes the words in a language. The algorithm is also simple, employing only a singular value decomposition and matrix multiplications.
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Title: Importance Sampling of Word Patterns in DNA and Protein Sequences
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Abstract: Monte Carlo methods can provide accurate p-value estimates of word counting test statistics and are easy to implement. They are especially attractive when an asymptotic theory is absent or when either the search sequence or the word pattern is too short for the application of asymptotic formulae. Naive direct Monte Carlo is undesirable for the estimation of small probabilities because the associated rare events of interest are seldom generated. We propose instead efficient importance sampling algorithms that use controlled insertion of the desired word patterns on randomly generated sequences. The implementation is illustrated on word patterns of biological interest: Palindromes and inverted repeats, patterns arising from position specific weight matrices and co-occurrences of pairs of motifs.
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Title: Learning Class-Level Bayes Nets for Relational Data
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Abstract: Many databases store data in relational format, with different types of entities and information about links between the entities. The field of statistical-relational learning (SRL) has developed a number of new statistical models for such data. In this paper we focus on learning class-level or first-order dependencies, which model the general database statistics over attributes of linked objects and links (e.g., the percentage of A grades given in computer science classes). Class-level statistical relationships are important in themselves, and they support applications like policy making, strategic planning, and query optimization. Most current SRL methods find class-level dependencies, but their main task is to support instance-level predictions about the attributes or links of specific entities. We focus only on class-level prediction, and describe algorithms for learning class-level models that are orders of magnitude faster for this task. Our algorithms learn Bayes nets with relational structure, leveraging the efficiency of single-table nonrelational Bayes net learners. An evaluation of our methods on three data sets shows that they are computationally feasible for realistic table sizes, and that the learned structures represent the statistical information in the databases well. After learning compiles the database statistics into a Bayes net, querying these statistics via Bayes net inference is faster than with SQL queries, and does not depend on the size of the database.
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Title: Partial Correlation Estimation by Joint Sparse Regression Models
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Abstract: In this paper, we propose a computationally efficient approach -- space(Sparse PArtial Correlation Estimation)-- for selecting non-zero partial correlations under the high-dimension-low-sample-size setting. This method assumes the overall sparsity of the partial correlation matrix and employs sparse regression techniques for model fitting. We illustrate the performance of space by extensive simulation studies. It is shown that space performs well in both non-zero partial correlation selection and the identification of hub variables, and also outperforms two existing methods. We then apply space to a microarray breast cancer data set and identify a set of hub genes which may provide important insights on genetic regulatory networks. Finally, we prove that, under a set of suitable assumptions, the proposed procedure is asymptotically consistent in terms of model selection and parameter estimation.
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Title: Automatic Generation of the Axial Lines of Urban Environments to Capture What We Perceive
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Abstract: Based on the concepts of isovists and medial axes, we developed a set of algorithms that can automatically generate axial lines for representing individual linearly stretched parts of open space of an urban environment. Open space is the space between buildings, where people can freely move around. The generation of the axial lines has been a key aspect of space syntax research, conventionally relying on hand-drawn axial lines of an urban environment, often called axial map, for urban morphological analysis. Although various attempts have been made towards an automatic solution, few of them can produce the axial map that consists of the least number of longest visibility lines, and none of them really works for different urban environments. Our algorithms provide a better solution than existing ones. Throughout this paper, we have also argued and demonstrated that the axial lines constitute a true skeleton, superior to medial axes, in capturing what we perceive about the urban environment. Keywords: Visibility, space syntax, topological analysis, medial axes, axial lines, isovists
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Title: Mapping Images with the Coherence Length Diagrams
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Abstract: Statistical pattern recognition methods based on the Coherence Length Diagram (CLD) have been proposed for medical image analyses, such as quantitative characterisation of human skin textures, and for polarized light microscopy of liquid crystal textures. Further investigations are made on image maps originated from such diagram and some examples related to irregularity of microstructures are shown.
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Title: Prospective Study for Semantic Inter-Media Fusion in Content-Based Medical Image Retrieval
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Abstract: One important challenge in modern Content-Based Medical Image Retrieval (CBMIR) approaches is represented by the semantic gap, related to the complexity of the medical knowledge. Among the methods that are able to close this gap in CBMIR, the use of medical thesauri/ontologies has interesting perspectives due to the possibility of accessing on-line updated relevant webservices and to extract real-time medical semantic structured information. The CBMIR approach proposed in this paper uses the Unified Medical Language System's (UMLS) Metathesaurus to perform a semantic indexing and fusion of medical media. This fusion operates before the query processing (retrieval) and works at an UMLS-compliant conceptual indexing level. Our purpose is to study various techniques related to semantic data alignment, preprocessing, fusion, clustering and retrieval, by evaluating the various techniques and highlighting future research directions. The alignment and the preprocessing are based on partial text/image retrieval feedback and on the data structure. We analyze various probabilistic, fuzzy and evidence-based approaches for the fusion process and different similarity functions for the retrieval process. All the proposed methods are evaluated on the Cross Language Evaluation Forum's (CLEF) medical image retrieval benchmark, by focusing also on a more homogeneous component medical image database: the Pathology Education Instructional Resource (PEIR).
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Title: Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine
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Abstract: The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. In this paper we propose symbolical methods that able to calculate all kinematic solutions and identify the acceptable one by adding analytical constraint on the disposition of legs of the parallel module.
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Title: Indirect Cross-validation for Density Estimation
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Abstract: A new method of bandwidth selection for kernel density estimators is proposed. The method, termed indirect cross-validation, or ICV, makes use of so-called selection kernels. Least squares cross-validation (LSCV) is used to select the bandwidth of a selection-kernel estimator, and this bandwidth is appropriately rescaled for use in a Gaussian kernel estimator. The proposed selection kernels are linear combinations of two Gaussian kernels, and need not be unimodal or positive. Theory is developed showing that the relative error of ICV bandwidths can converge to 0 at a rate of $n^-1/4$, which is substantially better than the $n^-1/10$ rate of LSCV. Interestingly, the selection kernels that are best for purposes of bandwidth selection are very poor if used to actually estimate the density function. This property appears to be part of the larger and well-documented paradox to the effect that "the harder the estimation problem, the better cross-validation performs." The ICV method uniformly outperforms LSCV in a simulation study, a real data example, and a simulated example in which bandwidths are chosen locally.
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Title: Empirical study of indirect cross-validation
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Abstract: In this paper we provide insight into the empirical properties of indirect cross-validation (ICV), a new method of bandwidth selection for kernel density estimators. First, we describe the method and report on the theoretical results used to develop a practical-purpose model for certain ICV parameters. Next, we provide a detailed description of a numerical study which shows that the ICV method usually outperforms least squares cross-validation (LSCV) in finite samples. One of the major advantages of ICV is its increased stability compared to LSCV. Two real data examples show the benefit of using both ICV and a local version of ICV.
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Title: An Integrated Software-based Solution for Modular and Self-independent Networked Robot
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Abstract: An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.
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Title: Optimal sequential procedures with Bayes decision rules
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Abstract: In this article, a general problem of sequential statistical inference for general discrete-time stochastic processes is considered. The problem is to minimize an average sample number given that Bayesian risk due to incorrect decision does not exceed some given bound. We characterize the form of optimal sequential stopping rules in this problem. In particular, we have a characterization of the form of optimal sequential decision procedures when the Bayesian risk includes both the loss due to incorrect decision and the cost of observations.
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Title: Some characterizations of affinely full-dimensional factorial designs
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Abstract: A new class of two-level non-regular fractional factorial designs is defined. We call this class an \it affinely full-dimensional factorial design, meaning that design points in the design of this class are not contained in any affine hyperplane in the vector space over $_2$. The property of the indicator function for this class is also clarified. A fractional factorial design in this class has a desirable property that parameters of the main effect model are simultaneously identifiable. We investigate the property of this class from the viewpoint of $D$-optimality. In particular, for the saturated designs, the $D$-optimal design is chosen from this class for the run sizes $r \equiv 5,6,7$ (mod 8).
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Title: A Matlab Implementation of a Flat Norm Motivated Polygonal Edge Matching Method using a Decomposition of Boundary into Four 1-Dimensional Currents
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Abstract: We describe and provide code and examples for a polygonal edge matching method.
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Title: k-means requires exponentially many iterations even in the plane
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Abstract: The k-means algorithm is a well-known method for partitioning n points that lie in the d-dimensional space into k clusters. Its main features are simplicity and speed in practice. Theoretically, however, the best known upper bound on its running time (i.e. O(n^kd)) can be exponential in the number of points. Recently, Arthur and Vassilvitskii [3] showed a super-polynomial worst-case analysis, improving the best known lower bound from \Omega(n) to 2^\Omega() with a construction in d=\Omega() dimensions. In [3] they also conjectured the existence of superpolynomial lower bounds for any d >= 2. Our contribution is twofold: we prove this conjecture and we improve the lower bound, by presenting a simple construction in the plane that leads to the exponential lower bound 2^\Omega(n).
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Title: Approximation Algorithms for Bregman Co-clustering and Tensor Clustering
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Abstract: In the past few years powerful generalizations to the Euclidean k-means problem have been made, such as Bregman clustering [7], co-clustering (i.e., simultaneous clustering of rows and columns of an input matrix) [9,18], and tensor clustering [8,34]. Like k-means, these more general problems also suffer from the NP-hardness of the associated optimization. Researchers have developed approximation algorithms of varying degrees of sophistication for k-means, k-medians, and more recently also for Bregman clustering [2]. However, there seem to be no approximation algorithms for Bregman co- and tensor clustering. In this paper we derive the first (to our knowledge) guaranteed methods for these increasingly important clustering settings. Going beyond Bregman divergences, we also prove an approximation factor for tensor clustering with arbitrary separable metrics. Through extensive experiments we evaluate the characteristics of our method, and show that it also has practical impact.
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Title: Probabilistic reasoning with answer sets
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Abstract: This paper develops a declarative language, P-log, that combines logical and probabilistic arguments in its reasoning. Answer Set Prolog is used as the logical foundation, while causal Bayes nets serve as a probabilistic foundation. We give several non-trivial examples and illustrate the use of P-log for knowledge representation and updating of knowledge. We argue that our approach to updates is more appealing than existing approaches. We give sufficiency conditions for the coherency of P-log programs and show that Bayes nets can be easily mapped to coherent P-log programs.
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Title: A Novel Clustering Algorithm Based on Quantum Games
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Abstract: Enormous successes have been made by quantum algorithms during the last decade. In this paper, we combine the quantum game with the problem of data clustering, and then develop a quantum-game-based clustering algorithm, in which data points in a dataset are considered as players who can make decisions and implement quantum strategies in quantum games. After each round of a quantum game, each player's expected payoff is calculated. Later, he uses a link-removing-and-rewiring (LRR) function to change his neighbors and adjust the strength of links connecting to them in order to maximize his payoff. Further, algorithms are discussed and analyzed in two cases of strategies, two payoff matrixes and two LRR functions. Consequently, the simulation results have demonstrated that data points in datasets are clustered reasonably and efficiently, and the clustering algorithms have fast rates of convergence. Moreover, the comparison with other algorithms also provides an indication of the effectiveness of the proposed approach.
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Title: Justifications for Logic Programs under Answer Set Semantics
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Abstract: The paper introduces the notion of off-line justification for Answer Set Programming (ASP). Justifications provide a graph-based explanation of the truth value of an atom w.r.t. a given answer set. The paper extends also this notion to provide justification of atoms during the computation of an answer set (on-line justification), and presents an integration of on-line justifications within the computation model of Smodels. Off-line and on-line justifications provide useful tools to enhance understanding of ASP, and they offer a basic data structure to support methodologies and tools for debugging answer set programs. A preliminary implementation has been developed in ASP-PROLOG. (To appear in Theory and Practice of Logic Programming (TPLP))
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Title: Stroke Fragmentation based on Geometry Features and HMM
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Abstract: Stroke fragmentation is one of the key steps in pen-based interaction. In this letter, we present a unified HMM-based stroke fragmentation technique that can do segment point location and primitive type determination simultaneously. The geometry features included are used to evaluate local features, and the HMM model is utilized to measure the global drawing context. Experiments prove that the model can efficiently represent smooth curves as well as strokes made up of arbitrary lines and circular arcs.
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Title: Elementary epistemological features of machine intelligence
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Abstract: Theoretical analysis of machine intelligence (MI) is useful for defining a common platform in both theoretical and applied artificial intelligence (AI). The goal of this paper is to set canonical definitions that can assist pragmatic research in both strong and weak AI. Described epistemological features of machine intelligence include relationship between intelligent behavior, intelligent and unintelligent machine characteristics, observable and unobservable entities and classification of intelligence. The paper also establishes algebraic definitions of efficiency and accuracy of MI tests as their quality measure. The last part of the paper addresses the learning process with respect to the traditional epistemology and the epistemology of MI described here. The proposed views on MI positively correlate to the Hegelian monistic epistemology and contribute towards amalgamating idealistic deliberations with the AI theory, particularly in a local frame of reference.
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Title: PDE-Foam - a probability-density estimation method using self-adapting phase-space binning
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Abstract: Probability Density Estimation (PDE) is a multivariate discrimination technique based on sampling signal and background densities defined by event samples from data or Monte-Carlo (MC) simulations in a multi-dimensional phase space. In this paper, we present a modification of the PDE method that uses a self-adapting binning method to divide the multi-dimensional phase space in a finite number of hyper-rectangles (cells). The binning algorithm adjusts the size and position of a predefined number of cells inside the multi-dimensional phase space, minimising the variance of the signal and background densities inside the cells. The implementation of the binning algorithm PDE-Foam is based on the MC event-generation package Foam. We present performance results for representative examples (toy models) and discuss the dependence of the obtained results on the choice of parameters. The new PDE-Foam shows improved classification capability for small training samples and reduced classification time compared to the original PDE method based on range searching.
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Title: Decision trees are PAC-learnable from most product distributions: a smoothed analysis
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Abstract: We consider the problem of PAC-learning decision trees, i.e., learning a decision tree over the n-dimensional hypercube from independent random labeled examples. Despite significant effort, no polynomial-time algorithm is known for learning polynomial-sized decision trees (even trees of any super-constant size), even when examples are assumed to be drawn from the uniform distribution on 0,1^n. We give an algorithm that learns arbitrary polynomial-sized decision trees for \em most product distributions. In particular, consider a random product distribution where the bias of each bit is chosen independently and uniformly from, say, [.49,.51]. Then with high probability over the parameters of the product distribution and the random examples drawn from it, the algorithm will learn any tree. More generally, in the spirit of smoothed analysis, we consider an arbitrary product distribution whose parameters are specified only up to a [-c,c] accuracy (perturbation), for an arbitrarily small positive constant c.
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Title: Adaptive Spam Detection Inspired by a Cross-Regulation Model of Immune Dynamics: A Study of Concept Drift
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Abstract: This paper proposes a novel solution to spam detection inspired by a model of the adaptive immune system known as the crossregulation model. We report on the testing of a preliminary algorithm on six e-mail corpora. We also compare our results statically and dynamically with those obtained by the Naive Bayes classifier and another binary classification method we developed previously for biomedical text-mining applications. We show that the cross-regulation model is competitive against those and thus promising as a bio-inspired algorithm for spam detection in particular, and binary classification in general.
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Title: Uncovering protein interaction in abstracts and text using a novel linear model and word proximity networks
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