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Abstract: Dendrograms used in data analysis are ultrametric spaces, hence objects of nonarchimedean geometry. It is known that there exist $p$-adic representation of dendrograms. Completed by a point at infinity, they can be viewed as subtrees of the Bruhat-Tits tree associated to the $p$-adic projective line. The implications are that certain moduli spaces known in algebraic geometry are $p$-adic parameter spaces of (families of) dendrograms, and stochastic classification can also be handled within this framework. At the end, we calculate the topology of the hidden part of a dendrogram.
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Title: A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye
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Abstract: This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.
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Title: Analyse Comparative des Manipulateurs 3R \`a Axes Orthogonaux
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Abstract: A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. Based on this classification, we evaluate theses manipulators by the condition number related to the joint space and the proportion of the region with four inverse kinematic solutions compared to a sphere containing all the workspace. This second performance number is in relation with the workspace. We determine finally le topology of workspace to which belong manipulators having the best performance number values.
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Title: An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications
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Abstract: This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the workspace subregion reachable with four inverse kinematic solutions, the existence and the size of voids, and the size of the regions of feasible paths in the workspace.
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Title: Practical Approach to Knowledge-based Question Answering with Natural Language Understanding and Advanced Reasoning
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Abstract: This research hypothesized that a practical approach in the form of a solution framework known as Natural Language Understanding and Reasoning for Intelligence (NaLURI), which combines full-discourse natural language understanding, powerful representation formalism capable of exploiting ontological information and reasoning approach with advanced features, will solve the following problems without compromising practicality factors: 1) restriction on the nature of question and response, and 2) limitation to scale across domains and to real-life natural language text.
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Title: Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping
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Abstract: The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the interest as for digital humans in the context of concurrent engineering. This leads us to draw a control architecture enabling to drive virtual humans in a real-time immersed way, and to interact with the product, through motion capture. Unfortunately, we show this control scheme can lead to unfeasible movements because of the lack of balance control. Introducing such a controller is a problem that was never addressed in the context of real-time. We propose an implementation of a balance controller, that we insert into the previously described control scheme. Next section is dedicated to show the results we obtained. Finally, we propose a virtual reality platform into which the digital character controller is integrated.
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Title: Balanced Virtual Humans Interacting with their Environment
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Abstract: The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation and control processes of such manikins are very painful. It takes days to a specialist to build such animated sequences, and it is not adaptive to any type of modifications. Our main purpose is the virtual human for engineering, especially virtual prototyping. As for this domain of activity, such amounts of time are prohibitive.
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Title: Virtual reality: A human centered tool for improving Manufacturing
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Abstract: Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce more closely some definitions where we will find that, if the Virtual manufacturing concepts originate from machining operations and evolve in this manufacturing area, there exist a lot of applications in different fields such as casting, forging, sheet metalworking and robotics (mechanisms). From the recent projects in Europe or in USA, we notice that the human perception or the simulation of mannequin is more and more needed in both fields. In this context, we have isolated some applications as ergonomic studies, assembly and maintenance simulation, design or training where the virtual reality tools can be applied. Thus, we find out a family of applications where the virtual reality tools give the engineers the main role in the optimization process. We will illustrate our paper by several examples where virtual reality interfaces are used and combined with optimization tools as multi-agent systems.
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Title: A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye
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Abstract: The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-times control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. The main feature of the orthoglide and of the agile eye mechanism is the existence of an isotropic configuration. The length of the legs and the range limits of the orthoglide are optimized to have homogeneous performance throughout the Cartesian workspace, which has a nearly cubic workspace. These properties permit to have a high stiffness throughout the workspace and workspace limits that are easily understandable by the user.
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Title: L'orthoglide : une machine-outil rapide d'architecture parall\`ele isotrope
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Abstract: This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a parallel kinematic architecture optimized to obtain a compact workspace with homogeneous performance. For that, the principal criterion of design which was used is the isotropy.
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Title: A Comparative Study of Parallel Kinematic Architectures for Machining Applications
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Abstract: Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used as a comparative criterion. The 2-DOF machine mechanisms analyzed in this paper can be extended to 3-axis machines by adding a third joint.
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Title: Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide
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Abstract: This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (regular Cartesian workspace shape and uniform performances) as well as from the parallel kinematic arrangement of the links (less inertia and better dynamic performances), which makes the orthoglide well suited to high-speed machining applications. Possible extension of the orthoglide to 5-axis machining is also investigated.
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Title: The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture
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Abstract: A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is robustness to manufacturing, assembly, and measurement errors, thereby guaranteeing a maximum orientation accuracy. In this paper we investigate the existence of redundant isotropic architectures, which should add to the dexterity of the wrist under design by virtue of its extra degree of freedom. The problem formulation leads to a system of eight quadratic equations with eight unknowns. The Bezout number of this system is thus 2^8 = 256, its BKK bound being 192. However, the actual number of solutions is shown to be 32. We list all solutions of the foregoing algebraic problem. All these solutions are real, but distinct solutions do not necessarily lead to distinct manipulators. Upon discarding those algebraic solutions that yield no new wrists, we end up with exactly eight distinct architectures, the eight corresponding manipulators being displayed at their isotropic posture.
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Title: Bijective Faithful Translations among Default Logics
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Abstract: In this article, we study translations between variants of defaults logics such that the extensions of the theories that are the input and the output of the translation are in a bijective correspondence. We assume that a translation can introduce new variables and that the result of translating a theory can either be produced in time polynomial in the size of the theory or its output is polynomial in that size; we however restrict to the case in which the original theory has extensions. This study fills a gap between two previous pieces of work, one studying bijective translations among restrictions of default logics, and the other one studying non-bijective translations between default logics variants.
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Title: Learning Probabilistic Models of Word Sense Disambiguation
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Abstract: This dissertation presents several new methods of supervised and unsupervised learning of word sense disambiguation models. The supervised methods focus on performing model searches through a space of probabilistic models, and the unsupervised methods rely on the use of Gibbs Sampling and the Expectation Maximization (EM) algorithm. In both the supervised and unsupervised case, the Naive Bayesian model is found to perform well. An explanation for this success is presented in terms of learning rates and bias-variance decompositions.
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Title: Families of dendrograms
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Abstract: A conceptual framework for cluster analysis from the viewpoint of p-adic geometry is introduced by describing the space of all dendrograms for n datapoints and relating it to the moduli space of p-adic Riemannian spheres with punctures using a method recently applied by Murtagh (2004b). This method embeds a dendrogram as a subtree into the Bruhat-Tits tree associated to the p-adic numbers, and goes back to Cornelissen et al. (2001) in p-adic geometry. After explaining the definitions, the concept of classifiers is discussed in the context of moduli spaces, and upper bounds for the number of hidden vertices in dendrograms are given.
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Title: Importance Tempering
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Abstract: Simulated tempering (ST) is an established Markov chain Monte Carlo (MCMC) method for sampling from a multimodal density $\pi(\theta)$. Typically, ST involves introducing an auxiliary variable $k$ taking values in a finite subset of $[0,1]$ and indexing a set of tempered distributions, say $\pi_k(\theta) \propto \pi(\theta)^k$. In this case, small values of $k$ encourage better mixing, but samples from $\pi$ are only obtained when the joint chain for $(\theta,k)$ reaches $k=1$. However, the entire chain can be used to estimate expectations under $\pi$ of functions of interest, provided that importance sampling (IS) weights are calculated. Unfortunately this method, which we call importance tempering (IT), can disappoint. This is partly because the most immediately obvious implementation is na\"ive and can lead to high variance estimators. We derive a new optimal method for combining multiple IS estimators and prove that the resulting estimator has a highly desirable property related to the notion of effective sample size. We briefly report on the success of the optimal combination in two modelling scenarios requiring reversible-jump MCMC, where the na\"ive approach fails.
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Title: A Leaf Recognition Algorithm for Plant Classification Using Probabilistic Neural Network
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Abstract: In this paper, we employ Probabilistic Neural Network (PNN) with image and data processing techniques to implement a general purpose automated leaf recognition algorithm. 12 leaf features are extracted and orthogonalized into 5 principal variables which consist the input vector of the PNN. The PNN is trained by 1800 leaves to classify 32 kinds of plants with an accuracy greater than 90%. Compared with other approaches, our algorithm is an accurate artificial intelligence approach which is fast in execution and easy in implementation.
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Title: Open Problems in Algebraic Statistics
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Abstract: Algebraic statistics is concerned with the study of probabilistic models and techniques for statistical inference using methods from algebra and geometry. This article presents a list of open mathematical problems in this emerging field, with main emphasis on graphical models with hidden variables, maximum likelihood estimation, and multivariate Gaussian distributions. This article is based on a lecture presented at the IMA in Minneapolis during the 2006/07 program on Applications of Algebraic Geometry.
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Title: Active Set and EM Algorithms for Log-Concave Densities Based on Complete and Censored Data
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Abstract: We develop an active set algorithm for the maximum likelihood estimation of a log-concave density based on complete data. Building on this fast algorithm, we indidate an EM algorithm to treat arbitrarily censored or binned data.
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Title: Robust estimates in generalized partially linear models
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Abstract: In this paper, we introduce a family of robust estimates for the parametric and nonparametric components under a generalized partially linear model, where the data are modeled by $y_i|(_i,t_i)\sim F(\cdot,\mu_i)$ with $\mu_i=H(\eta(t_i)+_i^$$\beta)$, for some known distribution function F and link function H. It is shown that the estimates of $\beta$ are root-n consistent and asymptotically normal. Through a Monte Carlo study, the performance of these estimators is compared with that of the classical ones.
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Title: Data-driven goodness-of-fit tests
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Abstract: We propose and study a general method for construction of consistent statistical tests on the basis of possibly indirect, corrupted, or partially available observations. The class of tests devised in the paper contains Neyman's smooth tests, data-driven score tests, and some types of multi-sample tests as basic examples. Our tests are data-driven and are additionally incorporated with model selection rules. The method allows to use a wide class of model selection rules that are based on the penalization idea. In particular, many of the optimal penalties, derived in statistical literature, can be used in our tests. We establish the behavior of model selection rules and data-driven tests under both the null hypothesis and the alternative hypothesis, derive an explicit detectability rule for alternative hypotheses, and prove a master consistency theorem for the tests from the class. The paper shows that the tests are applicable to a wide range of problems, including hypothesis testing in statistical inverse problems, multi-sample problems, and nonparametric hypothesis testing.
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Title: Virtual screening with support vector machines and structure kernels
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Abstract: Support vector machines and kernel methods have recently gained considerable attention in chemoinformatics. They offer generally good performance for problems of supervised classification or regression, and provide a flexible and computationally efficient framework to include relevant information and prior knowledge about the data and problems to be handled. In particular, with kernel methods molecules do not need to be represented and stored explicitly as vectors or fingerprints, but only to be compared to each other through a comparison function technically called a kernel. While classical kernels can be used to compare vector or fingerprint representations of molecules, completely new kernels were developed in the recent years to directly compare the 2D or 3D structures of molecules, without the need for an explicit vectorization step through the extraction of molecular descriptors. While still in their infancy, these approaches have already demonstrated their relevance on several toxicity prediction and structure-activity relationship problems.
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Title: Expert Elicitation for Reliable System Design
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Abstract: This paper reviews the role of expert judgement to support reliability assessments within the systems engineering design process. Generic design processes are described to give the context and a discussion is given about the nature of the reliability assessments required in the different systems engineering phases. It is argued that, as far as meeting reliability requirements is concerned, the whole design process is more akin to a statistical control process than to a straightforward statistical problem of assessing an unknown distribution. This leads to features of the expert judgement problem in the design context which are substantially different from those seen, for example, in risk assessment. In particular, the role of experts in problem structuring and in developing failure mitigation options is much more prominent, and there is a need to take into account the reliability potential for future mitigation measures downstream in the system life cycle. An overview is given of the stakeholders typically involved in large scale systems engineering design projects, and this is used to argue the need for methods that expose potential judgemental biases in order to generate analyses that can be said to provide rational consensus about uncertainties. Finally, a number of key points are developed with the aim of moving toward a framework that provides a holistic method for tracking reliability assessment through the design process.
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Title: Comment: Expert Elicitation for Reliable System Design
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Abstract: Comment: Expert Elicitation for Reliable System Design [arXiv:0708.0279]
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Title: Comment: Expert Elicitation for Reliable System Design
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Abstract: Comment: Expert Elicitation for Reliable System Design [arXiv:0708.0279]
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Title: Comment: Expert Elicitation for Reliable System Design
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Abstract: Comment: Expert Elicitation for Reliable System Design [arXiv:0708.0279]
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Title: Rejoinder: Expert Elicitation for Reliable System Design
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Abstract: Rejoinder: Expert Elicitation for Reliable System Design [arXiv:0708.0279]
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Title: Reliability
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Abstract: This special volume of Statistical Sciences presents some innovative, if not provocative, ideas in the area of reliability, or perhaps more appropriately named, integrated system assessment. In this age of exponential growth in science, engineering and technology, the capability to evaluate the performance, reliability and safety of complex systems presents new challenges. Today's methodology must respond to the ever-increasing demands for such evaluations to provide key information for decision and policy makers at all levels of government and industry--problems ranging from international security to space exploration. We, the co-editors of this volume and the authors, believe that scientific progress in reliability assessment requires the development of processes, methods and tools that combine diverse information types (e.g., experiments, computer simulations, expert knowledge) from diverse sources (e.g., scientists, engineers, business developers, technology integrators, decision makers) to assess quantitative performance metrics that can aid decision making under uncertainty. These are highly interdisciplinary problems. The principal role of statistical sciences is to bring statistical rigor, thinking and methodology to these problems.
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Title: Monitoring Networked Applications With Incremental Quantile Estimation
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Abstract: Networked applications have software components that reside on different computers. Email, for example, has database, processing, and user interface components that can be distributed across a network and shared by users in different locations or work groups. End-to-end performance and reliability metrics describe the software quality experienced by these groups of users, taking into account all the software components in the pipeline. Each user produces only some of the data needed to understand the quality of the application for the group, so group performance metrics are obtained by combining summary statistics that each end computer periodically (and automatically) sends to a central server. The group quality metrics usually focus on medians and tail quantiles rather than on averages. Distributed quantile estimation is challenging, though, especially when passing large amounts of data around the network solely to compute quality metrics is undesirable. This paper describes an Incremental Quantile (IQ) estimation method that is designed for performance monitoring at arbitrary levels of network aggregation and time resolution when only a limited amount of data can be transferred. Applications to both real and simulated data are provided.
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Title: Comment: Monitoring Networked Applications With Incremental Quantile Estimation
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Abstract: Comment: Monitoring Networked Applications With Incremental Quantile Estimation [arXiv:0708.0302]
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Title: Comment: Monitoring Networked Applications With Incremental Quantile Estimation
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Abstract: Our comments are in two parts. First, we make some observations regarding the methodology in Chambers et al. [arXiv:0708.0302]. Second, we briefly describe another interesting network monitoring problem that arises in the context of assessing quality of service, such as loss rates and delay distributions, in packet-switched networks.
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Title: Comment: Monitoring Networked Applications With Incremental Quantile Estimation
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Abstract: Comment: Monitoring Networked Applications With Incremental Quantile Estimation [arXiv:0708.0302]
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Title: Rejoinder: Monitoring Networked Applications With Incremental Quantile Estimation
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Abstract: Rejoinder: Monitoring Networked Applications With Incremental Quantile Estimation [arXiv:0708.0302]
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