Very few techniques have been proposed for estimating traffic matrices in the context of Internet traffic. Our work on POP-to-POP traffic matrices (TM) makes two contributions. The primary contribution is the outcome of a detailed comparative evaluation of the three existing techniques. We evaluate these methods with respect to the estimation errors yielded, sensitivity to prior information required and sensitivity to the statistical assumptions they make. We study the impact of characteristics such as path length and the amount of link sharing on the estimation errors. Using actual data from a Tier-1 backbone, we assess the validity of the typical assumptions needed by the TM estimation techniques. The secondary contribution of our work is the proposal of a new direction for TM estimation based on using choice models to model POP fanouts. These models allow us to overcome some of the problems of existing methods because they can incorporate additional data and information about POPs and they enable us to make a fundamentally different kind of modeling assumption. We validate this approach by illustrating that our modeling assumption matches actual Internet data well. Using two initial simple models we provide a proof of concept showing that the incorporation of knowledge of POP features (such as total incoming bytes, number of customers, etc.) can reduce estimation errors. Our proposed approach can be used in conjunction with existing or future methods in that it can be used to generate good priors that serve as inputs to statistical inference techniques.

Abstract. This note is a very basic introduction to wavelets. It starts with an orthogonal basis of piecewise constant functions, constructed by dilation and translation. The “wavelet transform ” maps each f(x) to its coefficients with respect to this basis. The mathematics is simple and the transform is fast (faster than the Fast Fourier Transform, which we briefly explain), but approximation by piecewise constants is poor. To improve this first wavelet, we are led to dilation equations and their unusual solutions. Higher-order wavelets are constructed, and it is surprisingly quick to compute with them — always indirectly and recursively. We comment informally on the contest between these transforms in signal processing, especially for video and image compression (including high-definition television). So far the Fourier Transform — or its 8 by 8 windowed version, the Discrete Cosine Transform — is often chosen. But wavelets are already competitive, and they are ahead for fingerprints. We present a sample of this developing theory. 1. The Haar wavelet To explain wavelets we start with an example. It has every property we hope for, except one. If that one defect is accepted, the construction is simple and the computations are fast. By trying to remove the defect, we are led to dilation equations and recursively defined functions and a small world of fascinating new problems — many still unsolved. A sensible person would stop after the first wavelet, but fortunately mathematics goes on. The basic example is easier to draw than to describe: Figure 1. Scaling function φ(x), wavelet W(x), and the next level of detail.

Building models, or maps, of robot environments is a highly active research area; however, most existing techniques construct unstructured maps and assume static environments. In this paper, we present an algorithm for learning object models of non-stationary objects found in office-type environments. Our algorithm exploits the fact that many objects found in office environments look alike (e.g., chairs, trash bins).

. This paper presents a new and e#cient way to create multiscaling functions with given approximation order, regularity, symmetry, and short support. Previous techniques were operating in time domain and required the solution of large systems of nonlinear equations. By switching to the frequency domain and employing the latest results of the multiwavelet theory we are able to elaborate a simple and e#cient method of construction of multiscaling functions. Our algorithm is based on a recently found factorization of the refinement mask through the two-scale similarity transform (TST). Theoretical results and new examples are presented. Key words. approximation order, symmetry, multiscaling functions, multiwavelets AMS subject classifications. 41A25, 42A38, 39B62 PII. S0036141096297182 1. Introduction. This paper discusses the construction of multiscaling functions which generate a multiresolution analysis (MRA) and lead to multiwavelets. A standard (scalar) MRA assumes that there is ...

A finite new algorithm is proposed for clustering m given points in n-dimensional real space into k clusters by generating k planes that constitute a local solution to the nonconvex problem of minimizing the sum of squares of the 2-norm distances between each point and a nearest plane. The key to the algorithm lies in a formulation that generates a plane in n-dimensional space that minimizes the sum of the squares of the 2-norm distances to each of m1 given points in the space. The plane is generated by an eigenvector corresponding to a smallest eigenvalue of an n \Theta n simple matrix derived from the m1 points. The algorithm was tested on the publicly available Wisconsin Breast Prognosis Cancer database to generate well separated patient survival curves. In contrast, the k-mean algorithm did not generate such well-separated survival curves. 1 Introduction There are many approaches to clustering such as statistical [2, 9, 6], machine learning [7, 8] and mathematical programming [15...

The transformation from high level task specification to lowlevel motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue.

Many real applications can be modeled using bipartite graphs, such as users vs. files in a P2P system, traders vs. stocks in a financial trading system, conferences vs. authors in a scientific publication network, and so on. We introduce two operations on bipartite graphs: 1) identifying similar nodes (Neighborhood formation), and 2) finding abnormal nodes (Anomaly detection). And we propose algorithms to compute the neighborhood for each node using random walk with restarts and graph partitioning; we also propose algorithms to identify abnormal nodes, using neighborhood information. We evaluate the quality of neighborhoods based on semantics of the datasets, and we also measure the performance of the anomaly detection algorithm with manually injected anomalies. Both effectiveness and efficiency of the methods are confirmed by experiments on several real datasets. 1

Abstract — Most Autonomous Underwater Vehicle (AUV) systems rely on prior knowledge of beacon locations for localization. We present a system capable of navigating without prior beacon locations. Noise and outliers are major issues; we present a powerful outlier rejection method that imposes geometric constraints on measurements. We have successfully applied our algorithm to real-world data and have demonstrated navigation performance comparable to that of systems that assume known beacon locations. I.

A function OE(t) is refinable if it satisfies a dilation equation OE(t) = P k C k OE(2t \Gamma k). A refinable function (scaling function) generates a multiresolution analysis (MRA): Set of nested subspaces : : : V \Gamma1 ae V 0 ae V 1 : : : such that S 1 j=\Gamma1 V j = L 2 (R), T 1 j=\Gamma1 V j = f0g, and translates OE(t \Gamma k) constitute a basis of V 0 . Then a basis fw jk : w jk = w(2 j t \Gamma k) j; k 2 Zg of L 2 (R) is generated by a wavelet w(t), whose translates w(t \Gamma k) form a basis of W 0 , V 1 = V 0 \Phi W 0 . A standard (scalar) MRA assumes that there is only one scaling function. We make a step forward and allow several scaling functions OE 0 (t); : : : ; OE r\Gamma1 (t) to generate a basis of V 0 . The vector OE(t) = [OE 0 (t) : : : OE r\Gamma1 (t)] T satisfies a dilation equation with matrix coefficients C k . Associated with OE(t) is a multiwavelet w(t) = [w 0 (t) : : : w r\Gamma1 (t)] T . Unlike the scalar case, construction of a multiwave...

Abstract — A robot exploring an environment can estimate its own motion and the relative positions of features in the environment. Simultaneous Localization and Mapping (SLAM) algorithms attempt to fuse these estimates to produce a map and a robot trajectory. The constraints are generally non-linear, thus SLAM can be viewed as a non-linear optimization problem. The optimization can be difficult, due to poor initial estimates arising from odometry data, and due to the size of the state space. We present a fast non-linear optimization algorithm that rapidly recovers the robot trajectory, even when given a poor initial estimate. Our approach uses a variant of Stochastic Gradient Descent on an alternative state-space representation that has good stability and computational properties. We compare our algorithm to several others, using both real and synthetic data sets.