Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all
Semantic folding
Semantic folding theory describes a procedure for encoding the semantics of natural language text in a semantically grounded binary representation. This approach provides a framework for modelling how language data is processed by the neocortex. == Theory == Semantic folding theory draws inspiration from Douglas R. Hofstadter's Analogy as the Core of Cognition which suggests that the brain makes sense of the world by identifying and applying analogies. The theory hypothesises that semantic data must therefore be introduced to the neocortex in such a form as to allow the application of a similarity measure and offers, as a solution, the sparse binary vector employing a two-dimensional topographic semantic space as a distributional reference frame. The theory builds on the computational theory of the human cortex known as hierarchical temporal memory (HTM), and positions itself as a complementary theory for the representation of language semantics. A particular strength claimed by this approach is that the resulting binary representation enables complex semantic operations to be performed simply and efficiently at the most basic computational level. == Two-dimensional semantic space == Analogous to the structure of the neocortex, Semantic Folding theory posits the implementation of a semantic space as a two-dimensional grid. This grid is populated by context-vectors in such a way as to place similar context-vectors closer to each other, for instance, by using competitive learning principles. This vector space model is presented in the theory as an equivalence to the well known word space model described in the information retrieval literature. Given a semantic space (implemented as described above) a word-vector can be obtained for any given word Y by employing the following algorithm: For each position X in the semantic map (where X represents cartesian coordinates) if the word Y is contained in the context-vector at position X then add 1 to the corresponding position in the word-vector for Y else add 0 to the corresponding position in the word-vector for Y The result of this process will be a word-vector containing all the contexts in which the word Y appears and will therefore be representative of the semantics of that word in the semantic space. It can be seen that the resulting word-vector is also in a sparse distributed representation (SDR) format [Schütze, 1993] & [Sahlgreen, 2006]. Some properties of word-SDRs that are of particular interest with respect to computational semantics are: high noise resistance: As a result of similar contexts being placed closer together in the underlying map, word-SDRs are highly tolerant of false or shifted "bits". boolean logic: It is possible to manipulate word-SDRs in a meaningful way using boolean (OR, AND, exclusive-OR) and/or arithmetical (SUBtract) functions . sub-sampling: Word-SDRs can be sub-sampled to a high degree without any appreciable loss of semantic information. topological two-dimensional representation: The SDR representation maintains the topological distribution of the underlying map therefore words with similar meanings will have similar word-vectors. This suggests that a variety of measures can be applied to the calculation of semantic similarity, from a simple overlap of vector elements, to a range of distance measures such as: Euclidean distance, Hamming distance, Jaccard distance, cosine similarity, Levenshtein distance, Sørensen-Dice index, etc. == Semantic spaces == Semantic spaces in the natural language domain aim to create representations of natural language that are capable of capturing meaning. The original motivation for semantic spaces stems from two core challenges of natural language: Vocabulary mismatch (the fact that the same meaning can be expressed in many ways) and ambiguity of natural language (the fact that the same term can have several meanings). The application of semantic spaces in natural language processing (NLP) aims at overcoming limitations of rule-based or model-based approaches operating on the keyword level. The main drawback with these approaches is their brittleness, and the large manual effort required to create either rule-based NLP systems or training corpora for model learning. Rule-based and machine learning-based models are fixed on the keyword level and break down if the vocabulary differs from that defined in the rules or from the training material used for the statistical models. Research in semantic spaces dates back more than 20 years. In 1996, two papers were published that raised a lot of attention around the general idea of creating semantic spaces: latent semantic analysis from Microsoft and Hyperspace Analogue to Language from the University of California. However, their adoption was limited by the large computational effort required to construct and use those semantic spaces. A breakthrough with regard to the accuracy of modelling associative relations between words (e.g. "spider-web", "lighter-cigarette", as opposed to synonymous relations such as "whale-dolphin", "astronaut-driver") was achieved by explicit semantic analysis (ESA) in 2007. ESA was a novel (non-machine learning) based approach that represented words in the form of vectors with 100,000 dimensions (where each dimension represents an Article in Wikipedia). However practical applications of the approach are limited due to the large number of required dimensions in the vectors. More recently, advances in neural networking techniques in combination with other new approaches (tensors) led to a host of new recent developments: Word2vec from Google and GloVe from Stanford University. Semantic folding represents a novel, biologically inspired approach to semantic spaces where each word is represented as a sparse binary vector with 16,000 dimensions (a semantic fingerprint) in a 2D semantic map (the semantic universe). Sparse binary representation are advantageous in terms of computational efficiency, and allow for the storage of very large numbers of possible patterns. == Visualization == The topological distribution over a two-dimensional grid (outlined above) lends itself to a bitmap type visualization of the semantics of any word or text, where each active semantic feature can be displayed as e.g. a pixel. As can be seen in the images shown here, this representation allows for a direct visual comparison of the semantics of two (or more) linguistic items. Image 1 clearly demonstrates that the two disparate terms "dog" and "car" have, as expected, very obviously different semantics. Image 2 shows that only one of the meaning contexts of "jaguar", that of "Jaguar" the car, overlaps with the meaning of Porsche (indicating partial similarity). Other meaning contexts of "jaguar" e.g. "jaguar" the animal clearly have different non-overlapping contexts. The visualization of semantic similarity using Semantic Folding bears a strong resemblance to the fMRI images produced in a research study conducted by A.G. Huth et al., where it is claimed that words are grouped in the brain by meaning. voxels, little volume segments of the brain, were found to follow a pattern were semantic information is represented along the boundary of the visual cortex with visual and linguistic categories represented on posterior and anterior side respectively.
Bayesian network
A Bayesian network (also known as a Bayes network, Bayes net, belief network, or decision network) is a probabilistic graphical model that represents a set of variables and their conditional dependencies via a directed acyclic graph (DAG). While it is one of several forms of causal notation, causal networks are special cases of Bayesian networks. Bayesian networks are ideal for taking an event that occurred and predicting the likelihood that any one of several possible known causes was the contributing factor. For example, a Bayesian network could represent the probabilistic relationships between diseases and symptoms. Given symptoms, the network can be used to compute the probabilities of the presence of various diseases. Efficient algorithms can perform inference and learning in Bayesian networks. Bayesian networks that model sequences of variables (e.g. speech signals or protein sequences) are called dynamic Bayesian networks. Generalizations of Bayesian networks that can represent and solve decision problems under uncertainty are called influence diagrams. == Graphical model == Formally, Bayesian networks are directed acyclic graphs (DAGs) whose nodes represent variables in the Bayesian sense: they may be observable quantities, latent variables, unknown parameters or hypotheses. Each edge represents a direct conditional dependency. Any pair of nodes that are not connected (i.e. no path connects one node to the other) represent variables that are conditionally independent of each other. Each node is associated with a probability function that takes, as input, a particular set of values for the node's parent variables, and gives (as output) the probability (or probability distribution, if applicable) of the variable represented by the node. For example, if m {\displaystyle m} parent nodes represent m {\displaystyle m} Boolean variables, then the probability function could be represented by a table of 2 m {\displaystyle 2^{m}} entries, one entry for each of the 2 m {\displaystyle 2^{m}} possible parent combinations. Similar ideas may be applied to undirected, and possibly cyclic, graphs such as Markov networks. == Example == Suppose we want to model the dependencies between three variables: the sprinkler (or more appropriately, its state - whether it is on or not), the presence or absence of rain and whether the grass is wet or not. Observe that two events can cause the grass to become wet: an active sprinkler or rain. Rain has a direct effect on the use of the sprinkler (namely that when it rains, the sprinkler usually is not active). This situation can be modeled with a Bayesian network (shown to the right). Each variable has two possible values, T (for true) and F (for false). The joint probability function is, by the chain rule of probability, Pr ( G , S , R ) = Pr ( G ∣ S , R ) Pr ( S ∣ R ) Pr ( R ) {\displaystyle \Pr(G,S,R)=\Pr(G\mid S,R)\Pr(S\mid R)\Pr(R)} where G = "Grass wet (true/false)", S = "Sprinkler turned on (true/false)", and R = "Raining (true/false)". The model can answer questions about the presence of a cause given the presence of an effect (so-called inverse probability) like "What is the probability that it is raining, given the grass is wet?" by using the conditional probability formula and summing over all nuisance variables: Pr ( R = T ∣ G = T ) = Pr ( G = T , R = T ) Pr ( G = T ) = ∑ x ∈ { T , F } Pr ( G = T , S = x , R = T ) ∑ x , y ∈ { T , F } Pr ( G = T , S = x , R = y ) {\displaystyle \Pr(R=T\mid G=T)={\frac {\Pr(G=T,R=T)}{\Pr(G=T)}}={\frac {\sum _{x\in \{T,F\}}\Pr(G=T,S=x,R=T)}{\sum _{x,y\in \{T,F\}}\Pr(G=T,S=x,R=y)}}} Using the expansion for the joint probability function Pr ( G , S , R ) {\displaystyle \Pr(G,S,R)} and the conditional probabilities from the conditional probability tables (CPTs) stated in the diagram, one can evaluate each term in the sums in the numerator and denominator. For example, Pr ( G = T , S = T , R = T ) = Pr ( G = T ∣ S = T , R = T ) Pr ( S = T ∣ R = T ) Pr ( R = T ) = 0.99 × 0.01 × 0.2 = 0.00198. {\displaystyle {\begin{aligned}\Pr(G=T,S=T,R=T)&=\Pr(G=T\mid S=T,R=T)\Pr(S=T\mid R=T)\Pr(R=T)\\&=0.99\times 0.01\times 0.2\\&=0.00198.\end{aligned}}} Then the numerical results (subscripted by the associated variable values) are Pr ( R = T ∣ G = T ) = 0.00198 T T T + 0.1584 T F T 0.00198 T T T + 0.288 T T F + 0.1584 T F T + 0.0 T F F = 891 2491 ≈ 35.77 % . {\displaystyle \Pr(R=T\mid G=T)={\frac {0.00198_{TTT}+0.1584_{TFT}}{0.00198_{TTT}+0.288_{TTF}+0.1584_{TFT}+0.0_{TFF}}}={\frac {891}{2491}}\approx 35.77\%.} To answer an interventional question, such as "What is the probability that it would rain, given that we wet the grass?" the answer is governed by the post-intervention joint distribution function Pr ( S , R ∣ do ( G = T ) ) = Pr ( S ∣ R ) Pr ( R ) {\displaystyle \Pr(S,R\mid {\text{do}}(G=T))=\Pr(S\mid R)\Pr(R)} obtained by removing the factor Pr ( G ∣ S , R ) {\displaystyle \Pr(G\mid S,R)} from the pre-intervention distribution. The do operator forces the value of G to be true. The probability of rain is unaffected by the action: Pr ( R ∣ do ( G = T ) ) = Pr ( R ) . {\displaystyle \Pr(R\mid {\text{do}}(G=T))=\Pr(R).} To predict the impact of turning the sprinkler on: Pr ( R , G ∣ do ( S = T ) ) = Pr ( R ) Pr ( G ∣ R , S = T ) {\displaystyle \Pr(R,G\mid {\text{do}}(S=T))=\Pr(R)\Pr(G\mid R,S=T)} with the term Pr ( S = T ∣ R ) {\displaystyle \Pr(S=T\mid R)} removed, showing that the action affects the grass but not the rain. These predictions may not be feasible given unobserved variables, as in most policy evaluation problems. The effect of the action do ( x ) {\displaystyle {\text{do}}(x)} can still be predicted, however, whenever the back-door criterion is satisfied. It states that, if a set Z of nodes can be observed that d-separates (or blocks) all back-door paths from X to Y then Pr ( Y , Z ∣ do ( x ) ) = Pr ( Y , Z , X = x ) Pr ( X = x ∣ Z ) . {\displaystyle \Pr(Y,Z\mid {\text{do}}(x))={\frac {\Pr(Y,Z,X=x)}{\Pr(X=x\mid Z)}}.} A back-door path is one that ends with an arrow into X. Sets that satisfy the back-door criterion are called "sufficient" or "admissible." For example, the set Z = R is admissible for predicting the effect of S = T on G, because R d-separates the (only) back-door path S ← R → G. However, if S is not observed, no other set d-separates this path and the effect of turning the sprinkler on (S = T) on the grass (G) cannot be predicted from passive observations. In that case P(G | do(S = T)) is not "identified". This reflects the fact that, lacking interventional data, the observed dependence between S and G is due to a causal connection or is spurious (apparent dependence arising from a common cause, R). (see Simpson's paradox) To determine whether a causal relation is identified from an arbitrary Bayesian network with unobserved variables, one can use the three rules of "do-calculus" and test whether all do terms can be removed from the expression of that relation, thus confirming that the desired quantity is estimable from frequency data. Using a Bayesian network can save considerable amounts of memory over exhaustive probability tables, if the dependencies in the joint distribution are sparse. For example, a naive way of storing the conditional probabilities of 10 two-valued variables as a table requires storage space for 2 10 = 1024 {\displaystyle 2^{10}=1024} values. If no variable's local distribution depends on more than three parent variables, the Bayesian network representation stores at most 10 ⋅ 2 3 = 80 {\displaystyle 10\cdot 2^{3}=80} values. One advantage of Bayesian networks is that it is intuitively easier for a human to understand (a sparse set of) direct dependencies and local distributions than complete joint distributions. == Inference and learning == Bayesian networks perform three main inference tasks: Inferring unobserved variables Parameter learning for the probability distributions of each node in the network Structure learning of the graphical network === Inferring unobserved variables === Because a Bayesian network is a complete model for its variables and their relationships, it can be used to answer probabilistic queries about them. For example, the network can be used to update knowledge of the state of a subset of variables when other variables (the evidence variables) are observed. This process of computing the posterior distribution of variables given evidence is called probabilistic inference. The posterior gives a universal sufficient statistic for detection applications, when choosing values for the variable subset that minimize some expected loss function, for instance the probability of decision error. A Bayesian network can thus be considered a mechanism for automatically applying Bayes' theorem to complex problems. The most common exact inference methods are: variable elimination, which eliminates (by integration or summation) the non-observed non-query variables one by one by distributing the sum over the prod
Deterministic blockmodeling
Deterministic blockmodeling is an approach in blockmodeling that does not assume a probabilistic model, and instead relies on the exact or approximate algorithms, which are used to find blockmodel(s). This approach typically minimizes some inconsistency that can occur with the ideal block structure. Such analysis is focused on clustering (grouping) of the network (or adjacency matrix) that is obtained with minimizing an objective function, which measures discrepancy from the ideal block structure. However, some indirect approaches (or methods between direct and indirect approaches, such as CONCOR) do not explicitly minimize inconsistencies or optimize some criterion function. This approach was popularized in the 1970s, due to the presence of two computer packages (CONCOR and STRUCTURE) that were used to "find a permutation of the rows and columns in the adjacency matrix leading to an approximate block structure". The opposite approach to deterministic blockmodeling is a stochastic blockmodeling approach.
Sufficient dimension reduction
In statistics, sufficient dimension reduction (SDR) is a paradigm for analyzing data that combines the ideas of dimension reduction with the concept of sufficiency. Dimension reduction has long been a primary goal of regression analysis. Given a response variable y and a p-dimensional predictor vector x {\displaystyle {\textbf {x}}} , regression analysis aims to study the distribution of y ∣ x {\displaystyle y\mid {\textbf {x}}} , the conditional distribution of y {\displaystyle y} given x {\displaystyle {\textbf {x}}} . A dimension reduction is a function R ( x ) {\displaystyle R({\textbf {x}})} that maps x {\displaystyle {\textbf {x}}} to a subset of R k {\displaystyle \mathbb {R} ^{k}} , k < p, thereby reducing the dimension of x {\displaystyle {\textbf {x}}} . For example, R ( x ) {\displaystyle R({\textbf {x}})} may be one or more linear combinations of x {\displaystyle {\textbf {x}}} . A dimension reduction R ( x ) {\displaystyle R({\textbf {x}})} is said to be sufficient if the distribution of y ∣ R ( x ) {\displaystyle y\mid R({\textbf {x}})} is the same as that of y ∣ x {\displaystyle y\mid {\textbf {x}}} . In other words, no information about the regression is lost in reducing the dimension of x {\displaystyle {\textbf {x}}} if the reduction is sufficient. == Graphical motivation == In a regression setting, it is often useful to summarize the distribution of y ∣ x {\displaystyle y\mid {\textbf {x}}} graphically. For instance, one may consider a scatterplot of y {\displaystyle y} versus one or more of the predictors or a linear combination of the predictors. A scatterplot that contains all available regression information is called a sufficient summary plot. When x {\displaystyle {\textbf {x}}} is high-dimensional, particularly when p ≥ 3 {\displaystyle p\geq 3} , it becomes increasingly challenging to construct and visually interpret sufficiency summary plots without reducing the data. Even three-dimensional scatter plots must be viewed via a computer program, and the third dimension can only be visualized by rotating the coordinate axes. However, if there exists a sufficient dimension reduction R ( x ) {\displaystyle R({\textbf {x}})} with small enough dimension, a sufficient summary plot of y {\displaystyle y} versus R ( x ) {\displaystyle R({\textbf {x}})} may be constructed and visually interpreted with relative ease. Hence sufficient dimension reduction allows for graphical intuition about the distribution of y ∣ x {\displaystyle y\mid {\textbf {x}}} , which might not have otherwise been available for high-dimensional data. Most graphical methodology focuses primarily on dimension reduction involving linear combinations of x {\displaystyle {\textbf {x}}} . The rest of this article deals only with such reductions. == Dimension reduction subspace == Suppose R ( x ) = A T x {\displaystyle R({\textbf {x}})=A^{T}{\textbf {x}}} is a sufficient dimension reduction, where A {\displaystyle A} is a p × k {\displaystyle p\times k} matrix with rank k ≤ p {\displaystyle k\leq p} . Then the regression information for y ∣ x {\displaystyle y\mid {\textbf {x}}} can be inferred by studying the distribution of y ∣ A T x {\displaystyle y\mid A^{T}{\textbf {x}}} , and the plot of y {\displaystyle y} versus A T x {\displaystyle A^{T}{\textbf {x}}} is a sufficient summary plot. Without loss of generality, only the space spanned by the columns of A {\displaystyle A} need be considered. Let η {\displaystyle \eta } be a basis for the column space of A {\displaystyle A} , and let the space spanned by η {\displaystyle \eta } be denoted by S ( η ) {\displaystyle {\mathcal {S}}(\eta )} . It follows from the definition of a sufficient dimension reduction that F y ∣ x = F y ∣ η T x , {\displaystyle F_{y\mid x}=F_{y\mid \eta ^{T}x},} where F {\displaystyle F} denotes the appropriate distribution function. Another way to express this property is y ⊥ ⊥ x ∣ η T x , {\displaystyle y\perp \!\!\!\perp {\textbf {x}}\mid \eta ^{T}{\textbf {x}},} or y {\displaystyle y} is conditionally independent of x {\displaystyle {\textbf {x}}} , given η T x {\displaystyle \eta ^{T}{\textbf {x}}} . Then the subspace S ( η ) {\displaystyle {\mathcal {S}}(\eta )} is defined to be a dimension reduction subspace (DRS). === Structural dimensionality === For a regression y ∣ x {\displaystyle y\mid {\textbf {x}}} , the structural dimension, d {\displaystyle d} , is the smallest number of distinct linear combinations of x {\displaystyle {\textbf {x}}} necessary to preserve the conditional distribution of y ∣ x {\displaystyle y\mid {\textbf {x}}} . In other words, the smallest dimension reduction that is still sufficient maps x {\displaystyle {\textbf {x}}} to a subset of R d {\displaystyle \mathbb {R} ^{d}} . The corresponding DRS will be d-dimensional. === Minimum dimension reduction subspace === A subspace S {\displaystyle {\mathcal {S}}} is said to be a minimum DRS for y ∣ x {\displaystyle y\mid {\textbf {x}}} if it is a DRS and its dimension is less than or equal to that of all other DRSs for y ∣ x {\displaystyle y\mid {\textbf {x}}} . A minimum DRS S {\displaystyle {\mathcal {S}}} is not necessarily unique, but its dimension is equal to the structural dimension d {\displaystyle d} of y ∣ x {\displaystyle y\mid {\textbf {x}}} , by definition. If S {\displaystyle {\mathcal {S}}} has basis η {\displaystyle \eta } and is a minimum DRS, then a plot of y versus η T x {\displaystyle \eta ^{T}{\textbf {x}}} is a minimal sufficient summary plot, and it is (d + 1)-dimensional. == Central subspace == If a subspace S {\displaystyle {\mathcal {S}}} is a DRS for y ∣ x {\displaystyle y\mid {\textbf {x}}} , and if S ⊂ S drs {\displaystyle {\mathcal {S}}\subset {\mathcal {S}}_{\text{drs}}} for all other DRSs S drs {\displaystyle {\mathcal {S}}_{\text{drs}}} , then it is a central dimension reduction subspace, or simply a central subspace, and it is denoted by S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} . In other words, a central subspace for y ∣ x {\displaystyle y\mid {\textbf {x}}} exists if and only if the intersection ⋂ S drs {\textstyle \bigcap {\mathcal {S}}_{\text{drs}}} of all dimension reduction subspaces is also a dimension reduction subspace, and that intersection is the central subspace S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} . The central subspace S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} does not necessarily exist because the intersection ⋂ S drs {\textstyle \bigcap {\mathcal {S}}_{\text{drs}}} is not necessarily a DRS. However, if S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} does exist, then it is also the unique minimum dimension reduction subspace. === Existence of the central subspace === While the existence of the central subspace S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} is not guaranteed in every regression situation, there are some rather broad conditions under which its existence follows directly. For example, consider the following proposition from Cook (1998): Let S 1 {\displaystyle {\mathcal {S}}_{1}} and S 2 {\displaystyle {\mathcal {S}}_{2}} be dimension reduction subspaces for y ∣ x {\displaystyle y\mid {\textbf {x}}} . If x {\displaystyle {\textbf {x}}} has density f ( a ) > 0 {\displaystyle f(a)>0} for all a ∈ Ω x {\displaystyle a\in \Omega _{x}} and f ( a ) = 0 {\displaystyle f(a)=0} everywhere else, where Ω x {\displaystyle \Omega _{x}} is convex, then the intersection S 1 ∩ S 2 {\displaystyle {\mathcal {S}}_{1}\cap {\mathcal {S}}_{2}} is also a dimension reduction subspace. It follows from this proposition that the central subspace S y ∣ x {\displaystyle {\mathcal {S}}_{y\mid x}} exists for such x {\displaystyle {\textbf {x}}} . == Methods for dimension reduction == There are many existing methods for dimension reduction, both graphical and numeric. For example, sliced inverse regression (SIR) and sliced average variance estimation (SAVE) were introduced in the 1990s and continue to be widely used. Although SIR was originally designed to estimate an effective dimension reducing subspace, it is now understood that it estimates only the central subspace, which is generally different. More recent methods for dimension reduction include likelihood-based sufficient dimension reduction, estimating the central subspace based on the inverse third moment (or kth moment), estimating the central solution space, graphical regression, envelope model, and the principal support vector machine. For more details on these and other methods, consult the statistical literature. Principal components analysis (PCA) and similar methods for dimension reduction are not based on the sufficiency principle. === Example: linear regression === Consider the regression model y = α + β T x + ε , where ε ⊥ ⊥ x . {\displaystyle y=\alpha +\beta ^{T}{\textbf {x}}+\varepsilon ,{\text{ where }}\varepsilon \perp \!\!\!\perp {\textbf {x}}.} Note that the distribution of y ∣ x {\displaystyle y\mid {\textbf {x}}} is the same as the distribution of y ∣ β T x {\displ
Protocol engineering
Protocol engineering is the application of systematic methods to the development of communication protocols. It uses many of the principles of software engineering, but it is specific to the development of distributed systems. == History == When the first experimental and commercial computer networks were developed in the 1970s, the concept of protocols was not yet well developed. These were the first distributed systems. In the context of the newly adopted layered protocol architecture (see OSI model), the definition of the protocol of a specific layer should be such that any entity implementing that specification in one computer would be compatible with any other computer containing an entity implementing the same specification, and their interactions should be such that the desired communication service would be obtained. On the other hand, the protocol specification should be abstract enough to allow different choices for the implementation on different computers. It was recognized that a precise specification of the expected service provided by the given layer was important. It is important for the verification of the protocol, which should demonstrate that the communication service is provided if both protocol entities implement the protocol specification correctly. This principle was later followed during the standardization of the OSI protocol stack, in particular for the transport layer. It was also recognized that some kind of formalized protocol specification would be useful for the verification of the protocol and for developing implementations, as well as test cases for checking the conformance of an implementation against the specification. While initially mainly finite-state machine were used as (simplified) models of a protocol entity, in the 1980s three formal specification languages were standardized, two by ISO and one by ITU. The latter, called SDL, was later used in industry and has been merged with UML state machines. == Principles == The following are the most important principles for the development of protocols: Layered architecture: A protocol layer at the level n consists of two (or more) entities that have a service interface through which the service of the layer is provided to the users of the protocol, and which uses the service provided by a local entity of level (n-1). The service specification of a layer describes, in an abstract and global view, the behavior of the layer as visible at the service interfaces of the layer. The protocol specification defines the requirements that should be satisfied by each entity implementation. Protocol verification consists of showing that two (or more) entities satisfying the protocol specification will provide at their service interfaces the specified service of that layer. The (verified) protocol specification is used mainly for the following two activities: The development of an entity implementation. Note that the abstract properties of the service interface are defined by the service specification (and also used by the protocol specification), but the detailed nature of the interface can be chosen during the implementation process, separately for each entity. Test suite development for conformance testing. Protocol conformance testing checks that a given entity implementation conforms to the protocol specification. The conformance test cases are developed based on the protocol specification and are applicable to all entity implementations. Therefore standard conformance test suites have been developed for certain protocol standards. == Methods and tools == Tools for the activities of protocol verification, entity implementation and test suite development can be developed when the protocol specification is written in a formalized language which can be understood by the tool. As mentioned, formal specification languages have been proposed for protocol specification, and the first methods and tools where based on finite-state machine models. Reachability analysis was proposed to understand all possible behaviors of a distributed system, which is essential for protocol verification. This was later complemented with model checking. However, finite-state descriptions are not powerful enough to describe constraints between message parameters and the local variables in the entities. Such constraints can be described by the standardized formal specification languages mentioned above, for which powerful tools have been developed. It is in the field of protocol engineering that model-based development was used very early. These methods and tools have later been used for software engineering as well as hardware design, especially for distributed and real-time systems. On the other hand, many methods and tools developed in the more general context of software engineering can also be used of the development of protocols, for instance model checking for protocol verification, and agile methods for entity implementations. == Constructive methods for protocol design == Most protocols are designed by human intuition and discussions during the standardization process. However, some methods have been proposed for using constructive methods possibly supported by tools to automatically derive protocols that satisfy certain properties. The following are a few examples: Semi-automatic protocol synthesis: The user defines all message sending actions of the entities, and the tool derives all necessary reception actions (even if several messages are in transit). Synchronizing protocol: The state transitions of one protocol entity are given by the user, and the method derives the behavior of the other entity such that it remains in states that correspond to the former entity. Protocol derived from service specification: The service specification is given by the user and the method derives a suitable protocol for all entities. Protocol for control applications: The specification of one entity (called the plant - which must be controlled) is given, and the method derives a specification of the other entity such that certain fail states of the plant are never reached and certain given properties of the plant's service interactions are satisfied. This is a case of supervisory control. == Books == Ming T. Liu, Protocol Engineering, Advances in Computers, Volume 29, 1989, Pages 79–195. G.J. Holzmann, Design and Validation of Computer Protocols, Prentice Hall, 1991. H. König, Protocol Engineering, Springer, 2012. M. Popovic, Communication Protocol Engineering, CRC Press, 2nd Ed. 2018. P. Venkataram, S.S. Manvi, B.S. Babu, Communication Protocol Engineering, 2014.
Nonlinear dimensionality reduction
Nonlinear dimensionality reduction (NLDR), also known as manifold learning, is any of various related techniques that aim to project high-dimensional data, potentially existing across non-linear manifolds which cannot be adequately captured by linear decomposition methods, onto lower-dimensional latent manifolds, with the goal of either visualizing the data in the low-dimensional space, or learning the mapping (either from the high-dimensional space to the low-dimensional embedding or vice versa) itself. The techniques described below can be understood as generalizations of linear decomposition methods used for dimensionality reduction, such as singular value decomposition and principal component analysis. == Applications of NLDR == High dimensional data can be hard for machines to work with, requiring significant time and space for analysis. It also presents a challenge for humans, since it's hard to visualize or understand data in more than three dimensions. Reducing the dimensionality of a data set, while keeping its essential features relatively intact, can make algorithms more efficient and allow analysts to visualize trends and patterns. The reduced-dimensional representations of data are often referred to as "intrinsic variables". This description implies that these are the values from which the data was produced. For example, consider a dataset that contains images of a letter 'A', which has been scaled and rotated by varying amounts. Each image has 32×32 pixels. Each image can be represented as a vector of 1024 pixel values. Each row is a sample on a two-dimensional manifold in 1024-dimensional space (a Hamming space). The intrinsic dimensionality is two, because two variables (rotation and scale) were varied in order to produce the data. Information about the shape or look of a letter 'A' is not part of the intrinsic variables because it is the same in every instance. Nonlinear dimensionality reduction will discard the correlated information (the letter 'A') and recover only the varying information (rotation and scale). By comparison, if principal component analysis, which is a linear dimensionality reduction algorithm, is used to reduce this same dataset into two dimensions, the resulting values are not so well organized. This demonstrates that the high-dimensional vectors (each representing a letter 'A') that sample this manifold vary in a non-linear manner. It should be apparent, therefore, that NLDR has several applications in the field of computer-vision. For example, consider a robot that uses a camera to navigate in a closed static environment. The images obtained by that camera can be considered to be samples on a manifold in high-dimensional space, and the intrinsic variables of that manifold will represent the robot's position and orientation. Invariant manifolds are of general interest for model order reduction in dynamical systems. In particular, if there is an attracting invariant manifold in the phase space, nearby trajectories will converge onto it and stay on it indefinitely, rendering it a candidate for dimensionality reduction of the dynamical system. While such manifolds are not guaranteed to exist in general, the theory of spectral submanifolds (SSM) gives conditions for the existence of unique attracting invariant objects in a broad class of dynamical systems. Active research in NLDR seeks to unfold the observation manifolds associated with dynamical systems to develop modeling techniques. Some of the more prominent nonlinear dimensionality reduction techniques are listed below. == Important concepts == === Sammon's mapping === Sammon's mapping is one of the first and most popular NLDR techniques. === Self-organizing map === The self-organizing map (SOM, also called Kohonen map) and its probabilistic variant generative topographic mapping (GTM) use a point representation in the embedded space to form a latent variable model based on a non-linear mapping from the embedded space to the high-dimensional space. These techniques are related to work on density networks, which also are based around the same probabilistic model. === Kernel principal component analysis === Perhaps the most widely used algorithm for dimensional reduction is kernel PCA. PCA begins by computing the covariance matrix of the m × n {\displaystyle m\times n} matrix X {\displaystyle \mathbf {X} } C = 1 m ∑ i = 1 m x i x i T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\mathbf {x} _{i}\mathbf {x} _{i}^{\mathsf {T}}}.} It then projects the data onto the first k eigenvectors of that matrix. By comparison, KPCA begins by computing the covariance matrix of the data after being transformed into a higher-dimensional space, C = 1 m ∑ i = 1 m Φ ( x i ) Φ ( x i ) T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\Phi (\mathbf {x} _{i})\Phi (\mathbf {x} _{i})^{\mathsf {T}}}.} It then projects the transformed data onto the first k eigenvectors of that matrix, just like PCA. It uses the kernel trick to factor away much of the computation, such that the entire process can be performed without actually computing Φ ( x ) {\displaystyle \Phi (\mathbf {x} )} . Of course Φ {\displaystyle \Phi } must be chosen such that it has a known corresponding kernel. Unfortunately, it is not trivial to find a good kernel for a given problem, so KPCA does not yield good results with some problems when using standard kernels. For example, it is known to perform poorly with these kernels on the Swiss roll manifold. However, one can view certain other methods that perform well in such settings (e.g., Laplacian Eigenmaps, LLE) as special cases of kernel PCA by constructing a data-dependent kernel matrix. KPCA has an internal model, so it can be used to map points onto its embedding that were not available at training time. === Principal curves and manifolds === Principal curves and manifolds give the natural geometric framework for nonlinear dimensionality reduction and extend the geometric interpretation of PCA by explicitly constructing an embedded manifold, and by encoding using standard geometric projection onto the manifold. This approach was originally proposed by Trevor Hastie in his 1984 thesis, which he formally introduced in 1989. This idea has been explored further by many authors. How to define the "simplicity" of the manifold is problem-dependent, however, it is commonly measured by the intrinsic dimensionality and/or the smoothness of the manifold. Usually, the principal manifold is defined as a solution to an optimization problem. The objective function includes a quality of data approximation and some penalty terms for the bending of the manifold. The popular initial approximations are generated by linear PCA and Kohonen's SOM. === Laplacian eigenmaps === Laplacian eigenmaps uses spectral techniques to perform dimensionality reduction. This technique relies on the basic assumption that the data lies in a low-dimensional manifold in a high-dimensional space. This algorithm cannot embed out-of-sample points, but techniques based on Reproducing kernel Hilbert space regularization exist for adding this capability. Such techniques can be applied to other nonlinear dimensionality reduction algorithms as well. Traditional techniques like principal component analysis do not consider the intrinsic geometry of the data. Laplacian eigenmaps builds a graph from neighborhood information of the data set. Each data point serves as a node on the graph and connectivity between nodes is governed by the proximity of neighboring points (using e.g. the k-nearest neighbor algorithm). The graph thus generated can be considered as a discrete approximation of the low-dimensional manifold in the high-dimensional space. Minimization of a cost function based on the graph ensures that points close to each other on the manifold are mapped close to each other in the low-dimensional space, preserving local distances. The eigenfunctions of the Laplace–Beltrami operator on the manifold serve as the embedding dimensions, since under mild conditions this operator has a countable spectrum that is a basis for square integrable functions on the manifold (compare to Fourier series on the unit circle manifold). Attempts to place Laplacian eigenmaps on solid theoretical ground have met with some success, as under certain nonrestrictive assumptions, the graph Laplacian matrix has been shown to converge to the Laplace–Beltrami operator as the number of points goes to infinity. === Isomap === Isomap is a combination of the Floyd–Warshall algorithm with classic Multidimensional Scaling (MDS). Classic MDS takes a matrix of pair-wise distances between all points and computes a position for each point. Isomap assumes that the pair-wise distances are only known between neighboring points, and uses the Floyd–Warshall algorithm to compute the pair-wise distances between all other points. This effectively estimates the full matrix of pair-wise geodesic distances between all of the points. Isomap th