Nikhil Jha

Kaiyuan, Chen, Yafei Liang et al.

As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power onboard. Despite its immense computing capacity, it is often underused by the robotics and automation community due to lack of expertise in cloud computing and cloud-based infrastructure. Fog Robotics balances computing and data between cloud edge devices. We propose a software framework, FogROS, as an extension of the Robot Operating System (ROS), the de-facto standard for creating robot automation applications and components. It allows researchers to deploy components of their software to the cloud with minimal effort, and correspondingly gain access to additional computing cores, GPUs, FPGAs, and TPUs, as well as predeployed software made available by other researchers. FogROS allows a researcher to specify which components of their software will be deployed to the cloud and to what type of computing hardware. We evaluate FogROS on 3 examples: (1) simultaneous localization and mapping (ORB-SLAM2), (2) Dexterity Network (Dex-Net) GPU-based grasp planning, and (3) multi-core motion planning using a 96-core cloud-based server. In all three examples, a component is deployed to the cloud and accelerated with a small change in system launch configuration, while incurring additional latency of 1.2 s, 0.6 s, and 0.5 s due to network communication, the computation speed is improved by 2.6x, 6.0x and 34.2x, respectively. Code, videos, and supplementary material can be found at https://github.com/BerkeleyAutomation/FogROS.

Mehdi Neshat, Michael Phipps, Nikhil Jha et al.

Over an extensive duration, administrators and clinicians have endeavoured to predict Emergency Department (ED) visits with precision, aiming to optimise resource distribution. Despite the proliferation of diverse AI-driven models tailored for precise prognostication, this task persists as a formidable challenge, besieged by constraints such as restrained generalisability, susceptibility to overfitting and underfitting, scalability issues, and complex fine-tuning hyper-parameters. In this study, we introduce a novel Meta-learning Gradient Booster (Meta-ED) approach for precisely forecasting daily ED visits and leveraging a comprehensive dataset of exogenous variables, including socio-demographic characteristics, healthcare service use, chronic diseases, diagnosis, and climate parameters spanning 23 years from Canberra Hospital in ACT, Australia. The proposed Meta-ED consists of four foundational learners-Catboost, Random Forest, Extra Tree, and lightGBoost-alongside a dependable top-level learner, Multi-Layer Perceptron (MLP), by combining the unique capabilities of varied base models (sub-learners). Our study assesses the efficacy of the Meta-ED model through an extensive comparative analysis involving 23 models. The evaluation outcomes reveal a notable superiority of Meta-ED over the other models in accuracy at 85.7% (95% CI ;85.4%, 86.0%) and across a spectrum of 10 evaluation metrics. Notably, when compared with prominent techniques, XGBoost, Random Forest (RF), AdaBoost, LightGBoost, and Extra Tree (ExT), Meta-ED showcases substantial accuracy enhancements of 58.6%, 106.3%, 22.3%, 7.0%, and 15.7%, respectively. Furthermore, incorporating weather-related features demonstrates a 3.25% improvement in the prediction accuracy of visitors' numbers. The encouraging outcomes of our study underscore Meta-ED as a foundation model for the precise prediction of daily ED visitors.

Nikhil Jha, Martino Trevisan, Luca Vassio et al.

To protect users' privacy, legislators have regulated the usage of tracking technologies, mandating the acquisition of users' consent before collecting data. Consequently, websites started showing more and more consent management modules -- i.e., Privacy Banners -- the visitors have to interact with to access the website content. They challenge the automatic collection of Web measurements, primarily to monitor the extensiveness of tracking technologies but also to measure Web performance in the wild. Privacy Banners in fact limit crawlers from observing the actual website content. In this paper, we present a thorough measurement campaign focusing on popular websites in Europe and the US, visiting both landing and internal pages from different countries around the world. We engineer Priv-Accept, a Web crawler able to accept the privacy policies, as most users would do in practice. This let us compare how webpages change before and after. Our results show that all measurements performed not dealing with the Privacy Banners offer a very biased and partial view of the Web. After accepting the privacy policies, we observe an increase of up to 70 trackers, which in turn slows down the webpage load time by a factor of 2x-3x.

Nikhil Jha, Thomas Favale, Luca Vassio et al.

With the advent of big data and the birth of the data markets that sell personal information, individuals' privacy is of utmost importance. The classical response is anonymization, i.e., sanitizing the information that can directly or indirectly allow users' re-identification. The most popular solution in the literature is the k-anonymity. However, it is hard to achieve k-anonymity on a continuous stream of data, as well as when the number of dimensions becomes high.In this paper, we propose a novel anonymization property called z-anonymity. Differently from k-anonymity, it can be achieved with zero-delay on data streams and it is well suited for high dimensional data. The idea at the base of z-anonymity is to release an attribute (an atomic information) about a user only if at least z - 1 other users have presented the same attribute in a past time window. z-anonymity is weaker than k-anonymity since it does not work on the combinations of attributes, but treats them individually. In this paper, we present a probabilistic framework to map the z-anonymity into the k-anonymity property. Our results show that a proper choice of the z-anonymity parameters allows the data curator to likely obtain a k-anonymized dataset, with a precisely measurable probability. We also evaluate a real use case, in which we consider the website visits of a population of users and show that z-anonymity can work in practice for obtaining the k-anonymity too.