Dr. Pletser’s experience includes 30 years of working with the European Space Agency as a Senior Physicist/Engineer and coordinating their parabolic flight campaigns, and he is the Guinness World Record holder for the most number of aircraft flown (12) in parabolas, personally logging more than 7,300 parabolas.
\\n\\n
Seeing the 5,000th book published makes us at the same time proud, happy, humble, and grateful. This is a great opportunity to stop and celebrate what we have done so far, but is also an opportunity to engage even more, grow, and succeed. It wouldn't be possible to get here without the synergy of team members’ hard work and authors and editors who devote time and their expertise into Open Access book publishing with us.
\\n\\n
Over these years, we have gone from pioneering the scientific Open Access book publishing field to being the world’s largest Open Access book publisher. Nonetheless, our vision has remained the same: to meet the challenges of making relevant knowledge available to the worldwide community under the Open Access model.
\\n\\n
We are excited about the present, and we look forward to sharing many more successes in the future.
\\n\\n
Thank you all for being part of the journey. 5,000 times thank you!
\\n\\n
Now with 5,000 titles available Open Access, which one will you read next?
Preparation of Space Experiments edited by international leading expert Dr. Vladimir Pletser, Director of Space Training Operations at Blue Abyss is the 5,000th Open Access book published by IntechOpen and our milestone publication!
\n\n
"This book presents some of the current trends in space microgravity research. The eleven chapters introduce various facets of space research in physical sciences, human physiology and technology developed using the microgravity environment not only to improve our fundamental understanding in these domains but also to adapt this new knowledge for application on earth." says the editor. Listen what else Dr. Pletser has to say...
\n\n\n\n
Dr. Pletser’s experience includes 30 years of working with the European Space Agency as a Senior Physicist/Engineer and coordinating their parabolic flight campaigns, and he is the Guinness World Record holder for the most number of aircraft flown (12) in parabolas, personally logging more than 7,300 parabolas.
\n\n
Seeing the 5,000th book published makes us at the same time proud, happy, humble, and grateful. This is a great opportunity to stop and celebrate what we have done so far, but is also an opportunity to engage even more, grow, and succeed. It wouldn't be possible to get here without the synergy of team members’ hard work and authors and editors who devote time and their expertise into Open Access book publishing with us.
\n\n
Over these years, we have gone from pioneering the scientific Open Access book publishing field to being the world’s largest Open Access book publisher. Nonetheless, our vision has remained the same: to meet the challenges of making relevant knowledge available to the worldwide community under the Open Access model.
\n\n
We are excited about the present, and we look forward to sharing many more successes in the future.
\n\n
Thank you all for being part of the journey. 5,000 times thank you!
\n\n
Now with 5,000 titles available Open Access, which one will you read next?
\n'}],latestNews:[{slug:"stanford-university-identifies-top-2-scientists-over-1-000-are-intechopen-authors-and-editors-20210122",title:"Stanford University Identifies Top 2% Scientists, Over 1,000 are IntechOpen Authors and Editors"},{slug:"intechopen-authors-included-in-the-highly-cited-researchers-list-for-2020-20210121",title:"IntechOpen Authors Included in the Highly Cited Researchers List for 2020"},{slug:"intechopen-maintains-position-as-the-world-s-largest-oa-book-publisher-20201218",title:"IntechOpen Maintains Position as the World’s Largest OA Book Publisher"},{slug:"all-intechopen-books-available-on-perlego-20201215",title:"All IntechOpen Books Available on Perlego"},{slug:"oiv-awards-recognizes-intechopen-s-editors-20201127",title:"OIV Awards Recognizes IntechOpen's Editors"},{slug:"intechopen-joins-crossref-s-initiative-for-open-abstracts-i4oa-to-boost-the-discovery-of-research-20201005",title:"IntechOpen joins Crossref's Initiative for Open Abstracts (I4OA) to Boost the Discovery of Research"},{slug:"intechopen-hits-milestone-5-000-open-access-books-published-20200908",title:"IntechOpen hits milestone: 5,000 Open Access books published!"},{slug:"intechopen-books-hosted-on-the-mathworks-book-program-20200819",title:"IntechOpen Books Hosted on the MathWorks Book Program"}]},book:{item:{type:"book",id:"5415",leadTitle:null,fullTitle:"Household Hazardous Waste Management",title:"Household Hazardous Waste Management",subtitle:null,reviewType:"peer-reviewed",abstract:"Rapid global urbanization and increases in living standards in recent decades have led to changes in the household hazardous waste (HHW) generation characteristics due to increases in buying power and easier access to products that are convenient but not always safe. 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\n\t\t\t
1. Introduction
\n\t\t\t
Soil erosion is a common global environmental problem and undermines sustainable development in various economies and societies. Detailed information about changes in surface roughness during the whole soil erosion process remains limited, however, due to practical difficulties in obtaining direct soil microrelief measurements (Huang, 1998) and a lack in systematic research. The Chinese Loess Plateau is one of the most severely eroded regions in the world, which has created many environmental problems along the lower reaches of the Yellow River. Despite this, however, very little erosion-based research has been conducted on the Loess Plateau. Erosion and runoff processes are influenced mainly by soil surface characteristics such as soil surface roughness, cohesion, and granular stability. Among these characteristics, soil surface roughness is a key parameter (Gómez, and Nearing, 2005; Mirzaei et al., 2008), and is used to describe the variation in surface elevation across a field. The soil surface micro-topography or roughness is strongly influenced by agricultural activities, together with soil properties and climate. The term soil roughness was used to describe disturbances or irregularities in the soil surface at a scale which was generally too small to be captured by a conventional topographic map or survey. Soil surface roughness is an important parameter in understanding the mechanisms of soil erosion by water and wind. Many erosion related surface processes, such as depression water storage, raindrop or wind shear detachment, and sediment transport have characteristic lengths in millimeter scales. Thus, soil surface roughness resulting from small scale elements is important in understanding these processes and their spatial variation (Huang and Bradford, 1990). Soil surface roughness determines the storage of water on the soil surface and may indirectly influence its infiltration capacity. The velocity of overland flow is controlled by the hydraulic resistance of the soil surface. Soil surface roughness affects the organization of the drainage pattern on the field and the catchments scale, which in turn may have important implications for the spatial distribution of sediment sources and sinks. Conversely, some of these processes affect surface roughness. Most of the literature on soil surface roughness focusing on its mathematical description and on how it changes under rainfall(Linden and Van doren,1986; Römkens and Wang,1987; Lehrsch et al,1988; Bertuzzi et al.,1990).Soil surface roughness significantly impacts runoff and sediment generation under rainfall in several different ways.
\n\t\t\t
It was one kind of erosion phenomenon which the raindrop strikes the soil surface to create the soil particle dispersion and the leap moves for the splash erosion. It was one of the important components to soil erosion (Wang et al,1997, 1999; Zhao and Wu,2001; Liu and Wu,1996;Wu,1999; Wu and Zhou,1994). The kinetic energy which the raindrop dropped from airborne was the higher than that of sheet flow and erosion sediment during the rainfall runoff for the different soil surface (Huang,1983). According to the observation data of some researches, the soils of bare land by the raindrop scattered were 10 times than those of the laminar flow scoured (Cai et al,1998). Many authors have studied the effect of rainfall on soil surface roughness and developed models to describe the change of soil surface roughness. Some researches obtained the simple forecast model of soil surface roughness (Johson et al,1979; Onstad,1984; Steichen,1984). Later, the widely accepted concept of decreasing roughness with increasing amount of rainfall or rainfall energy may not always be appropriate. After 63 mm of rainfall the surface was crusted and surface roughness was decreased. However, an additional 92 mm of rainfall appeared to have a higher roughness value (Huang and Bradford,1992).
\n\t\t\t
The objective of this study was to focus on the relationship between soil surface roughness and splash erosion. First, soil surface roughness affected on splash erosion under the condition of rainfall. Second, how was the change of soil surface roughness during the period of rainfall?
\n\t\t
\n\t\t
\n\t\t\t
2. Material and Methods
\n\t\t\t
\n\t\t\t\t
2.1. Soil and soil box design
\n\t\t\t\t
Experiments were carried out at the Northwest A&F University Soil Erosion Research Laboratory,Yangling town,China. The soil was collected from the topsoil soil (0-20cm) in Yangling town. Basic properties of soil were following (Table 1).
Particle size distribution (0—20cm) of experimental soil.
\n\t\t\t\t
Four iron boxes of 2.0 m×1.0 m×0.5 m were used in the rainfall simulation study. Air-dried top soil was passed through a 10mm sieve to insure homogeneity and placed in every erosion box with an area of 2m2. The soil bulk density was controlled to 1.08 g cm-3 in order to assure to fill to be homogeneous and close natural state through randomization method. Before the rainfall, the soil mechanical composition was measured by the pipette method, and the soil bulk density was measured by the ring sampler method.
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
2.2. Rainfall simulations and soil surface roughness measurement techniques
\n\t\t\t\t
Rainfall/erosion methods in this lab study were similar to those described by Zheng et al. (2007). The soil box was adjusted at 150 slope gradient and then placed under a rainfall simulator with oscillating nozzles. Rainfall high was 2.7 m and effective rainfall area approximately was 20 m2. This experiment used the constant rainfall intensity, therefore, different rainfall intensities were rated before testing. The uniformity of rainfall was up to 0.90. Development of micro-relief was monitored by recording soil surface at the beginning and at the end of the experiments, using the non-contact profile laser scanner measuring instrument specified and calculated (Zheng,2007). The maximum range of detectable elevation differences was approximately 500 mm. Surface relief was measured point by point in a regularly spaced grid. The maximum scanning area was 2 m. The surface roughness was measured for each soil box before the rainfall and after the rainfall separately with non-contact the profile laser scanner.
\n\t\t\t\t
Simulated rainfall for each replication of a treatment were divided into the single rainfall intensity and the combined rainfall intensity, the parameters of single rainfall intensity respectively were 0.68 mm/min and 1.50 mm/min, the parameter of combined rainfall intensity is 0.68 mm/min,1.00 mm/min and 1.50 mm/min. The above experiments had three repeats. Each experiment started on a freshly prepared surface for each replication of a treatment. The rainfall simulation duration were depended on the change of soil surface.
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
2.3. Management treatments
\n\t\t\t\t
The four artificial management measures were designed according to the local agriculture custom in Loess Plateau, because agriculture management measures were mainly artificial management. The four artificial management measures were the raking cropland (PM), the artificial hoe (CH), the artificial dig (TW) and the contour slope (DG).They were used to simulate different types of soil surface roughness separately, the straight slope (CK) was taken to the control.
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
2.4. Splash erosion
\n\t\t\t\t
The amounts of splash erosion were collected through the hanging splash erosion board and measured by the oven drying method. The width to the hanging splash erosion board was 1m and the height was 0.5m.The hanging splash erosion board was installed in the middle of the soil box was to be used to collect splashing soil during the experiments(Fig.1).
\n\t\t\t\t\n\t\t\t\t
At the same time, raindrops of every rainfall were collected to calculate raindrop diameter. Raindrop diameter was measured through the color spot method according the B.Z.Dou et.al (Dou and Zhou,1982; Zheng and Gao,2000), the formula was as following:
where d is the raindrop diameter of every rainfall (mm), D is the color spot diameter (mm).
\n\t\t\t
Figure 1.
Collecting board of splash erosion.
\n\t\t\t
\n\t\t
\n\t\t
\n\t\t\t
3. Results and Discussion
\n\t\t\t
\n\t\t\t\t
3.1. Changing characteristics of soil surface roughness on the single rainfall intensity
\n\t\t\t\t
The changing characteristics of soil surface roughness had complicated relatively under the different rainfall intensity (Table.2). The soil surface roughness increased on the CK slope under the rainfall intensity of 0.68 mm/min. The soil surface roughness decreased on the CK slope under the rainfall intensity of 1.50 mm/min. On the PM slope, the changing characteristics of soil surface roughness was consistent with the CK slope, however, changing characteristics of soil surface roughness decreased on the other slopes under the rainfall intensity of 0.68 mm/min. Under the rainfall intensity of 1.50 mm/min, the changing characteristics of soil surface roughness with other slopes were contrary with the CK and showed increasing trends.
\n\t\t\t\t\n\t\t\t\t
The reasons of the above results were the interaction among raindrop kinetic energy, soil surface roughness and splash amount possibly. From the angle of physics, the function of raindrop to the soil surface was one kind of acting process actually. The raindrop would hit and compact exposed soil surface when the rainfall began. At the same time, infiltrate ability of the soil reduced and soil bulk density increased gradually, and the partial soil was easy to form the crust due to soil surface fine-grain inserting in former place or migration and jamming soil pore space. Thus, soil surface roughness and the splash amounts also changed.
Change of soil surface roughness on the single rainfall intensity.
Note: R\n\t\t\t\t\t\t\t0-soil surface roughness before rainfall, cm;R- soil surface roughness after rainfall, cm. The same bellow.
\n\t\t\t\t
Relationships between rainfall energy and soil surface roughness were obtained by the method of statistics and analysis. The results followed:
\n\t\t\t\t
Under the rainfall intensity of 0.68 mm/min: R\n\t\t\t\t\t1/R\n\t\t\t\t\t0=49261E-3.3451 r=0.817 n=15
\n\t\t\t\t
Under the rainfall intensity of 1.50 mm/min: R\n\t\t\t\t\t1/R\n\t\t\t\t\t0=2×106E-4.2309 r=0.836 n=15
\n\t\t\t\t
where R\n\t\t\t\t\t1 is the soil surface roughness after rainfall(cm), R\n\t\t\t\t\t0 is the soil surface roughness before rainfall(cm), E is the total kinetic energy of raindrop (J/cm2 min), n is the sample number.
\n\t\t\t\t
They had the power function relationship between the change of the soil surface roughness and kinetic energy of raindrop under the different rainfall intensities. Soil surface roughness decreased with the increasing kinetic energy of raindrop. The results had the consistent with Burwell (1969) and Steichen (1984).
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
3.2. Changing characteristics of soil surface roughness under the combined rainfall intensity
\n\t\t\t\t
The combined rainfall intensity was be simulated in order to clear about the change and nature of soil surface roughness. The changing characteristics of soil surface roughness were different for the different slopes under the combined rainfall intensity (Table.3). The changing characteristics of soil surface roughness increased first, and then decreased, and increased finally with the increasing rainfall intensity on the CK slope. However, the changing characteristics of soil surface roughness increased on the PM slope, and the change of soil surface roughness increased first and then decreased on other slopes with the increasing rainfall intensity.
Change of soil surface roughness under the combined rainfall intensity.
\n\t\t\t\t
The reasons of the above results were the interaction between raindrop kinetic energy and soil surface roughness. The micro-relief of CK slope and PM slope were relatively small in the initial period of the rainfall. At the same time, the raindrop impact was relatively even, and they had the positive relationship between the raindrop kinetic energy and the rainfall intensity. Therefore, the changing characteristics of soil surface roughness increased and the raindrop impact gradually strengthened with the increasing rainfall intensity for the CK slope and PM slope. However, the micro-relieves of other slopes were relatively obvious in the initial period of the rainfall. At the same time, the convex fraction of raindrop impact was splashed and the concave fraction of raindrop impact was padded by other soil particle, and the part of the concave appeared the crust. So, the soil surface roughness decreased in the initial period of the rainfall. The partial soil particle of surface was dispersed or migrated, caused soil surface roughness to increase with the continuous the function of raindrop impact.
\n\t\t\t\t
The changing characteristics of soil surface roughness were decided on the initial soil surface condition and the surface dynamic process of rainfall. The changing characteristics of soil surface roughness were analyzed with the impact of accumulating rainfall amount under the combined rainfall intensity in order to clarify the change of soil surface roughness. The results followed as Fig. 2.
\n\t\t\t\t\n\t\t\t\t
Relationships between the accumulated rainfall amount and the change of soil surface roughness were obtained by the method of statistics and analysis.
where R\n\t\t\t\t\t1 is the soil surface roughness after rainfall(m), R\n\t\t\t\t\t0 is the soil surface roughness before rainfall (m), P is the accumulated rainfall amount(mm), n is the sample number.
\n\t\t\t\t
Figure 2.
Relationship between change of soil surface roughness and cumulated rainfall amount.
\n\t\t\t\t
The changing characteristics of soil surface roughness increased first and then decreased for all the slops with the increasing accumulated rainfall amount.
\n\t\t\t
\n\t\t\t
\n\t\t\t\t
3.3. Relationship between the changing of soil roughness and splash erosion amount
Table.4 shows the splash erosion amounts of all tillage practices under the different rainfall intensities. \n\t\t\t\t
Splash erosion amounts under the different rainfall intensities.
\n\t\t\t\t
The change of splash erosion amounts had the difference under the different rainfall conditions on the all the slopes. The splash erosion amounts of the CK slope were lower than those of other slopes under the rainfall intensity of 0.68 mm/min and 1.50 mm/min (Table.4).
\n\t\t\t\t
Figure 3.
Relationship between soil surface roughness and splash erosion amounts under the different rainfall intensities.
\n\t\t\t\t
The change of soil surface roughness showed the different characteristic with the splash erosion amounts under the different rainfall conditions for the all the tillage practices. The splash erosion amounts of the CK slope were lower than those of other slopes under the rainfall intensity of 0.68 mm/min, but the change of soil surface roughness was the highest (Fig.3a). However, the splash erosion amounts of the CK slope were lower than those of other slopes under the rainfall intensity of 1.50 mm/min, and the change of soil surface roughness was the lowest (Fig.3b).
\n\t\t\t\t
The change of soil surface roughness increased first and then decreased for other slopes with the increasing splash erosion amounts under the rainfall intensity of 0.68mm/min and 1.53 mm/min. The above results were caused the interaction of raindrop kinetic energy and soil surface fluctuation condition. The raindrop impact to rainfall intensity of 1.50 mm/min was obviously stronger than that of the rainfall intensity of 0.68 mm/min, and soil particles of former sites were sputtered. In turn, the around particle of the former sites might supplied soil particles through the same action. The soil particles of the continuous supplement might also supply the material base for the migration. The unceasing replacement would cause the interaction of soil surface roughness and splash erosion. So, the results were quite complicated.
\n\t\t\t
\n\t\t
\n\t\t
\n\t\t\t
4. Conclusions
\n\t\t\t
Under the rainfall intensity of 0.68 mm/min, the soil surface roughness increased on the control slope, the changing characteristics of soil surface roughness to the raking cropland slope was consistent with the control slope, however change of soil surface roughness to the other slopes decreased. The splash erosion amounts of the control slope were lower than those of other slopes, but the change of soil surface roughness was the highest. Under the rainfall intensity of 1.50 mm/min, the soil surface roughness decreased on the control slope, the change of soil surface roughness showed increasing trends on the other slopes. The splash erosion amounts of the control slope were lower than those of other slopes, and the change of soil surface roughness was the lowest. Under the combined rainfall intensity, the change of soil surface roughness of the control slope increased first, and then decreased, and increased finally with the increasing rainfall intensity. The change of soil surface roughness increased on the raking cropland slope, and the change of soil surface roughness increased first and then decreased for other slopes with the increasing rainfall intensity.
\n\t\t
\n\t
Acknowledgments
\n\t\t\t
The research was supported by the National Natural Science Foundation of China (Grant No. 40901138),National Basic Research Program of China(Grant No. 2007CB407201)and also supported by State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau,Institute of Water and Soil Conservation,Chinese Academy of Sciences and Ministry of Water Resources (Grant No. 10501-283).
\n\t\t
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Introduction",level:"1"},{id:"sec_2",title:"2. Material and Methods",level:"1"},{id:"sec_2_2",title:"2.1. Soil and soil box design",level:"2"},{id:"sec_3_2",title:"2.2. Rainfall simulations and soil surface roughness measurement techniques",level:"2"},{id:"sec_4_2",title:"2.3. Management treatments",level:"2"},{id:"sec_5_2",title:"2.4. Splash erosion ",level:"2"},{id:"sec_7",title:"3. Results and Discussion",level:"1"},{id:"sec_7_2",title:"3.1. Changing characteristics of soil surface roughness on the single rainfall intensity",level:"2"},{id:"sec_8_2",title:"3.2. Changing characteristics of soil surface roughness under the combined rainfall intensity",level:"2"},{id:"sec_9_2",title:"3.3. Relationship between the changing of soil roughness and splash erosion amount",level:"2"},{id:"sec_11",title:"4. Conclusions",level:"1"},{id:"sec_12",title:"Acknowledgments",level:"1"}],chapterReferences:[{id:"B2",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tBertuzzi\n\t\t\t\t\t\t\tR.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tRouws\n\t\t\t\t\t\t\tG.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tCouroult\n\t\t\t\t\t\t\tD.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1990\n\t\t\t\t\tTesting roughness indices to estimate soil surface roughness changes due to simulated rainfall\n\t\t\t\t\tSoil Tillage Res.\n\t\t\t\t\t17\n\t\t\t\t\t87\n\t\t\t\t\t99\n\t\t\t\t\n\t\t\t'},{id:"B3",body:'\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tBurwell\n\t\t\t\t\t\t\tR. E.\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\tLarson\n\t\t\t\t\t\t\tW. E.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t1969\n\t\t\t\t\tInfiltration as influenced by tillage-induced random roughness and pore space\n\t\t\t\t\tSoil Sci. Soc. Am. 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C.\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t2007\n\t\t\t\t\tStudy on the effect and change characteristic of soil surface roughness during the course of water erosion\n\t\t\t\t\tYangling\n\t\t\t\t\tNorthwest Agricultural and Forestry University\n\t\t\t\t\n\t\t\t'}],footnotes:[],contributors:[{corresp:"yes",contributorFullName:"Zicheng Zheng",address:"zichengzheng@yahoo.com.cn",affiliation:'
College of Resource and Environment, Sichuan Agriculture University
State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau Institute of Water and Soil Conservation Chinese Academy of Sciences and Ministry of Water Resources, China
College of Resource and Environment, Sichuan Agriculture University
State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau Institute of Water and Soil Conservation Chinese Academy of Sciences and Ministry of Water Resources, China
'}],corrections:null},book:{id:"3101",title:"Research on Soil Erosion",subtitle:null,fullTitle:"Research on Soil Erosion",slug:"research-on-soil-erosion",publishedDate:"November 21st 2012",bookSignature:"Danilo Godone, Silvia Stanchi",coverURL:"https://cdn.intechopen.com/books/images_new/3101.jpg",licenceType:"CC BY 3.0",editedByType:"Edited by",editors:[{id:"313983",title:"Dr.",name:"Danilo",middleName:null,surname:"Godone",slug:"danilo-godone",fullName:"Danilo Godone"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"},chapters:[{id:"37714",title:"Prediction of Surface Runoff and Soil Erosion at Watershed Scale: Analysis of the AnnAGNPS Model in Different Environmental Conditions",slug:"prediction-of-surface-runoff-and-soil-erosion-at-watershed-scale-analysis-of-the-annagnps-model-in-d",totalDownloads:2171,totalCrossrefCites:1,signatures:"Demetrio Antonio Zema, Giuseppe Bombino, Pietro Denisi, Feliciana Licciardello and Santo Marcello Zimbone",authors:[{id:"56177",title:"Dr.",name:"Demetrio Antonio",middleName:null,surname:"Zema",fullName:"Demetrio Antonio Zema",slug:"demetrio-antonio-zema"}]},{id:"37815",title:"Optimization of Soil Erosion and Flood Control Systems in the Process of Land Consolidation",slug:"optimization-of-soil-erosion-and-flood-control-systems-in-the-process-of-land-consolidation",totalDownloads:1625,totalCrossrefCites:1,signatures:"Miroslav Dumbrovsky and Svatopluk Korsun",authors:[{id:"51248",title:"Prof.",name:"Miroslav",middleName:null,surname:"Dumbrovsky",fullName:"Miroslav Dumbrovsky",slug:"miroslav-dumbrovsky"}]},{id:"39243",title:"Terrain Analysis for Locating Erosion Channels: Assessing LiDAR Data and Flow Direction Algorithm",slug:"terrain-analysis-for-locating-erosion-channels-assessing-lidar-data-and-flow-direction-algorithm",totalDownloads:2030,totalCrossrefCites:1,signatures:"Adam Pike, Tom Mueller, Eduardo Rienzi, Surendran Neelakantan, Blazan Mijatovic, Tasos Karathanasis and Marcos Rodrigues",authors:[{id:"62682",title:"Mr.",name:"Adam",middleName:null,surname:"Pike",fullName:"Adam Pike",slug:"adam-pike"},{id:"151250",title:"Prof.",name:"Tom",middleName:null,surname:"Mueller",fullName:"Tom Mueller",slug:"tom-mueller"},{id:"151251",title:"Dr.",name:"Eduardo",middleName:null,surname:"Rienzi",fullName:"Eduardo Rienzi",slug:"eduardo-rienzi"},{id:"163928",title:"Mr.",name:"Surendran",middleName:null,surname:"Neelakantan",fullName:"Surendran Neelakantan",slug:"surendran-neelakantan"},{id:"163929",title:"Mr.",name:"Blazan",middleName:null,surname:"Mijatovic",fullName:"Blazan Mijatovic",slug:"blazan-mijatovic"},{id:"163930",title:"Dr.",name:"Tasos",middleName:null,surname:"Karathanasis",fullName:"Tasos Karathanasis",slug:"tasos-karathanasis"},{id:"163931",title:"Mr.",name:"Marcos",middleName:null,surname:"Rodrigues",fullName:"Marcos Rodrigues",slug:"marcos-rodrigues"}]},{id:"37578",title:"Soil Erosion After Wildfires in Portugal: What Happens When Heavy Rainfall Events Occur?",slug:"soil-erosion-after-wildfires-in-portugal-what-happens-when-heavy-rainfall-events-occur-",totalDownloads:2484,totalCrossrefCites:3,signatures:"L. 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Areas",slug:"hydrological-effects-of-different-soil-management-practices-in-mediterranean-areas",signatures:"Giuseppe Bombino, Vincenzo Tamburino, Demetrio Antonio Zema and Santo Marcello Zimbone",authors:[{id:"56177",title:"Dr.",name:"Demetrio Antonio",middleName:null,surname:"Zema",fullName:"Demetrio Antonio Zema",slug:"demetrio-antonio-zema"},{id:"62045",title:"Dr.",name:"Giuseppe",middleName:null,surname:"Bombino",fullName:"Giuseppe Bombino",slug:"giuseppe-bombino"},{id:"62047",title:"Prof.",name:"Vincenzo",middleName:null,surname:"Tamburino",fullName:"Vincenzo Tamburino",slug:"vincenzo-tamburino"},{id:"62048",title:"Prof.",name:"Santo Marcello",middleName:null,surname:"Zimbone",fullName:"Santo Marcello Zimbone",slug:"santo-marcello-zimbone"}]},{id:"20466",title:"Planting System on Permanent Beds; A Conservation Agriculture Alternative for Crop Production in the Mexican Plateau",slug:"planting-system-on-permanent-beds-a-conservation-agriculture-alternative-for-crop-production-in-the-",signatures:"Agustin Limon-Ortega",authors:[{id:"52208",title:"Dr.",name:"Agustin",middleName:null,surname:"Limon-Ortega",fullName:"Agustin Limon-Ortega",slug:"agustin-limon-ortega"}]},{id:"20467",title:"The Significance of Soil Erosion on Soil Fertility Under Different Tillage Systems and Granitic Sandy Soils in Semi-Arid Zimbabwe: A Comparison of Nutrient Losses Due to Sheet Erosion, Leaching and Plant Uptake",slug:"the-significance-of-soil-erosion-on-soil-fertility-under-different-tillage-systems-and-granitic-sand",signatures:"Adelaide Munodawafa",authors:[{id:"54809",title:"Dr.",name:"Adelaide",middleName:null,surname:"Munodawafa",fullName:"Adelaide Munodawafa",slug:"adelaide-munodawafa"}]},{id:"20468",title:"Effect of Slope Position and Land-Use Changes to Bio- Physical Soil Properties in Nakasongola Pastoral Rangeland Areas, Central Uganda",slug:"effect-of-slope-position-and-land-use-changes-to-bio-physical-soil-properties-in-nakasongola-pastora",signatures:"M. 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Widomski",authors:[{id:"58898",title:"Dr.",name:"Marcin",middleName:null,surname:"Widomski",fullName:"Marcin Widomski",slug:"marcin-widomski"}]}]}]},onlineFirst:{chapter:{type:"chapter",id:"62936",title:"Continuous Learning of the Structure of Bayesian Networks: A Mapping Study",doi:"10.5772/intechopen.80064",slug:"continuous-learning-of-the-structure-of-bayesian-networks-a-mapping-study",body:'\n
\n
1. Introduction
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Bayesian networks (BNs) are probabilistic graphs used to deal with the uncertainties of a domain [1]. These graphs represent the random variables of this domain and their conditional dependencies. The use of Bayesian networks, also known as Bayesian belief networks, has several points to highlight. Among them, stands out the explicit treatment of uncertainty, the ease of estimating the state of certain variables given some evidence, as well as having support methods for decision analysis and quick responses by the user [2].
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The application domains of Bayesian networks have been extensive [3]. A large number of applications are in the field of medicine [4, 5], being one of the most addressed. There are also applications in the field of forecasting [6], control [7], and modeling for human understanding [8]. In the context of software engineering, fields such as project planning [9], risk management [10], and quality management [11] are addressed. Motivated by the extensive application cited, methods to improve the construction of these graphic models have become a focus of research.
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A Bayesian network is defined by a directed acyclic graph (DAG) and a set of parameters for this DAG (NPT). Therefore, in order to build a Bayesian network, the definition of both the graph and the NPT must be considered. Several researches are being carried out with the intention of assisting these definitions [12, 13, 14]. However, the solutions proposed are based, for the most part, on the batch process. This process is infeasible in some application domains. Companies, for example, are increasingly storing huge databases with knowledge about their business processes. New knowledge is acquired every time. It is virtually impossible to achieve a highly accurate description of the processes involved without new data being collected or a large amount of data being stored that cannot be analyzed at once. Therefore, the need arose for solutions that continuously incorporate the updated knowledge to prior knowledge.
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Ref. [15] investigated the main continuous learning solutions proposed until the development of his study. A comparative analysis between incremental algorithms and an experiment to support this analysis were performed. However, extensions of these, as well as new studies, have since been developed. This chapter aims to describe and analyze existing solutions for continuous learning of Bayesian network structures. A systematic review of the literature is carried out, and the algorithms found are divided into two groups according to their concepts: refinement and structural adaptation. Some guidelines for future research are also described.
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\n
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2. Learning Bayesian networks
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In probability theory, a domain \n\nD\n\n and its uncertainties can be modeled by a set of random variables \n\nD\n=\n\n\nX\n1\n\n…\n\nX\nn\n\n\n\n. Each random variable \n\n\nX\ni\n\n\n has a set of possible values that combined make up the basis for the modeling of domain \n\nD\n\n. The occurrence of each possible combination is measured using probabilities that are specified by joint probability distribution, a key concept of probability theory.
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In many domains, there is a high number of variables \n\nn\n\n, requiring the use of probabilistic graphical models for the definition of joint probability distribution. Bayesian networks (BNs) belong to the family of these models that are used to represent a domain and its uncertainties [1]. A BN is a directed acyclic graph (DAG) that encodes a joint probability distribution over a set of random variables \n\nD\n\n [16]. Formally, a network for \n\nD\n\n is defined by the pair \n\nB\n=\n\nG\nθ\n\n\n.
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The first component, \n\nG\n\n, is a DAG whose vertices correspond to the random variables \n\n\nX\n1\n\n,\n…\n,\n\nX\nn\n\n\n, and the edges represent directed dependencies between variables. The vertices are represented by circles. The edges are represented by arrows indicating the direction of the causal connection between the variables; nevertheless, the information can propagate in any direction in the graph [17].
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The chain rule of probability, Eq. (1), can be rewritten as Eq. (2) based on conditional independence rule. Two sets of variables \n\n\nD\nx\n\n\n and \n\n\nD\ny\n\n\n are independent given \n\n\nD\nz\n\n\n if \n\nP\n\n\nD\nx\n\n\n\nD\ny\n\n,\n\nD\nz\n\n\n\n=\nP\n\n\nD\nx\n\n\nD\nz\n\n\n\n whenever \n\nP\n\n\nD\ny\n\n\nD\nz\n\n\n>\n0\n\n.
In Eq. (2), \n\n\nPa\ni\n\n\n denotes the set of parents of the variable \n\n\nX\ni\n\n\n.
\n
The second component, \n\nθ\n\n, represents the set of parameters that quantifies the network. This set contains a parameter \n\n\nθ\nijk\n\n=\nP\n\n\n\nX\ni\n\n=\n\nx\ni\nk\n\n\n\n\nPa\ni\n\n=\n\npa\ni\nj\n\n)\n\n for each possible state \n\n\nx\ni\nk\n\n\n of \n\n\nX\ni\n\n\n, and for each configuration \n\n\npa\ni\nj\n\n\n of \n\n\nPa\ni\n\n\n. An example of a Bayesian network is shown in Figure 1.
\n
Figure 1.
BN example.
\n
In this case, it is desired to calculate the likelihood of a person having lung cancer given the history of cancer in their family and if this person is a smoker. The node probability tables (NPTs) of the parent nodes represent a prior knowledge of these variables. The NPT of the child node represents the likelihood of a person having cancer given each possible combination of values of the parent nodes.
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The goal of the learning process of a Bayesian network is to find a network (or only its structure) that best encodes the joint probability distribution of a domain. Bayesian network learning can be stated as [18]:
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Definition 1 (Bayesian network learning):Given a data set, infer the topology for the belief network that may have generated the data set together with the corresponding uncertainty distribution.
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The learning problem of Bayesian networks can be decomposed into two subproblems: construct the structure, that is, DAG, and define the NPT [19]. Although there are many studies related to the importance of learning NPTs, this study focuses on the first subproblem described. The accurate parameters are completely useless if the structure is not representative. In [20], the importance of the structure of a network in the independence and relevance relationships between the variables concerned is described. Also, in [20], an analysis about the influence of probabilistic networks in the difficulty of representing the uncertainties present in the domain is presented.
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The structure can be constructed from data only using machine learning or search techniques, such as those presented in [12, 21, 22, 23]. To optimize the definition of structure, the data can be enhanced with expert knowledge. One approach is to consult experts about the posterior probabilities of the structure to reduce the search space, such as presented in [13, 24].
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In [25, 26], solutions are presented to complement a Bayesian network with the knowledge of domain experts through the addition of new factors in the model. In this way, it is possible to predict rare events, often not represented in the available databases.
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Finally, the structure can be defined only according to the knowledge of specialists, where it is assumed that there are no data available before the structure construction process. In this case, the structure can be defined according to the elicited knowledge of one or multiple experts, as presented in [27, 28].
\n
Most of the solutions to previously reported problems, as well as all of the solutions cited so far, operate as a batch process. The batch process (or batch learning) can be summarized in the delivery of a block of knowledge to an algorithm so that it learns a structure. All the knowledge available to date is used during this process. However, it is inevitable that such information will be inaccurate during the modeling of the domain [29]. For example, if knowledge is acquired from domain experts, the lack of communication between this expert and the expert on graphical models may result in errors in the Bayesian network. Similarly, if the network is being built from a data set, the data set may be inappropriate or inaccurate.
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On the other hand, it is neither efficient nor, in some cases, possible to always keep the stored data in search of more representative models using batch learning algorithms [30]. To improve the use of data in the learning problem of Bayesian network structures, it’s required solutions that present a continuous process of learning. In the following section, solutions for the continuous learning of the Bayesian network structures are presented.
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3. Continuous learning of Bayesian networks’ structure
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The incentive in the application of processes that realize the learning of Bayesian networks in stages was based, initially, on the observation of the human learning by some researchers. However, the paradigm shift that provided multiple domains generated and stored more and more data also propelled its development. Continuous (or incremental) learning approaches have some widely accepted definitions found in the literature [31].
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In [32], the following precise definition was stated.
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Definition 2 (Incremental learner):A learner\n\nL\n\nis incremental if\n\nL\n\ninputs one training experience at a time, does not reprocess any previous experiences, and retains only one knowledge structure in memory.
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In this definition, there are three constraints so that an algorithm can be classified as incremental. In Ref. [32], another definition with a different way of knowledge maintenance was presented.
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Definition 3 (Incremental procedure):A Bayesian network learning procedure is incremental if each iteration\n\nl\n\n, it receives a new data instance\n\n\nu\nl\n\n\nand then produces the next hypothesis\n\n\nS\n\nl\n+\n1\n\n\n\n. This estimate is then used by to perform the required task on the next instance\n\n\nu\n\nl\n+\n1\n\n\n\n, which in turn is used to update the network and so on. The procedure might generate a new model after some number of\n\nk\n\ninstances are collected.
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This definition relaxes the constraints imposed by Definition 2. For Definition 3, an incremental algorithm can be allowed to process at most \n\nk\n\n previous instances after encountering a new training instance or to keep \n\nk\n\n alternative knowledge bases in memory. In [34], another definition is based on Definition 2.
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Definition 4 (Incremental algorithm):An incremental algorithm should meet the following constraints: (i) it must require small constant time per record; (ii) it must be able to build a model using at most one scan of the data; (iii) it must use only a fixed amount of main memory, irrespective of the total number of records it has seen; (iv) it must make a usable model available at any point in time, as opposed to only when it is done with processing the data; and (v) it should produce a model that is equivalent (or nearly identical) to the one that would be obtained by the corresponding batch algorithm.
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Like previous definitions, this definition imposes constraints related to time, memory, and knowledge addressed. The Definition 4 increments the constraint related to the availability of a useful model imposed by Definition 3. Now, a lot due to its application in data streams [34], it is needed to make a usable model available at any point in time, as opposed to only when it is done with processing the data.
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Based on the aforementioned definitions of an incremental learning algorithm and in [31], solutions were found that present different learning methodologies. Two groups separate these solutions. The main difference between them is in how they use the acquired knowledge. In one of these groups, denoted by refinement solutions, the data are used according to the knowledge already possessed. This knowledge is maintained in the probabilistic graphic already developed, being only refined with the new data. On the other group, denoted by structural adaptation solutions, the solutions maintain one or more candidate structures and apply to these structures the observations received. This new data set is used to update the sufficient statistics needed to build that candidate structures.
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The concepts and information about the type of solutions found in this research are mapped, in an outlined (due to space constraints) and schematic way, in Figure 2.
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Figure 2.
Mind map about solutions.
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3.1. Methodology
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The continuous learning Bayesian networks structure is kept like an open problem in many application domains. In this study, a systematic literature review is used to identify and evaluate solutions for the continuous learning of the Bayesian networks’ structures, as well as to outline related future research directions. A combination of strings was used for title and keyword to identify articles related to continuous learning. Scopus is used as an electronic database.
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In the initial search, 4150 items from Scopus were found, but only the first 400 results were checked. This stop was performed because, of these first 400 results, sorted by relevance, a sequence of 150 articles totally unrelated to the search was found. To verify this relationship, three reading steps were performed. Initially, articles were selected considering only the title and abstract. A superficial reading of the remaining articles was then performed. This step consisted of reading and interpreting section titles, figures, graphs, conclusions, and other elements. In the remaining articles, a critical reading was carried out seeking to interpret and analyze the complete text. The following sections present a description of these efforts.
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3.2. Buntine’s solution
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In [35], a theory refinement-based approach has been proposed. The key task of theory refinement is to update the initial partial theory, usually the expert’s prior domain knowledge, as far as new cases produce a posterior knowledge about the space of possible theories, being one of the fundamentals of continuous learning. Given a set of new data and total ordering of the domain variables, the solution updates both the knowledge about the structure and the parameters using different BNs.
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For extending and modifying the structure, [35] proposed a batch algorithm that uses the score-and-search–based Bayesian approach. However, using some guidelines presented by the author, it is possible to convert the batch learning into continuous learning process.
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The batch algorithm of [35] requires a set of ordered variables \n\nX\n=\n\n\nX\n1\n\n…\n\nX\nn\n\n\n\nX\ni\n\n≺\n\nX\n\ni\n+\n1\n\n\n,\n…\n,\n\nX\nn\n\n}\n\n according to the prior domain knowledge, where, for the expert, the variables that come first have influence over the others. For each variable \n\n\nX\ni\n\n\n, a set of reasonable alternative parent sets \n\n\nΠ\ni\n\n=\n\n\nPa\n\ni\n1\n\n\n…\n\nPa\nim\n\n\n\n is kept according to some criteria of reasonableness. Each parent set \n\n\nPa\nij\n\n\n is a subset of \n\n\nY\n\nY\n≺\n\nX\ni\n\n\n\n\n.
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A set of alternative parent sets \n\n\nΠ\ni\n\n\n for the variable \n\n\nX\ni\n\n\n is denoted by the parent lattice for \n\n\nX\ni\n\n\n. This parent lattice is a lattice structure where subset and superset parent sets are linked together in a web. To access all alternative parent sets \n\n\nPa\nj\n\n∈\n\nΠ\ni\n\n\n efficiently, only those parent sets with significant posterior probabilities are stored in the parent lattice for \n\n\nX\ni\n\n\n. The root node of the parent lattice for \n\n\nX\ni\n\n\n is empty set, and the leaves are the sets \n\n\nPa\nj\n\n\n which have no supersets contained in \n\n\nΠ\ni\n\n\n.
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The batch algorithm also requires tree parameters \n\n1\n>\nC\n>\nD\n>\nE\n\n. These are used to vary the search. The algorithm uses these parameters as base to classify the parent sets as Alive, Asleep, or Dead. The parameter \n\nC\n\n is used to separate the parent sets that finally take part on the space of alternative networks. The parameter \n\nD\n\n is used to select the reasonable alternatives to Alive parent sets. The alternatives of Alive parent sets are beams searched by the algorithm. The parameter \n\nE\n\n is used to select the reasonable alternatives to Dead parent sets. Dead parent sets are alternatives that have been explored and forever determined to be unreasonable alternatives and are not to be further explored. On the other hand, Asleep parent sets are similar but are only considered unreasonable for now and may be made alive later on.
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Set the tree parameters \n\nC\n\n, \n\nD\n\n, and \n\nE\n\n to 1 will make the algorithm to be reduce to the K2 algorithm. For this, many researchers cite this algorithm as a generalization of the K2 algorithm [30, 31, 36]. At the end, a structure of alternative networks results from the set of parent sets and the network parameters, denoted by a combined Bayesian network. A pseudo-code for batch algorithm is described in [35].
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To convert this batch into continuous learning algorithm, [35] describes two situations that vary according to the time available for the update. In the case where there is a short amount of time for updating the BNs, the algorithm only updates the posterior probabilities of the parent lattices. To this, it is necessary to store posterior probabilities and the counters \n\n\nN\nijk\n\n\n for each alternative set of Alive parent sets.
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On the other hand, both structure and posterior updates are updated according to new data. For each variable \n\n\nX\ni\n\n\n of the combined Bayesian network, it is necessary to: (i) update the posterior probabilities of all alive sets of the lattice, (ii) calculate the new best-posterior, and (iii) expand nodes from the open-list and continue with the search.
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The generation of different networks needs to update the posterior probabilities of all alive sets of the lattice. This solution uses sufficient statistics of data that only contains counts of different entries in data instead of data entries, requiring constant time to update sufficient statistics only when new records arrive. Furthermore, [33, 35] performs an additional search over the space of alternative Bayesian networks.
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3.3. Friedman and Goldschmidt’s solution
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Like the previous solution, [34] also addressed the problem of sequential update of the prior domain knowledge. Through the use of sufficient statistics maintained in memory for each network structure at a defined frontier, the knowledge is continuously learned. In this way, this solution provides a method that trades off between accuracy, that is, quality of structure, and storage, that is amount of information about the past observations.
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In Ref. [34], three different solutions to sequentially learn BNs have been proposed. Among them, there are two extremes. The naive approach, as it is called, stores all the previously seen data and repeatedly invokes a batch learning procedure after each new observation is recorded. However, despite using as much information as possible, thus increasing the quality of the structure generated, this approach has a high storage cost. In addition, reusing batch learning increases the amount of time and processing spent.
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On the other hand, the maximum a posteriori (MAP) probability approach uses a model to store all the information that is considered useful for the next steps in the knowledge update. However, the use of a single model can strongly bias the continuous learning of the model and lose information.
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Aware of the disadvantages of previous approaches, [34] presents a new approach, called incremental, which proposes a tradeoff between extremes. The incremental approach does not store all data, unlike the naive approach, and it does not use a single network to represent the prior knowledge, unlike the MAP probability approach. Moreover, it allows flexible choices in the tradeoff between space and quality of the induced networks.
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The basic component of this procedure is a module that maintains a set \n\nS\n\n of sufficient statistics records. The set of sufficient statistics for G, denoted by \n\nSuff\n\nG\n\n\n, can be founded by \n\n\n\nSuff\n\nG\n\n=\n\n\n\n\n\nN\n\n\nX\ni\n\n,\n\nPa\ni\n\n\n\n:\n1\n≤\ni\n≤\nn\n\n\n\n\n\n. Similarly, given a set S of sufficient statistics records, the set of network structures, denoted by \n\nNets\n\nS\n\n\n, can be evaluated using the records in \n\nS\n\n by \n\nNets\n\nS\n\n=\n\n\nG\n:\nSuff\n\nG\n\n⊆\nS\n\n\n\n.
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Two structures can easily keep track by maintaining a slightly larger set of statistics, for example, suppose on the deliberating choice between two structures \n\nG\n\n and \n\n\nG\n′\n\n\n. To evaluate \n\nG\n\n, in order to use a scoring function, it is needed to maintain the set \n\nSuff\n\nG\n\n\n. On the other hand, to evaluate \n\n\nG\n′\n\n\n, it is needed to maintain the set \n\nSuff\n\n\nG\n′\n\n\n\n. Now, supposing that \n\nG\n\n and \n\n\nG\n′\n\n\n differ only by one arc from \n\n\nX\ni\n\n\n to \n\n\nX\nj\n\n\n, note a large overlap between \n\nSuff\n\nG\n\n\n and \n\nSuff\n\n\nG\n′\n\n\n\n. Namely, \n\n\nG\n\n∪\n\n\n\n\nSuff\n\n\nG\n′\n\n\n=\nSuff\n\nG\n\n∪\n\n\nN\n\n\nX\nj\n\n,\n\nPa\nj\n\n\n\n\n\n, where \n\n\n\nPa\nj\n\n\n is the parent set of \n\nY\n\n in \n\n\nG\n′\n\n\n. That argument can be useful when one considers the use of the greedy hill climbing search procedure, for example. Note that it is possible to evaluate the set of neighbors of \n\nS\n\n by maintaining a bounded set of sufficient statistics.
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Generalizing this discussion, the incremental approach can be applied to any search procedure that can define a search frontier. This frontier, denoted by \n\nF\n\n, consists of all the networks it compares in the next iteration. The choice of \n\nF\n\n determines which sufficient statistics are maintained in memory. After a new instance is received (or, in general, after some number of new instances are received), the procedure uses the sufficient statistics in \n\nS\n\n to evaluate and select the best scoring network in the frontier \n\nF\n\n or in \n\nNets\n\nS\n\n\n. A pseudo-code for incremental approach is described in [34].
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When this approach is instantiated with the greedy hill climbing procedure, the frontier \n\nF\n\n consists of all the neighbors of \n\n\nB\nn\n\n\n. With bean search, on the other hand, the frontier \n\nF\n\n consists of all \n\nj\n\n candidates.
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Many scoring functions can be used to evaluate the “fitness” of networks with respect to the training data and then to search for the best network. However, the incremental approach collects different sufficient statistics in different moments of the learning process. Thus, they need to compare Bayesian networks with respect to different data sets. This problem happens because, unlike [35, 34] may consider those structures that, previously, were considered as non-promising (the ones that were out of the frontier).
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The two main scoring functions commonly used to learn Bayesian networks, Bayesian scores [37] and minimal description length (MDL) [38], are inappropriate for this problem. In order to overcome this problem, [34] proposed an averaged MDL measure \n\n\nS\nMDL\n′\n\n\nG\nD\n\n=\n\nS\nMDL\n\n\nG\nD\n\n/\nN\n\n, where \n\nN\n\n is the number of instances of the data set. This score measures the average encoding length per instance.
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Analyzing both [35, 34] like hill-climbing searchers, they perform, for each node, operations to increase the score of the resulting structure, without introducing a cycle into the network and based on the assumption that they start from an arc-less network, as can be observed in their pseudo-code. Both stop when performing a single operation cannot increase the network’s score. The difference between [35, 34] is the neighborhood composition. While [35] uses only the addition operator to construct neighbors, [34] uses the addition, reversion, and deletion of an arc.
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3.4. Roure’s solution
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The conversions of the batch learning approaches present in [35, 34] in continuous learning approaches paved the way for popular batch algorithms like the B, K2 [37] and HCMC [39] algorithms to be turned into incremental ones [31].
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In Ref. [40], two heuristics to change a batch hill-climbing search (HCS) into an incremental hill-climbing search algorithm based on combining of sufficient statistics with reduced search space have been proposed. In the batch version of HCS algorithm, a search on the space called neighborhood is performed to examine all possible local changes that can be made in order to maximize the scoring function.
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Similar to the frontier presented in [34], a neighborhood of a model \n\nB\n\n consists of all models that can be build using one or more operators of a set of operators \n\n\n\nOP\n=\n\n\n\n\n"\n\nAdd\n\nEdge\n"\n\n,\n\n\n"\n\n\nDelete Edge\n"\n\n,\n\n\n"\n\n\nReverse Edge\n"\n\n\n\n\n\n\n and argument pairs A. Taking that into account, the sequence of operators and argument pairs added to obtain the final model \n\n\nB\nf\n\n\n can be denoted by search path. Let \n\n\nB\n0\n\n\n be an initial model, a final model obtained by a hill-climbing search algorithm can be described by \n\n\nB\nf\n\n=\n\nop\nn\n\n\n\n…\n\n\nop\n1\n\n\nA\n1\n\n\n\n…\n\n,\n\nA\nn\n\n)\n\n, where the search path \n\n\nO\nop\n\n=\n\n\n\nop\n1\n\n\nA\n1\n\n\n…\n\n\nop\nn\n\n\nA\nn\n\n\n\n\n was used to build \n\n\nB\nf\n\n\n.
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The heuristics presented in [40] are based on two main problems: when and which part to update, and how to calculate and store sufficient statistics. The first heuristic is called by traversal operators in correct order (TOCO). TOCO verifies the already learned model and its search path for new data. If the new data alter the search path, then it is worth to update an already learned model. The second heuristic is called by reduced search space (RSS). RSS identified when the current structure needs to be revised. At each step of the search path, it stores top \n\nk\n\n models in a set \n\nB\n\n having the score close to the best one. The set \n\nB\n\n reduces the search space by avoiding to explore those parts of the space where low-quality models were found during former search steps. A pseudo-code for incremental hill-climbing search algorithm is described in [40].
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3.5. Lam and Bacchus’s solution
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In [41], another continuous learning solution based on an extension of batch solution is presented. The batch solution used as base is presented in [42]; however, it will not be presented here because the new solution is not coupled to their batch algorithm. The proposed extension aims to perform a review of the BN structure incrementally as new data about a subset of variables were available.
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This revision is done using the structure of the BN as prior probability under the implicit assumption that the existent network is already a fairly accurate model of the database. This assumption is a way to incorporate domain knowledge into the problem; however, the new refined network structure should be similar to the existing one, skewing the process.
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The solution of [41] also proved, like [35] and based on the MDL measure, that if partial network structure of the whole structure gets, by changing its topology, better score to scoring function, then the whole network structure be improved if no cycles are introduced. Based on this, [41] developed an algorithm to update the BN by improving parts of it. This algorithm produces a new partial network structure based on new data set and the existing network using an extension of MDL. It then locally modifies the old structure comparing and changing correspond part according to new partial network.
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The source data to algorithm consists of two components: the new data and the existent network structure. Considering the MDL principle states, finding a partial network \n\n\nG\np\n\n\n is a must that minimizes the sum of the of the length of the encoding of: (i) the partial network \n\n\nG\np\n\n\n, (ii) the new data given the network \n\n\nG\np\n\n\n, and (iii) the existent network given the network \n\n\nG\np\n\n\n. To calculate the encoding length of the first two items, there are guidelines in [41]. To calculate the length of the encoding of the third item, it is needed to compute the description of the complete existent network \n\nG\n\n given the network \n\n\nG\np\n\n\n, that is, to describe the differences between \n\nG\n\n and \n\n\nG\np\n\n\n. These differences are described by: (i) a listing of reversed arcs, (ii) the additional arcs of \n\nG\n\n, and (iii) the missing arcs of \n\nG\n\n.
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A simple way to encode an arc is to describe the source node and the destination node. \n\n2\nlog\nn\n\n bits are required to describe an arc, since is required \n\nlog\nn\n\n to identify one, provided that exists \n\nn\n\n\n nodes. Let \n\nr\n\n, \n\na\n\n, and \n\nm\n\n be, respectively, the number of reversed, additional, and missing arcs in \n\nG\n\n with respect \n\n\nG\np\n\n\n, the description length \n\nG\n\n given the network \n\n\nG\np\n\n\n is \n\n\n\nr\n+\na\n+\nm\n\n\n\n2\nlog\nn\n\n.
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In order to learn the local structure, the batch algorithm proposed by [42] or other algorithm using the scoring function for each node of the partial structure is presented by Eq. (3).
With the third term of the equation, [41] avoided using the sufficient statistics of the old data.
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After the new partial structure is learned, the review process continues with the attempt to obtain a refined structure of lower total description length with the aid of the existent structure \n\nG\n\n and the partial structure \n\n\nG\np\n\n\n. The review problem now is reduced to choosing appropriate subgraphs, denoted by the marked subgraph [41], for which we should perform parent substitution in order to achieve a refined structure of lowest total description length.
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In an attempt to avoid creating cycles during each subgraph substitution, [41] uses best-first search to find the set of subgraph units that yields the best reduction in description length without generating any cycles. In addition, a list \n\nS\n=\n\n\nS\n1\n\n…\n\nS\nn\n\n\n\n containing a ranking of all subgraphs in ascending order of the benefit gained.
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3.6. Shi and Tan’s solution
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In [43], an efficient hybrid incremental learning algorithm is proposed. All solutions presented so far are score-and-search–based solutions. This solution consists of a polynomial-time constraint-based technique and a hill-climbing search procedure. In this way, this solution provides a hybrid algorithm that offers considerable computational complexity savings and slightly better model accuracy.
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The first fragment that composes the solution is based on a constraint-based technique. The purpose of this technique is to select candidate parent set for each variable on data. For each variable \n\n\nX\ni\n\n\n, a candidate parents set \n\n\nS\n\nX\ni\n\n\n\n is set up containing all the other variables at first. If variable \n\n\nX\nj\n\n\n was independent from \n\n\nX\ni\n\n\n conditioned on some variables set \n\nC\n\n in previous learning procedures, the algorithm reperforms the conditional independent test and remove \n\n\nX\nj\n\n\n from \n\n\nS\n\nX\ni\n\n\n\n if the independence still holds.
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After this, a heuristic procedure called HeuristicIND is proposed to reduce \n\n\nS\n\nX\ni\n\n\n\n further. This procedure tries to find out a variable set to separate \n\n\nX\ni\n\n\n and \n\n\nX\nj\n\n\n conditionally. Using the current network structure, a tree-shaped undirected skeleton is then built up using [44]. The pseudo-codes for this procedure and for the polynomial-time constraint-based technique and a hill-climbing search procedure are described in [43].
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3.7. Others continuous learning solutions
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In [45], an improvement in the refinement process of [34] is presented. In this study, an incremental method for learning Bayesian networks based on evolutionary computing, denoted by IEMA, is developed.
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The solutions presented so far assume that a stationary stochastic process produces all knowledge, that is, the ordering of the database is inconsequential. However, in many application domains of BNs, such as financial problems [46], the processes vary according to the time, the data are non-stationary or piecewise stationary distributed, which would reduce the adequacy of the solutions already mentioned. In [47], the assumption on stationary data is relaxed and an incremental learning Bayesian network based on non-stationary data domains is developed.
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In [48], the streaming data prediction is addressed. A parallel and incremental solution for learning of BNs from massive, distributed, and dynamically changing data by extending the classical scoring and search algorithm and using MapReduce is presented.
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Ref. [37] also presents an algorithm for stream and online data, more precisely, data that are privately and horizontally shared among two or more parties. This algorithm is based on an efficient version of sufficient statistics to learning privacy-preserving Bayesian networks.
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In [49], an active and dynamic method of diagnosis of crop diseases has been proposed based on Bayesian networks and incremental learning. To incremental learning, a new algorithm for dynamically updating the Bayesian network-based diagnosis model over time also is proposed.
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Ref. [50] transformed the local structure identification part of Max-min Hill-climbing (MMHC) algorithm into an incremental fashion by using heuristics and applied incremental hill-climbing to learn a set of candidates-parent-children for a target variable.
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In [51], an incremental algorithm for BN structure learning that can deal with high dimensional domains has been proposed.
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In [52], the concept of influence degree is used to describe the influence of new data on the existing BN. A scoring-based algorithm for revising a BN iteratively by hill-climbing search for reversing, adding, or deleting edges has been proposed.
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In [53], an approach to incremental structure optimize is presented. Based on a specific method, this approach decomposes the initial network into several subnets created from a junction tree developed using information about the joint probability of the network. With some adaptations, it can be used as a continuous learning algorithm.
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It is also important to point out that studies are found that denominate their algorithm as incremental, but these algorithms result in incremental learning of variables or small parts of the network as they are available and do not necessarily generate a new model, as it is constrained in the definition.
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3.8. Comments and future research
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Some comments comparing some solutions have already been made during your descriptions. However, to facilitate the understanding of the methodologies used, some techniques and characteristics were compared below. A summary table among some solutions is presented in Table 1.
Some features of the solutions were discussed in Table 1. These features are important for the differentiation of the proposal of each algorithm. It is noteworthy that, among the outstanding solutions, none proposes to use the domain specialist as a source of posterior knowledge, only as a source of prior knowledge. This knowledge can be increased over time and can be used to improve the built network. In addition, changes that are not able to be identified only with the use of data, such as adding factors and incomprehensibility of the model, can be identified.
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When checking the stochastic process, it is noted that only [47] adopts a non-stationary domain, even considering the increasing diversity of domain. The other quoted solutions kept their focus on stationary domains, more common at the time of their developments. Still considering the domain, the effectiveness of the algorithms is rarely validated in a real domain, even if it is done with experiments that use data coming from real domains.
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The local search is a standard present among the search procedures used. Despite their high computational complexity, methods were developed so that this was not a constraint and they then continued to be used. Only one solution made use of conditional independence (CI) tests. Ref. [43] developed a new technique that is used as the basis for CI tests. Considering scoring functions, some solutions leave open the use of any function. However, an adaptation to their applications is necessary in sufficient statistics used in some, for example, in [34]. On the other hand, some solutions use the MDL measure, but already adapted, either to reduce computational complexity or to achieve better results in different data set data. Other features can be addressed in future reviews, such as computational complexity, procedure focus, and the type of application domain, among others.
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4. Conclusions
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This chapter presents a survey based on a systematic literature review of continuous learning solutions of Bayesian network structures. It searches articles with an algorithm or approach considered as incremental according to the definitions presented in the text.
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The solutions found can be classified as structural adaptation or refinement. The first group, in short, uses the new data set to maintain sufficient statistics that are used to store the existing knowledge about the domain. The second group uses this new set of data to perform a refinement in the network, based on previous knowledge coupled in the old structure.
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Finally, the presence of the posterior knowledge of the domain specialist during the incremental learning process and experiments in real domains for the validation of some solutions findings are in the future works.
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Acknowledgments
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The authors would like to thank Federal University of Campina Grande in Brazil for supporting this study.
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Conflict of interest
The author declares that there is no conflict of interest regarding the publication of this chapter.
\n',keywords:"Bayesian network, structure learning, continuous learning, structural adaptation, structural refinement",chapterPDFUrl:"https://cdn.intechopen.com/pdfs/62936.pdf",chapterXML:"https://mts.intechopen.com/source/xml/62936.xml",downloadPdfUrl:"/chapter/pdf-download/62936",previewPdfUrl:"/chapter/pdf-preview/62936",totalDownloads:627,totalViews:0,totalCrossrefCites:0,dateSubmitted:"April 26th 2018",dateReviewed:"July 9th 2018",datePrePublished:"November 5th 2018",datePublished:null,dateFinished:null,readingETA:"0",abstract:"Bayesian networks can be built based on knowledge, data, or both. Independent of the source of information used to build the model, inaccuracies might occur or the application domain might change. Therefore, there is a need to continuously improve the model during its usage. As new data are collected, algorithms to continuously incorporate the updated knowledge can play an essential role in this process. In regard to the continuous learning of the Bayesian network’s structure, the current solutions are based on its structural refinement or adaptation. Recent researchers aim to reduce complexity and memory usage, allowing to solve complex and large-scale practical problems. This study aims to identify and evaluate solutions for the continuous learning of the Bayesian network’s structures, as well as to outline related future research directions. Our attention remains on the structures because the accurate parameters are completely useless if the structure is not representative.",reviewType:"peer-reviewed",bibtexUrl:"/chapter/bibtex/62936",risUrl:"/chapter/ris/62936",signatures:"Luiz Antonio Pereira Silva, João Batista Nunes Bezerra, Mirko Barbosa Perkusich, Kyller Costa Gorgônio, Hyggo Oliveira de Almeida and Angelo Perkusich",book:{id:"7372",title:"Bayesian Networks",subtitle:"Advances and Novel Applications",fullTitle:"Bayesian Networks - Advances and Novel Applications",slug:"bayesian-networks-advances-and-novel-applications",publishedDate:"November 6th 2019",bookSignature:"Douglas McNair",coverURL:"https://cdn.intechopen.com/books/images_new/7372.jpg",licenceType:"CC BY 3.0",editedByType:"Edited by",editors:[{id:"219757",title:"Dr.",name:"Douglas",middleName:null,surname:"McNair",slug:"douglas-mcnair",fullName:"Douglas McNair"}],productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"}},authors:[{id:"165310",title:"Dr.",name:"Angelo",middleName:null,surname:"Perkusich",fullName:"Angelo Perkusich",slug:"angelo-perkusich",email:"perkusic@dee.ufcg.edu.br",position:null,institution:null},{id:"219503",title:"Prof.",name:"Mirko",middleName:null,surname:"Perkusich",fullName:"Mirko Perkusich",slug:"mirko-perkusich",email:"mirko.perkusich@copin.ufcg.edu.br",position:null,institution:null},{id:"266593",title:"BSc.",name:"Luiz",middleName:"Antonio",surname:"Silva",fullName:"Luiz Silva",slug:"luiz-silva",email:"luizantonio@copin.ufcg.edu.br",position:null,institution:null},{id:"266594",title:"BSc.",name:"João",middleName:null,surname:"Nunes",fullName:"João Nunes",slug:"joao-nunes",email:"joaobatista@copin.ufcg.edu.br",position:null,institution:null},{id:"266595",title:"Prof.",name:"Kyller",middleName:null,surname:"Gorgônio",fullName:"Kyller Gorgônio",slug:"kyller-gorgonio",email:"kyller@dsc.ufcg.edu.br",position:null,institution:null},{id:"266597",title:"Prof.",name:"Hyggo",middleName:null,surname:"Almeida",fullName:"Hyggo Almeida",slug:"hyggo-almeida",email:"hyggo@embedded.ufcg.edu.br",position:null,institution:null}],sections:[{id:"sec_1",title:"1. Introduction",level:"1"},{id:"sec_2",title:"2. Learning Bayesian networks",level:"1"},{id:"sec_3",title:"3. Continuous learning of Bayesian networks’ structure",level:"1"},{id:"sec_3_2",title:"3.1. Methodology",level:"2"},{id:"sec_4_2",title:"3.2. Buntine’s solution",level:"2"},{id:"sec_5_2",title:"3.3. Friedman and Goldschmidt’s solution",level:"2"},{id:"sec_6_2",title:"3.4. Roure’s solution",level:"2"},{id:"sec_7_2",title:"3.5. Lam and Bacchus’s solution",level:"2"},{id:"sec_8_2",title:"3.6. Shi and Tan’s solution",level:"2"},{id:"sec_9_2",title:"3.7. Others continuous learning solutions",level:"2"},{id:"sec_10_2",title:"3.8. Comments and future research",level:"2"},{id:"sec_12",title:"4. Conclusions",level:"1"},{id:"sec_13",title:"Acknowledgments",level:"1"},{id:"sec_16",title:"Conflict of interest",level:"1"}],chapterReferences:[{id:"B1",body:'Ben-Gal I. Bayesian Networks. Encyclopedia of Statistics in Quality and Reliability. 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Incremental Bayesian network structure learning in high dimensional domains. In: Modeling, Simulation and Applied Optimization (ICMSAO), 2013 5th International Conference on. IEEE; 2013\n'},{id:"B52",body:'Liu W et al. A Bayesian network-based approach for incremental learning of uncertain knowledge. International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems. 2018;26:87-108\n'},{id:"B53",body:'Chunsheng G, Qiquan S. Incremental structure optimize of Bayesian network based on the lossless decomposition. In: Artificial Intelligence and Computational Intelligence (AICI), 2010 International Conference on. Vol. 2. IEEE; 2010\n'}],footnotes:[],contributors:[{corresp:null,contributorFullName:"Luiz Antonio Pereira Silva",address:null,affiliation:'
Federal University of Campina Grande, Paraíba, Brazil
Federal University of Campina Grande, Paraíba, Brazil
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