Location-aware Query

Processing

Mohamed F. Mokbel Walid G. Aref

Department of Computer Science and Engineering, University of Minnesota

mokbel@cs.umn.edu
Department of Computer Science, Purdue University
aref@cs.purdue.edu

Motivation

Mar., 2006 EDBT Tutorial 2

 Applications
Traffic Monitoring
n How many cars in the downtown area?

n Send an alert if a non-friendly vehicle enters a

restricted region

n Report any congestion in the road network

n Once an accident is discovered, immediately send

alarm to the nearest police and ambulance cars

n Make sure that there are no two aircrafts with nearby

paths

Mar., 2006 EDBT Tutorial 3

Applications (Cont.)
Location-based Store Finder / Advertisement
n Where is my nearest Gas station?

n What are the fast food restaurants within 3 miles from

my location?

n Let me know if I am near to restaurant while one of

my friends are there

n Send E-coupons to all customers within 3 miles of my

stores

n Get me the list of all customers that I am considered

their nearest restaurant

Mar., 2006 EDBT Tutorial 4

 Location-based Database Servers

Layered Approach Built-in Approach

GIS Interface

Spatio-temporal

GIS DBMS

ST Query
DBMS Processing

ST-Index

Mar., 2006 EDBT Tutorial 5

Variety of Location-aware Queries

How many cars in the freeway?
n Type: Range query n Query: Stationary
n Time: Present n Object: Moving
n Duration: Continuous
What are my nearest McDonalds for the next hour
n Type: Nearest-Neighbor query
n Query: Moving
n Time: Future
n Object: Stationary
n Duration: Continuous
Send E-coupons to all cars that I am their nearest gas station
n Type: Reverse NN query n Query: Stationary
n Time: Present n Object: Moving
n Duration: Snapshot
What was the closest distance of Taxis A and B yesterday?
n Type: Closest-point query
n Query: Moving
n Time: Past
n Object: Moving
n Duration: Snapshot
Mar., 2006 EDBT Tutorial 6
 Tutorial Outline
nn Location
Location--aware
aware Environments
Environments

n Location-aware Snapshot Query Processing

n Snapshot Past Queries
n Snapshot Present Queries
n Snapshot Future Queries
n Spatio-temporal Access Methods

n Location-aware Continuous Query Processing

n Scalable Execution of Continuous Queries

n Location-aware Query Optimizer

n Uncertainty in Location-aware Query Processing

n Case Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 7

Location-aware Snapshot Query Processing

Past Queries
n Examples:
n Temporal: What was the location of a
certain object at 7:00 AM yesterday?
n Spatial: Find all objects that were in a
certain area at 7:00 AM yesterday
n Spatio-temporal: Find all objects that were
close to each other from 7:00 AM to 8:00
AM yesterday

n Features:
n Huge number of historical trajectories
n Persistent read-only data
n The ability to query the spatial and/or
temporal dimensions

Mar., 2006 EDBT Tutorial 8

 Location-aware Snapshot Query Processing
Indexing the Time Dimensions
n Historical trajectories are represented by their three-dimensional
Minimum Bounding Rectangle (MBR)

n 3D-R-tree is used to index the

MBRs

n Very simple and easy to

implement technique
n Not scalable
n Does not provide efficient
query support

Mar., 2006 EDBT Tutorial 9

Location-aware Snapshot Query Processing

Multi-version Index Structures
n Maintain an R-tree per each timestamp
n R-tree nodes that are not changed across consecutive
timestamps are linked together
Timestamp 0 Timestamp 1
3D-R-tree

n A multi-version R-tree can be combined with a 3D-R-tree to

support interval queries

Mar., 2006 EDBT Tutorial 10

 Location-aware Snapshot Query Processing
Present Queries
n Examples:
n Find the number of objects in a certain
area
n What is the current location of a certain
object?

n Features:
n Continuously changing data
n Real-time query support is required
n Index structures should be update-
tolerant

n Present data is always accessed

through continuous queries

Mar., 2006 EDBT Tutorial 11

Location-aware Snapshot Query Processing

Updating Index Structures
n Traditional R-tree updates are
top-down
n Translated to delete and insert
transactions

n To support frequent updates:

n Updates can be managed in
space without the need for
deletion or insertions
n Bottom-up approaches
through auxiliary index
structures to locate the object
identifier Hash based on OID

Mar., 2006 EDBT Tutorial 12

 Location-aware Snapshot Query Processing
Update Memos
n Keep a memo with the R-tree Spatio-temporal Queries

n The memo contains the

recent updates to the existing
R-tree

n The query answer returned

from the R-tree should be Raw answer set
passed through the memo
Update
Memo
n The update memo is reflected
to the R-tree once the
Final answer set
relevant disk page is retrieved

Mar., 2006 EDBT Tutorial 13

Location-aware Snapshot Query Processing

Future Queries
n Examples:
n What will my nearest restaurant be
after 30 minutes?
n Does my path conflict with any other
car for the next hour?

n Features:
n Predict the movement through a
velocity vector
n Prediction could be valid for only a
limited time horizon in the future

Mar., 2006 EDBT Tutorial 14

 Location-aware Snapshot Query Processing
Duality Transformation

n A line (trajectory) in the two-dimensional space can be

transformed into a point in another dual two-dimensional
space

n Trajectory: x(t) = vt + a Ł Point: (v,a)

n All queries will need to be transformed into the dual space

n Rectangular queries will be represented as polygons

Mar., 2006 EDBT Tutorial 15

Location-aware Snapshot Query Processing

Time-Parameterized Data Structures
n The Time-parameterized R-tree (TPR-tree) consists of:
n Minimum bounding rectangles (MBR)
n Velocity bounding rectangles (VBR)

n A bounding rectangle with MBR

& VBR is guaranteed to contain
all its moving objects as long as
they maintain their velocity
vector

n High degree of overlap when

the velocity vector is not
updated

Mar., 2006 EDBT Tutorial 16

 Spatio-temporal Access Methods

Red: Future
Blue: Past
Green: Present
Brown: All

Mar., 2006 EDBT Tutorial 17

Tutorial Outline
nn Location
Location-aware
Location- aware Environments

nn Location
Location-aware
aware Snapshot Query
Query Processing

n Location-aware Continuous Query Processing

n Continuous Queries Vs. Snapshot Queries
n Approaches for Continuous Query Evaluation

n Scalable Execution of Continuous Queries

n Location-aware Query Optimizer

n Uncertainty in Location-aware Query Processing

n Case Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 18
 Snapshot vs. Continuous Query Processing
n Traditional (Snapshot) Queries

Answer

Data
Query

n Continuous Queries

Answer

Query Data
Query

Data
Mar., 2006 EDBT Tutorial 19

Location-aware Continuous Query Processing

Approaches

n Naïve Approach
n Abstract the continuous queries to a series of
snapshot queries evaluated periodically

n Result Validation

n Result Caching

n Result Prediction

n Incremental Evaluation

Mar., 2006 EDBT Tutorial 20

 Location-aware Continuous Query Processing
Result Validation
n Associate a validation condition with each query answer

n Valid time (t):

nThe query answer is valid for the
next t time units
n Valid region (R)
n The query answer is valid as long
as you are within a region R

n It is challenging to maintain the computation of valid time/region

for querying moving objects
n Once the associated validation condition expires, the query will
be reevaluated

Mar., 2006 EDBT Tutorial 21

Location-aware Continuous Query Processing

Caching the Result
n Observation: Consecutive evaluations of a
continuous query yield very similar results

n Idea: Upon evaluation of a continuous query,

retrieve more data that can be used later

n K-NN query
n Initially, retrieve more than k

n Range query
n Evaluate the query with a larger range

n How much we need to pre-compute?

n How do we do re-caching?

Mar., 2006 EDBT Tutorial 22

 Location-aware Continuous Query Processing
Predicting the Result
n Given a future trajectory movement, the query answer
can be pre-computed in advance

n The trajectory movement is

divided into N intervals,
each with its own query
answers Ai
Nearest-Neighbor Query

n The query is evaluated once (as a snapshot query). Yet,

the answer is valid for longer time periods

n Once the trajectory changes, the query will be reevaluated

Mar., 2006 EDBT Tutorial 23

Location-aware Continuous Query Processing

Incremental Evaluation
n The query is evaluated only once.
Then, only the updates of the query
answer are evaluated

n There are two types of updates.

Positive and Negative updates Query Result

n Only the objects that cross the query

boundary are taken into account
+_
n Need to continuously listen for
notifications that someone cross the +
query boundary

Mar., 2006 EDBT Tutorial 24

 Tutorial Outline
nn Location
Location--aware
aware Environments
Environments

nn Location
Location-aware
Location-aware Snapshot
Snapshot Query
Query Processing
Processing

nn Location
Location-aware
Location-aware Continuous
Continuous Query
Query Processing
Processing

n Scalable Execution of Continuous Queries

n Location-aware Centralized Database Systems
n Location-aware Distributed Database Systems
n Location-aware Data Stream Management Systems

n Location-aware Query Optimizer

n Uncertainty in Location-aware Query Processing

n Case Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 25

Scalability of Location-aware Continuous Queries

Motivation

Continuous
K-NN Query
Location-aware Continuous
Range Query
Keep me updated by Database Server
nearest 3 hospitals How many cars in
the highlighted
area?

Make sure that the

nearest 3 airplanes are Alert me if there are less Monitor the traffic
FRIENDLY than 3 police cars within in the red areas
5 miles
Continuous
K-NN Query Continuous Continuous
Range Query Range Query

Mar., 2006 EDBT Tutorial 26

Scalability of Location-aware Continuous Queries
Main Concepts
n Continuous queries last for long times at the server side
While a query is active in the server, other queries will be submitted
q Shared execution among multiple queries

n Should we index data OR queries?

Data and queries may be stationary or moving
Data and queries are of large size
Data and queries arrive to the system with very high rates
q Treat data and queries similarly

n Queries are coming to data OR data are coming to queries?

Both data and queries are subjected to each other
q Join data with queries

Mar., 2006 EDBT Tutorial 27

Scalability of Location-aware Continuous Queries

Main Concepts (Cont.)
Each query is a single thread One thread for all continuous queries
Q1 Q2 QN

Split

ST Query 1 ST Query 2 ST Query N Shared ST Join

D- D- D- D- Q-
Index Index Index Index Index

Data Data Data Data ST

Objects Objects Objects Objects Queries

n Evaluating a large number of concurrent continuous spatio-

temporal queries is abstracted as a spatio-temporal join between
moving objects and moving queries

Mar., 2006 EDBT Tutorial 28

Scalability of Location-aware Continuous Queries
Location-aware Centralized Database Systems
n Centralized index structures
n Index the queries instead of data

Moving Objects

(Stationary) ST Queries in an R-tree index structure

n Valid only for stationary queries

Mar., 2006 EDBT Tutorial 29

Scalability of Location-aware Continuous Queries

Location-aware Centralized Database Systems (Cont.)

n To accommodate for the continuous

movement of both data and queries:

n Concurrent continuous queries share

a grid structure

n Moving objects are hashed to the

same grid structure as queries

n The spatio-temporal join is done by

overlaying the two grid structures

Mar., 2006 EDBT Tutorial 30

Scalability of Location-aware Continuous Queries
Location-aware Distributed Database Systems
n Motivation: Centralized location-aware servers will have a
bottleneck at the server side

n Assumption: Moving objects have devices with the capability of

doing some computations

n Idea:
n Server will ship some of its processing to the moving
objects
n Server will act as a mediator among moving objects

n Implementation: Moving objects should welcome cooperation in

such environments

Mar., 2006 EDBT Tutorial 31

Scalability of Location-aware Continuous Queries

Location-aware Distributed Database Systems (Cont.)
n Each moving object O maintains a list of the queries that O
may be part of their answer

n It is the responsibility of the moving object o to report that O

becomes part of the answer of a certain query

n Once a query updates its location, it sends the new location

to the server, which will propagate the new location to the
interested users

n The server is responsible in determining which objects will be

interested in which queries

Mar., 2006 EDBT Tutorial 32

Scalability of Location-aware Continuous Queries
Location-aware Data Stream Management Systems

n Motivation: Very high arrival rates that are beyond the system
capability to store

n Idea: Only store those objects that are likely to produce query
results, i.e., only significant objects are stored, all other data are
simply dropped

n Significant objects: A moving object O is considered significant

if there is at least one query that is interested in O’s location

n Challenge: Discovering that an object becomes insignificant

Mar., 2006 EDBT Tutorial 33

Scalability of Location-aware Continuous Queries

Location-aware Data Stream Management Systems (Cont.)
Cache
n Only significant objects are Area
stored in-memory

n An object is considered
significant if it is either in the
query area or the cache area

n Due to the query and object movements, a stored object may

become insignificant at any time

n Larger cache area indicates more storage overhead and

more accurate answer

Mar., 2006 EDBT Tutorial 34

Scalability of Location-aware Continuous Queries
Location-aware Data Stream Management Systems (Cont.)

n The first k objects are considered

an initial answer

n K-NN query is reduced to a circular

range query

However, the query area may

K=3
shrink or grow

Mar., 2006 EDBT Tutorial 35

Scalability of Location-aware Continuous Queries

Location-aware Data Stream Management Systems (Cont.)
Each query is a single thread One thread for all continuous queries
Q1 Q2 QN Q1 Q2 QN

+/- +/- +/-

+/- +/- +/-
Stationary Moving Moving
Range kNN Range
Split
Shared
Operator
Shared Memory Shared Spatio-
Buffer among temporal Join
all C. Queries

Stream of
Moving Objects Stream of Stream of
Moving Objects Moving Queries

Mar., 2006 EDBT Tutorial 36

 Scalability of Location-aware Continuous Queries
Location-aware Data Stream Management Systems (Cont.)

n Query Load Shedding

n Reduce the cache area
n Possibly reduce the query area
n Immediately drop insignificant tuples
n Intuitive and simple to implement
n Object Load Shedding 2
n Objects that satisfy less than k 1
queries are insignificant 6
n Lazily drop insignificant tuples 5
3
n Challenge I: How to choose k?
n Challenge II: How to provide a
4
lower bound for the query 7
accuracy?
K=2

Mar., 2006 EDBT Tutorial 37

Tutorial Outline
nn Location-aware Environments

nn Location
Location--aware Snapshot
Snapshot Query Processing

nn Location
Location--aware Continuous Query
Query Processing

nn Scalable Execution
Execution of Continuous Queries

n Location-aware Query Optimization

n Uncertainty in Location-aware Query Processing

n Case Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 38

 Location-aware Query Optimization
n Spatio-temporal pipelinable query operators
n Range queries
n Nearest-neighbor queries

n Selectivity estimation for spatio-temporal

queries/operators
n Spatio-temporal histograms
n Sampling

n Adaptive query optimization for continuous queries

Mar., 2006 EDBT Tutorial 39

Spatio-temporal Query Operators

n Existing Approaches are Built on Top of DBMS (at the
Application Level)
Continuously report the
trucks in this area

Scalar functions
(Stored procedure)
Only produce objects in
the areas of interest SELECT O. ID
The performance Database
FROM Objects O
of scalar functions
WHERE O.type = truck Engine
is limited
Database
INSIDE Area A Spatio-temporal
Engine Operators

Mar., 2006 EDBT Tutorial 40

 Spatio-temporal Query Operators
n “Continuously report the Avis cars in a certain area”
3000
SELECT M.ObjectID
FROM MovingObjects M, AvisCars A 2500

WHERE M.ID = A.ID

Tuples in the Pipeline

2000
INSIDE RegionR INSIDE Operator
Scalar Function
Table Function
1500

Spatio-temporal
Scalar Function 1000
Operators
500
+/- +/-
INSIDE JOIN 0

+/- 2 4 8 16 32 64
Query Size
JOIN AvisCars INSIDE

AvisCars Moving Objects Moving Objects

Mar., 2006 EDBT Tutorial 41

Spatio-temporal Selectivity Estimation

n Estimating the selectivity of spatio-temporal operators is crucial
in determining the best plan for spatio-temporal queries

SELECT ObjectID
FROM MovingObjects M
WHERE Type = Truck
INSIDE Region R

INSIDE
SELECT

INSIDE SELECT

Mar., 2006 EDBT Tutorial 42

 Spatio-temporal Histograms
n Moving objects in D-dimensional space are mapped to 2D-
dimensional histogram buckets

x x

t V

Mar., 2006 EDBT Tutorial 43

Spatio-temporal Histograms with Query

Feedback
n Estimating the selectivity of spatio-temporal operators is crucial
in determining the best plan for spatio-temporal queries

10%
6.25%
6.98%
Q1 6.25%
6.98% 6.25%
6.01% 6.25%
6.01%
Query

Spatio-temporal 6.25%
6.98% 6.25%
6.98% 6.25%
6.01% 6.25%
6.01%
Query Optimizer
Histogram
Query plan 6.25%
6.01% 6.25%
6.01% 6.25%
6.01% 6.25%
6.01%
Feedback
Query Executer
6.25%
6.01% 6.25%
6.01% 6.25%
6.01% 6.25%
6.01%

Mar., 2006 EDBT Tutorial 44

 Adaptive Query Optimization

n Continuous queries last for SELECT ObjectID

long time (hours, days, weeks) FROM MovingObjects M
Ł Environment variables are likely WHERE Type = Truck
to change INSIDE Region R
Ł The initial decision for building a
query plan may not be valid after
a while
SELECT INSIDE
n Need continuous optimization
and ability to change the query INSIDE SELECT
plan:
Ł Training period: Spatio-temporal Moving Objects Moving Objects
histogram, periodicity mining
Ł Online detection of changes

Mar., 2006 EDBT Tutorial 45

Tutorial Outline
nn Location-aware Environments

nn Location
Location--aware Snapshot
Snapshot Query Processing

nn Location
Location--aware Continuous Query
Query Processing

nn Scalable Execution
Execution of Continuous Queries

nn Location-aware Query Optimizer

n Uncertainty in Location-aware Query Processing

n Case Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 46

 Uncertainty in Moving Objects
n Location information from moving objects is inherently
inaccurate

n Sources of uncertainty:
n Sampling. A moving object sends its location information
once every t time units. Within any two consecutive
locations, we have no clue about the object’s exact
location
n Reading accuracy. Location-aware devices do not
provide the exact location
n Object movement and network delay. By the time that a
certain reading is received by the server, the moving
object has already changed his location

Mar., 2006 EDBT Tutorial 47

Uncertainty in Moving Objects

n Historical data (Trajectories)

n Current data
T01+ 2
0
1

Mar., 2006 EDBT Tutorial 48

 Uncertainty in Moving Objects
Error in Query Answer
n Range Queries

n Nearest Neighbor Queries

Mar., 2006 EDBT Tutorial 49

Representing Uncertain Data using

Ellipses
n Given :
n Start point
n End point
n Maximum possible speed Ł Maximum traveling
distance S
n If S is greater than the distance between the two end
points, then the moving object may have deviated from the
given route

Mar., 2006 EDBT Tutorial 50

 Representing Uncertain Data using
Cylinders
n Given:
n Start and end points

n Constraint:
n An object would report its location only if it is deviated by
a certain distance r from the predicted trajectory

Mar., 2006 EDBT Tutorial 51

Representing Uncertain Data in Road

Networks
n Given:
n Start and end points
n Constraints :
n Deviation threshold r
n Speed threshold v

Mar., 2006 EDBT Tutorial 52

 Querying Uncertain Data
Uncertain Keywords
n KEYWORDS:
n Probability: possibly, definitely
n Temporal: sometimes, always
n Spatial: somewhere, everywhere

n Examples:
n What are the objects that are possibly sometimes within area
R at time interval T?
n What are the objects that definitely passed through a certain
region?
n Retrieve all the objects that are always inside a certain region
n Retrieve all the objects that are sometimes definitely inside
region R

Mar., 2006 EDBT Tutorial 53

Querying Uncertain Data

Uncertain Keywords (Cont.)
Q4

Q2

Q3
Q1

n Object O is definitely always in Q1

n Object O is possibly always in Q2
n Object O is definitely sometimes in Q3
n Object O is possibly sometimes in Q4

Mar., 2006 EDBT Tutorial 54

 Querying Uncertain Data
Probabilistic Queries
n With each query answer, associate a probability that
this answer is true

n The answer set of a query Q is represented as a set of

tuples <ID, p> where ID is the tuple identifier and p is
the probability that the object ID belongs to the answer
set of Q

n Assumptions:
n Objects can lie anywhere uniformly within their
uncertainty region

Mar., 2006 EDBT Tutorial 55

Querying Uncertain Data

Probabilistic Range Queries

A E
C

F
B
n Query Answer:
n (B, 50%)
n (C, 90%)
n D
n E
n (F, 30%)

Mar., 2006 EDBT Tutorial 56

 Querying Uncertain Data
Probabilistic Nearest-Neighbor Queries

A E
C

F
B

n Query Answer (k=1):

n (C, p1)
n (D, p2)
n (E, p3)

Mar., 2006 EDBT Tutorial 57

Tutorial Outline
nn Location
Location--aware
aware Environments
Environments

nn Location
Location-aware
Location-aware Snapshot
Snapshot Query
Query Processing
Processing

nn Location
Location--aware
aware Continuous
Continuous Query
Query Processing
Processing

nn Scalable
Scalable Execution
Execution of
of Continuous
Continuous Queries
Queries

nn Location
Location--aware
aware Query
Query Optimizer
Optimizer

nn Uncertainty
Uncertainty in
in Location
Location--aware
aware Query
Query Processing
Processing

n Case Studies
n DOMINO
n SECONDO
n PLACE

n Open Research Issues

Mar., 2006 EDBT Tutorial 58

 Case Study I
DOMINO
n DOMINO: Databases fOr MovINg Objects tracking

n Built on top of database management systems using a three-

layers approach; the DBMS layer, the GIS layer, and the
DOMINO layer

n Utilize dynamic attributes for future predicted locations

n Manage uncertainty that is inherent in future motion plans

n Support various location models:

n Exact point location
n An area in which the object is located in
n An approximate motion plan
n A complete motion plan
Mar., 2006 EDBT Tutorial 59

DOMINO Architecture

Provide temporal capabilities, uncertainty

DOMINO management, and location prediction

Provide capabilities and user interface

primitives for storing, querying, and
Arc-View GIS manipulating geographic information

Object-Relational Stores the information about each

DBMS moving object, including its plan of
motion
Informix/Oracle

Mar., 2006 EDBT Tutorial 60

 Uncertainty Management in DOMINO
n Uncertainty operators are implemented as user-defined
functions (UDFs) in Oracle

n Six main uncertainty operators:

n Always_Definitely_Inside
n Sometime_Definitely_Inside
n Definitely_Sometime_Inside
n Possibly_Always_Inside
n Always_Possibly_Inside
n Possibly_Sometime_Inside

n Example:

SELECT oid
FROM MovingObjects
WHERE Possibly_Always_Inside (trajectory, region,
time interval)

Mar., 2006 EDBT Tutorial 61

Case Study II
SECONDO
n SECONDO: An Extensible DBMS Architecture and Prototype

n A generic database system frame that can be filled with

implementation of various data models (relational, object-
oriented, or XML) and data types (spatial data, moving objects)

n A database is a set of SECONDO objects of the form (name,

type, value), where type is one of the implemented algebras

n About 20 implemented algebras, e.g., standard algebra, relational

algebra, R-Tree algebra, and spatial algebra

n Query optimizer includes optimization of conjunctive queries,

selectivity estimation, and implementation of an SQL-like query
language

Mar., 2006 EDBT Tutorial 62

 SECONDO Architecture
Generic GUI independent of data models. The interface includes
command prompt and is extensible by a set of different viewers

GUI The core functionality is the optimization

Java of conjunctive queries, i.e., producing an
efficient query plan

Optimizer
PROLOG

On top of the query optimizer, there is a

SECONDO SQL-like language in a notation adopted
Kernel to PROLOG
Berkeley DB (C++)
Built on top of Berkeley DB. Includes specific data models, algebra
modules, and query processors over the implemented algebra.

Mar., 2006 EDBT Tutorial 63

Case Study III

The PLACE Server
n PLACE: Pervasive Location-Aware Computing Environments

n Scalable execution of continuous queries over spatio-temporal

data streams

n Shared execution among concurrent continuous queries

n Built inside a database engine

n Incremental evaluation of
continuous queries

n Spatio-temporal query operators

Mar., 2006 EDBT Tutorial 64

 PLACE Architecture
DBMS PLACE

Query INSIDE, kNN

Parser

Negative Query Continuous /

updates Processor Moving Queries

Scalable shared Relational INSIDE, KNN,

operators Operators operators

Storage Stream of Moving

Engine Objects/Queries

Mar., 2006 EDBT Tutorial 65

PLACE Architecture

PLACE
A Query Processor for Real-time Spatio-temporal Data Streams

NILE Continuous
A Query Processing Engine for Data Streams Predicate-based
Window Queries
Continuous time-based
PREDATOR Sliding Window Queries Moving Queries

SQL Language WINDOW window_clause INSIDE inside_clause

kNN knn_clause
Query processor W-Expire Operator INSIDE Operator
Negative Tuples kNN Operator
Storage engine Stream_Scan Operator Stream of Moving
Abstract data types Stream data types Objects/Queries

Mar., 2006 EDBT Tutorial 66

 Extended SQL Syntax

n inside_clause:
n Stationary query: (x1,y1,x2,y2)
n Moving query: (‘M’,OID, width, length)
n knn_clause:
n Stationary query: (k,x,y)
n Moving query: (‘M’, OID, k)

Mar., 2006 EDBT Tutorial 67

Tutorial Outline
nn Location
Location-aware
Location- aware Environments

nn Location
Location-aware
Location- aware Snapshot Query
Query Processing

nn Location
Location-aware
Location- aware Continuous Query Processing

nn Scalable
Scalable Execution of
of Continuous Queries

nn Location
Location-aware
aware Query Optimizer

nn Uncertainty
Uncertainty in Location--aware Query
Query Processing

nn Case
Case Study
Study

n Open Research Issues

Mar., 2006 EDBT Tutorial 68

 Open Research Issues
Location Privacy

YOU ARE
TRACKED…
!!!!

“New technologies can pinpoint your location at any time and place.
They promise safety and convenience but threaten privacy and security”
Cover story, IEEE Spectrum, July 2003
Mar., 2006 EDBT Tutorial 69

Open Research Issues

Spatio-temporal Data Mining
n Mining the history Ł
Predicting the future

n Online outlier detection for

moving objects

n Suspicious movement in video

surveillance

n Analysis of tsunami,
hurricanes, or earthquakes

n Phenomena detection and

tracking

Mar., 2006 EDBT Tutorial 70

 Open Research Issues
Reducing the Gap between ST Databases and DBMSs/DSMSs
n What do Spatio-temporal researchers offer?
n 50+ spatial index structure, 30+ spatio-temporal indexing structure
n Wide variety of spatio-temporal query processing techniques
n What do DBMS designers want?
n Little disturbance to their code
n Large number of customers
n The result is:
n DB2 and SQLServer do not support the R-tree (and not willing to)
n Oracle supports only R-tree and Quadtree
n Can we reduce this gap?
n YES. Think in the minimal additions to the engine
n Example I: B-tree with SFC
n Example II: GiST and SP-GiST
n Example III: Add-in query operators

Mar., 2006 EDBT Tutorial 71

References
n Overview Papers:
1. Ouri Wolfson, Bo Xu, Sam Chamberlain, and Liqin Jiang. Moving Objects Databases: Issues
and Solutions. In Proceeding of the International Conference on Scientific and Statistical
Database Management, SSDBM, pages 111-122, Capri, Italy, July 1998.
2. Mohamed F. Mokbel, Walid G. Aref, Susanne E. Hambrusch, and Sunil Prabhakar. Towards
Scalable Location-aware Services: Requirements and Research Issues. In Proceeding of the
ACM Symposium on Advances in Geographic Information Systems, ACM GIS, pages 110-117,
New Orleans, LA, November 2003.
3. Christian S. Jensen. Database Aspects of Location-based Services. In Location-based
Services, pages 115-148. Morgan Kaufmann, 2004.
4. Dik Lun Lee, Manli Zhu, and Haibo Hu. When Location-based Services Meet Databases.
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n Spatio-temporal Access Methods:

5. Mohamed F. Mokbel, Thanaa M. Ghanem, and Walid G. Aref. Spatio-temporal Access
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10. Dieter Pfoser, Christian S. Jensen, and Yannis Theodoridis. Novel Approaches in Query
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11. Yufei Tao and Dimitris Papadias. MV3R-Tree: A Spatio-temporal Access Method for Timestamp
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13. George Kollios, Vassilis J. Tsotras, Dimitrios Gunopulos, Alex Delis, and Marios Hadjieleftheriou.
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Knowledge and Data Engineering, TKDE, 13(5):758-777, 2001.
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Database Technology, EDBT, pages 251-268, Prague, Czech Republic, March 2002.
15. Zhexuan Song and Nick Roussopoulos. SEB-Tree: An Approach to Index Continuously Moving
Objects. In Proceeding of the International Conference on Mobile Data Management, MDM,
pages 340-344, Melbourne, Australia, January 2003.
16. Elias Frentzos. Indexing Objects Moving on Fixed Networks. In Proceeding of the International
Symposium on Advances in Spatial and Temporal Databases, SSTD, pages 289-305, Santorini
Island, Greece, July 2003.
17. V. Prasad Chakka, Adam Everspaugh, and Jignesh M. Patel. Indexing Large Trajectory Data
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19. Dieter Pfoser and Christian S. Jensen. Trajectory Indexing Using Movement Constraints.
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20. Jinfeng Ni and Chinya V. Ravishankar. PA-Tree: A Parametric Indexing Scheme for Spatio-temporal
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Databases, SSTD, pages 254-272, Angra dos Reis, Brazil, August 2005.
21. Mario A. Nascimento, Jeerson R. O. Silva, and Yannis Theodoridis. Evaluation of Access Structures for
Discretely Moving Points. In Proceeding of the International Workshop on Spatio-temporal Database
Management, STDBM, pages 171-188, Edinburgh, UK, September 1999.
22. Zhexuan Song and Nick Roussopoulos. Hashing Moving Objects. In Proceeding of the International
Conference on Mobile Data Management, MDM, pages 161-172, Hong Kong, January 2001.
23. Dongseop Kwon, Sangjun Lee, and Sukho Lee. Indexing the Current Positions of Moving Objects
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Management, MDM, pages 113-120, Singapore, January 2002.
24. Mahdi Abdelguer, Julie Givaudan, Kevin Shaw, and Roy Ladner. The 2-3 TR-Tree, A Trajectory-
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VA, November 2002.
25. Mong-Li Lee, Wynne Hsu, Christian S. Jensen, Bin Cui, and Keng Lik Teo. Supporting Frequent
Updates in R-Trees: A Bottom-Up Approach. In Proceeding of the International Conference on Very
Large Data Bases, VLDB, pages 608-619, Berlin, Germany, September 2003.
26. Yuni Xia and Sunil Prabhakar. Q+R-Tree: Efficient Indexing for Moving Object Database. In Proceeding
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27. Christian S. Jensen, Dan Lin, and Beng Chin Ooi. Query and Update Efficient B+-Tree Based Indexing
of Moving Objects. In Proceeding of the International Conference on Very Large Data Bases, VLDB,
pages 768-779, Toronto, Canada, August 2004.

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n Spatio-temporal Access Methods (Cont.):
28. Reynold Cheng, Yuni Xia, Sunil Prabhakar, and Rahul Shah. Change Tolerant Indexing for Constantly
Evolving Data. In Proceeding of the International Conference on Data Engineering, ICDE, pages 391-
402, Tokyo, Japan, April 2005.
29. Bin Lin and Jianwen Su. Handling Frequent Updates of Moving Objects. In Proceeding of the
International Conference on Information and Knowledge Management, CIKM, pages 493-500, Bremen,
Germany, October 2005.
30. Xiaopeng Xiong, Mohamed F. Mokbel, and Walid G. Aref. LUGrid: Update-tolerant Grid-based Indexing
for Moving Objects. In Proceeding of the International Conference on Mobile Data Management, MDM,
Nara, Japan, May 2006.
31. Xiaopeng Xiong and Walid G. Aref. R-Trees with Update Memos. In Proceeding of the International
Conference on Data Engineering, ICDE, Atlanta, GA, April 2006.
32. George Kollios, Dimitrios Gunopulos, and Vassilis J. Tsotras. On Indexing Mobile Objects. In
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Philadelphia. PA, May 1999.
33. Simonas Saltenis, Christian S. Jensen, Scott T. Leutenegger, and Mario A. Lopez. Indexing the
Positions of Continuously Moving Objects. In Proceeding of the ACM International Conference on
Management of Data, SIGMOD, pages 331-342, Dallas, TX, May 2000.
34. Pankaj K. Agarwal, Lars Arge, and Je Erickson. Indexing Moving Points. In Proceeding of the ACM
Symposium on Principles of Database Systems, PODS, pages 175-186, Dallas, TX, May 2000.
35. Mengchu Cai and Peter Revesz. Parametric R-Tree: An Index Structure for Moving Objects. In
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36. Hae Don Chon, Divyakant Agrawal, and Amr El Abbadi. Storage and Retrieval of Moving Objects. In
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n Spatio-temporal Access Methods (Cont.):
37. Kriengkrai Porkaew, Iosif Lazaridis, and Sharad Mehrotra. Querying Mobile Objects in Spatio-temporal
Databases. In Proceeding of the International Symposium on Advances in Spatial and Temporal
Databases, SSTD, pages 59-78, Redondo Beach, CA, July 2001.
38. Cecilia Magdalena Procopiuc, Pankaj K. Agarwal, and Sariel Har-Peled. STAR-Tree: An Efficient Self-
Adjusting Index for Moving Objects. In Proceeding of the International Workshop on Algorithm
Engineering and Experimentation, ALENEX, pages 178-193, San Francisco, CA, January 2002.
39. Simonas Saltenis and Christian S. Jensen. Indexing of Moving Objects for Location-based Services. In
Proceeding of the International Conference on Data Engineering, ICDE, pages 463-472, San Jose, CA,
February 2002.
40. Khaled M. Elbassioni and Ibrahim Kamel Amr Elmasry. An Efficient Indexing Scheme for Multi-
dimensional Moving Objects. In Proceeding of the International Conference on Database Theory,
ICDT, pages 425-439, Siena, Italy, January 2003.
41. Yufei Tao, Dimitris Papadias, and Jimeng Sun. The TPR*-Tree: An Optimized Spatio-temporal Access
Method for Predictive Queries. In Proceeding of the International Conference on Very Large Data
Bases, VLDB, pages 129-140, Berlin, Germany, September 2003.
42. Jignesh M. Patel, Yun Chen, and V. Prasad Chakka. STRIPES: An Efficient Index for Predicted
Trajectories. In Proceeding of the ACM International Conference on Management of Data, SIGMOD,
pages 637-646, Paris, France, June 2004.
43. George Kollios, Dimitris Papadopoulos, Dimitrios Gunopulos, and Vassilis J. Tsotras. Indexing Mobile
Objects Using Dual Transformations. VLDB Journal, 14(2):238-256, April 2005.
44. Dan Lin, Christian S. Jensen, Beng Chin Ooi, and Simonas Saltenis. Efficient Indexing of the Historical,
Present, and Future Positions of Moving Objects. In Proceeding of the International Conference on
Mobile Data Management, MDM, pages 59-66, Ayia Napa, Cyprus, May 2005.
45. Zhao-Hong Liu, Xiao-Li Liu, Jun-Wei Ge, and Hae-Young Bae. Indexing Large Moving Objects from
Past to Future with PCFI+-Index. In Proceeding of the International Conference on Management of
Data, COMAD, pages 131-137, January 2005.

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 References
n Location-aware Snapshot Query Processing:
46. OuriWolfson, Bo Xu, and Sam Chamberlain. Location Prediction and Queries for Tracking Moving
Objects. In Proceeding of the International Conference on Data Engineering, ICDE, pages 687-688, San
Diego, CA, February 2000.
47. Rimantas Benetis, Christian S. Jensen, Gytis Karciauskas, and Simonas Saltenis. Nearest Neighbor and
Reverse Nearest Neighbor Queries for Moving Objects. In Proceeding of the International Database
Engineering and Applications Symposium, IDEAS, pages 44-53, Alberta, Canada, July 2002.
48. Yufei Tao and Dimitris Papadias. Time Parameterized Queries in Spatio-temporal Databases. In
Proceeding of the ACM International Conference on Management of Data, SIGMOD, pages 334-345,
Madison, WI, June 2002.
49. Yufei Tao and Dimitris Papadias. Spatial Queries in Dynamic Environments. ACM Transactions on
Database Systems, TODS, 28(2):101-139, June 2003.
50. Yufei Tao, Jimeng Sun, and Dimitris Papadias. Analysis of Predictive Spatio-temporal Queries. ACM
Transactions on Database Systems, TODS, 28(4):295-336, December 2003.
51. Dimitris Papadias, Qiongmao Shen, Yufei Tao, and Kyriakos Mouratidis. Group Nearest Neighbor
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Boston, MA, March 2004.
52. Jimeng Sun, Dimitris Papadias, Yufei Tao, and Bin Liu. Querying about the Past, the Present and the
Future in Spatio-temporal Databases. In Proceeding of the International Conference on Data
Engineering, ICDE, pages 202-213, Boston, MA, March 2004.

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n Location-aware Snapshot Query Processing (Cont.):
53. Bin Lin and Jianwen Su. Shapes Based Trajectory Queries for Moving Objects. In Proceeding of the
ACM Symposium on Advances in Geographic Information Systems, ACM GIS, pages 21-30, Bremen,
Germany, November 2005.
54. Panfeng Zhou, Donghui Zhang, Betty Salzberg, Gene Cooperman, and George Kollios. Close Pair
Queries in Moving Object Databases. In Proceeding of the ACM Symposium on Advances in
Geographic Information Systems, ACM GIS, pages 2-11, Bremen, Germany, November 2005.
55. Yufei Tao and Dimitris Papadias. Historical Spatio-temporal Aggregation. ACM Transactions on
Information Systems, TOIS, 23(1):61-102, January 2005.
56. Man Lung Yiu, Nikos Mamoulis, and Dimitris Papadias. Aggregate Nearest Neighbor Queries in Road
Networks. IEEE Transactions on Knowledge and Data Engineering, TKDE, 17(6):820-833, June 2005.
57. Elias Frentzos, Kostas Gratsias, Nikos Pelekis, and Yannis Theodoridis. Nearest Neighbor Search on
Moving Object Trajectories. In Proceeding of the International Symposium on Advances in Spatial and
Temporal Databases, SSTD, pages 328-345, Angra dos Reis, Brazil, August 2005.
58. Hyung-Ju Cho and Chin-Wan Chung. An Efficient and Scalable Approach to CNN Queries in a Road
Network. In Proceeding of the International Conference on Very Large Data Bases, VLDB, pages 865-
876, Trondheim, Norway, August 2005.
59. Marios Hadjieleftheriou, George Kollios, Petko Bakalov, and Vassilis J. Tsotras. Complex Spatio-
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60. Lei Chen, M. Tamer Ozsu, and Vincent Oria. Robust and Fast Similarity Search for Moving Object
Trajectories. In Proceeding of the ACM International Conference on Management of Data, SIGMOD,
pages 491-502, Baltimore, MD, June 2005.

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 References
n Location-aware Continuous Query Processing:
61. Baihua Zheng and Dik Lun Lee. Semantic Caching in Location-Dependent Query Processing. In Proceeding of
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Beach, CA, July 2001.
62. Zhexuan Song and Nick Roussopoulos. K-Nearest Neighbor Search for Moving Query Point. In Proceeding of
the International Symposium on Advances in Spatial and Temporal Databases, SSTD, pages 79-96, Redondo
Beach, CA, July 2001.
63. Iosif Lazaridis, Kriengkrai Porkaew, and Sharad Mehrotra. Dynamic Queries over Mobile Objects. In
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Prague, Czech Republic, March 2002.
64. Sunil Prabhakar, Yuni Xia, Dmitri V. Kalashnikov, Walid G. Aref, and Susanne E. Hambrusch. Query Indexing
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65. Yufei Tao, Dimitris Papadias, and Qiongmao Shen. Continuous Nearest Neighbor Search. In Proceeding of the
International Conference on Very Large Data Bases, VLDB, pages 287-298, Hong Kong, August 2002.
66. Marios Hadjieleftheriou, George Kollios, Dimitrios Gunopulos, and Vassilis J. Tsotras. On-Line Discovery of
Dense Areas in Spatio-temporal Databases. In Proceeding of the International Symposium on Advances in
Spatial and Temporal Databases, SSTD, pages 306-324, Santorini Island, Greece, July 2003.
67. Glenn S. Iwerks, Hanan Samet, and Ken Smith. Continuous K-Nearest Neighbor Queries for Continuously
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pages 512-523, Berlin, Germany, September 2003.

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n Location-aware Continuous Query Processing (Cont.):
68. Jun Zhang, Manli Zhu, Dimitris Papadias, Yufei Tao, and Dik Lun Lee. Location-based Spatial Queries.
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San Diego, CA, June 2003.
69. Bugra Gedik, Kun-Lung Wu, Philip S. Yu, and Ling Liu. Motion Adaptive Indexing for Moving Continual
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70. Mohamed F. Mokbel, Xiaopeng Xiong, and Walid G. Aref. SINA: Scalable Incremental Processing of
Continuous Queries in Spatio-temporal Databases. In Proceeding of the ACM International Conference
on Management of Data, SIGMOD, pages 623-634, Paris, France, June 2004.
71. Ying Cai, Kien A. Hua, and Guohong Cao. Processing Range-Monitoring Queries on Heterogeneous
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72. Bugra Gedik and Ling Liu. MobiEyes: Distributed Processing of Continuously Moving Queries on
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73. Xiaopeng Xiong, Mohamed F. Mokbel, Walid G. Aref, Susanne Hambrusch, and Sunil Prabhakar.
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the International Conference on Scientific and Statistical Database Management, SSDBM, pages 317-
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74. Haibo Hu, Jianliang Xu, and Dik Lun Lee. A Generic Framework for Monitoring Continuous Spatial
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75. Kyriakos Mouratidis, Dimitris Papadias, and Marios Hadjieleftheriou. Conceptual Partitioning: An
Efficient Method for Continuous Nearest Neighbor Monitoring. In Proceeding of the ACM International
Conference on Management of Data, SIGMOD, pages 634-645, Baltimore, MD, June 2005.

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 References
n Location-aware Continuous Query Processing (cont.):
76. Mohammad R. Kolahdouzan and Cyrus Shahabi. Alternative Solutions for Continuous K Nearest
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77. Xiaopeng Xiong, Mohamed F. Mokbel, and Walid G. Aref. SEA-CNN: Scalable Processing of
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International Conference on Data Engineering, ICDE, pages 643-654, Tokyo, Japan, April 2005.
78. Donghui Zhang, Dimitrios Gunopulos, Vassilis J. Tsotras, and Bernhard Seeger. Temporal and Spatio-
temporal Aggregations over Data Streams Using Multiple Time Granularities. Journal of Information
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79. Xuegang Huang and Christian S. Jensen. Towards A Streams-Based Framework for Defining Location-
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80. Yufei Tao, George Kollios, Jerey Considine, Feifei Li, and Dimitris Papadias. Spatio-temporal
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81. Mohamed F. Mokbel and Walid G. Aref. SOLE: Scalable Online Execution of Continuous Queries on
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82. Mohamed F. Mokbel and Walid G. Aref. GPAC: Generic and Progressive Processing of Mobile Queries
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83. Rimma Nehme and Elke Rundensteiner. SCUBA: Scalable Cluster-Based Algorithm for Evaluating
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on Extending Database Technology, EDBT, Munich, Germany, March 2006.

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84. Yong-Jin Choi and Chin-Wan Chung. Selectivity Estimation for Spatio-temporal Queries to Moving
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440-451, Madison, WI, June 2002.
85. Yufei Tao, Jimeng Sun, and Dimitris Papadias. Selectivity Estimation for Predictive Spatio-temporal
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Bangalore, India, March 2003.
86. Marios Hadjieleftheriou, George Kollios, and Vassilis J. Tsotras. Performance Evaluation of Spatio-
temporal Selectivity Estimation Techniques. In Proceeding of the International Conference on Scientific
and Statistical Database Management, SSDBM, pages 202-211, Cambridge, MA, July 2003.
87. Qing Zhang and Xuemin Lin. Clustering Moving Objects for Spatio-temporal Selectivity Estimation. In
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88. Yufei Tao, Dimitris Papadias, Jian Zhai, and Qing Li. Venn Sampling: A Novel Prediction Technique for
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691, Tokyo, Japan, April 2005.
89. Hicham G. Elmongui, Mohamed F. Mokbel, and Walid G. Aref. Spatio-temporal Histograms. In
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90. Slobodan Rasetic, J org Sander, James Elding, and Mario A. Nascimento. A Trajectory Splitting Model
for Efficient Spatio-temporal Indexing. In Proceeding of the International Conference on Very Large
Data Bases, VLDB, pages 934-945, Trondheim, Norway, August 2005.

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 References
n Uncertainty and Probabilistic Queries:
91. Dieter Pfoser and Christian S. Jensen. Capturing the Uncertainty of Moving-Object Representations. In
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92. Reynold Cheng, Dmitri V. Kalashnikov, and Sunil Prabhakar. Evaluating Probabilistic Queries over Imprecise
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San Diego, CA, June 2003.
93. Reynold Cheng, Dmitri V. Kalashnikov, and Sunil Prabhakar. Querying Imprecise Data in Moving Object
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94. Jinfeng Ni, Chinya V. Ravishankar, and Bir Bhanu. Probabilistic Spatial Database Operations. In Proceeding of
the International Symposium on Advances in Spatial and Temporal Databases, SSTD, pages 140{158,
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95. Goce Trajcevski, Ouri Wolfson, Fengli Zhang, and Sam Chamberlain. The Geometry of Uncertainty in Moving
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96. Ouri Wolfson and Huabei Yin. Accuracy and Resource Concumption in Tracking and Location Prediction. In
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325{343, Santorini Island, Greece, July 2003.
97. Goce Trajcevski, OuriWolfson, Klaus Hinrichs, and Sam Chamberlain. Managing Uncertainty in Moving Objects
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98. Victor Teixeira de Almeida and Ralf Hartmut G uting. Supporting Uncertainty in Moving Objects in Network
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99. Dieter Pfoser, Nectaria Tryfona, and Christian S. Jensen. Indeterminacy and Spatiotemporal Data: Basic
Denitions and Case Study. GeoInformatica, 9(3):211{236, September 2005.
100. Xiangyuan Dai, Man Lung Yiu, Nikos Mamoulis, Yufei Tao, and Michail Vaitis. Probabilistic Spatial Queries on
Existentially Uncertain Data. In Proceeding of the International Symposium on Advances in Spatial and
Temporal Databases, SSTD, pages 400{417, Angra dos Reis, Brazil, August 2005.

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n Case Studies:
101.Mohamed F. Mokbel, Xiaopeng Xiong, Walid G. Aref, Susanne Hambrusch, Sunil Prabhakar, and Moustafa Hammad.
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102.Mohamed F. Mokbel, Xiaopeng Xiong, Moustafa A. Hammad, and Walid G. Aref. Continuous Query Processing of Spatio-
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103.Mohamed F. Mokbel and Walid G. Aref. PLACE: A Scalable Location-aware Database Server for Spatiotemporal Data
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104.Mohamed F. Mokbel, Xiaopeng Xiong, Moustafa A. Hammad, and Walid G. Aref. Continuous Query Processing of Spatio-
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106.Ralf Hartmut Guting, Thomas Behr, Victor Teixeira de Almeida, Zhiming Ding, Frank Homann, and Markus Spiekermann.
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107.Thomas Behr and Ralf Hartmut Guting. Fuzzy Spatial Objects: An Algebra Implementation in SECONDO. In Proceeding of
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108.Ralf Hartmut Guting, Victor Teixeira de Almeida, Dirk Ansorge, Thomas Behr, Zhiming Ding, Thomas Hose, Frank Homann,
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109.Goce Trajcevski, Ouri Wolfson, Hu Cao, Hai Lin, Fengli Zhang, and Naphtali Rishe. Managing Uncertain Trajectories of
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218{225, Ciudad Real, Spain, April 2002.
110.Ouri Wolfson, A. Prasad Sistla, Bo Xu, Jutai Zhou, and Sam Chamberlain. DOMINO: Databases fOr MovINg Objects tracking
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PA, June 1999.
111.Ouri Wolfson, Hu Cao, Hai Lin, Goce Trajcevski, Fengli Zhang, and Naphtali Rishe. Management of Dynamic Location
Information in DOMINO (Demo). In Proceeding of the International Conference on Extending Database Technology, EDBT,
pages 769{771, Prague, Czech Republic, March 2002.

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 Thank you

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