This work develops a class of probabilistic algorithms for the numerical solution of nonlinear, time-dependent partial differential equations (PDEs). Current state-of-the-art PDE solvers treat the space- and time-dimensions separately, serially, and with black-box algorithms, which obscures the interactions between spatial and temporal approximation errors and misguides the quantification of the overall error. To fix this issue, we introduce a probabilistic version of a technique called method of lines. The proposed algorithm begins with a Gaussian process interpretation of finite difference methods, which then interacts naturally with filtering-based probabilistic ordinary differential equation (ODE) solvers because they share a common language: Bayesian inference. Joint quantification of space- and time-uncertainty becomes possible without losing the performance benefits of well-tuned ODE solvers. Thereby, we extend the toolbox of probabilistic programs for differential equation simulation to PDEs.
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked previously, the regions where the robot traverses to return are defined as sequences of bundles of line segments. This paper presents a novel algorithm for finding approximately shortest paths along the sequences of bundles of line segments based on the method of multiple shooting. Three factors of the approach including bundle partition, collinear condition, and update of shooting points are presented. We then show that if the collinear condition holds, the exactly shortest paths of the problems are determined, otherwise, the sequence of paths obtained by the update of the method converges to the shortest path. The algorithm is implemented in Python and some numerical examples show that the running time of path-planning for autonomous robots using our method is faster than that using the rubber band technique of Li and Klette in Euclidean Shortest Paths, Springer, 53-89 (2011).
Object detection neural network models need to perform reliably in highly dynamic and safety-critical environments like automated driving or robotics. Therefore, it is paramount to verify the robustness of the detection under unexpected hardware faults like soft errors that can impact a systems perception module. Standard metrics based on average precision produce model vulnerability estimates at the object level rather than at an image level. As we show in this paper, this does not provide an intuitive or representative indicator of the safety-related impact of silent data corruption caused by bit flips in the underlying memory but can lead to an over- or underestimation of typical fault-induced hazards. With an eye towards safety-related real-time applications, we propose a new metric IVMOD (Image-wise Vulnerability Metric for Object Detection) to quantify vulnerability based on an incorrect image-wise object detection due to false positive (FPs) or false negative (FNs) objects, combined with a severity analysis. The evaluation of several representative object detection models shows that even a single bit flip can lead to a severe silent data corruption event with potentially critical safety implications, with e.g., up to (much greater than) 100 FPs generated, or up to approx. 90% of true positives (TPs) are lost in an image. Furthermore, with a single stuck-at-1 fault, an entire sequence of images can be affected, causing temporally persistent ghost detections that can be mistaken for actual objects (covering up to approx. 83% of the image). Furthermore, actual objects in the scene are continuously missed (up to approx. 64% of TPs are lost). Our work establishes a detailed understanding of the safety-related vulnerability of such critical workloads against hardware faults.
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere world is essential and, at the same time, challenging. This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with obstacles of arbitrary shapes. The properties of the conformal navigation transformation, including uniqueness, invariance of navigation properties, and no angular deformation, are investigated, which contribute to the solution of the robot navigation problem in complex environments. Based on navigation functions and the proposed transformation, feedback controllers are derived for the automatic guidance and motion control of kinematic and dynamic mobile robots. Moreover, an iterative method is proposed to construct the conformal navigation transformation in a multiply-connected workspace, which transforms the multiply-connected problem into multiple simply-connected problems to achieve fast convergence. In addition to the analytic guarantees, simulation studies verify the effectiveness of the proposed methodology in workspaces with non-trivial obstacles.
Objective: To develop and validate an automated method for bedside monitoring of sleep state fluctuations in neonatal intensive care units. Methods: A deep learning -based algorithm was designed and trained using 53 EEG recordings from a long-term (a)EEG monitoring in 30 near-term neonates. The results were validated using an external dataset from 30 polysomnography recordings. In addition to training and validating a single EEG channel quiet sleep detector, we constructed Sleep State Trend (SST), a bedside-ready means for visualizing classifier outputs. Results: The accuracy of quiet sleep detection in the training data was 90%, and the accuracy was comparable (85-86%) in all bipolar derivations available from the 4-electrode recordings. The algorithm generalized well to an external dataset, showing 81% overall accuracy despite different signal derivations. SST allowed an intuitive, clear visualization of the classifier output. Conclusions: Fluctuations in sleep states can be detected at high fidelity from a single EEG channel, and the results can be visualized as a transparent and intuitive trend in the bedside monitors. Significance: The Sleep State Trend (SST) may provide caregivers a real-time view of sleep state fluctuations and its cyclicity.
Digital twins have recently gained significant interest in simulation, optimization, and predictive maintenance of Industrial Control Systems (ICS). Recent studies discuss the possibility of using digital twins for intrusion detection in industrial systems. Accordingly, this study contributes to a digital twin-based security framework for industrial control systems, extending its capabilities for simulation of attacks and defense mechanisms. Four types of process-aware attack scenarios are implemented on a standalone open-source digital twin of an industrial filling plant: command injection, network Denial of Service (DoS), calculated measurement modification, and naive measurement modification. A stacked ensemble classifier is proposed as the real-time intrusion detection, based on the offline evaluation of eight supervised machine learning algorithms. The designed stacked model outperforms previous methods in terms of F1-Score and accuracy, by combining the predictions of various algorithms, while it can detect and classify intrusions in near real-time (0.1 seconds). This study also discusses the practicality and benefits of the proposed digital twin-based security framework.
Full-band speech enhancement based on deep neural networks is still challenging for the difficulty of modeling more frequency bands and real-time implementation. Previous studies usually adopt compressed full-band speech features in Bark and ERB scale with relatively low frequency resolution, leading to degraded performance, especially in the high-frequency region. In this paper, we propose a decoupling-style multi-band fusion model to perform full-band speech denoising and dereverberation. Instead of optimizing the full-band speech by a single network structure, we decompose the full-band target into multi sub bands and then employ a multi-stage chain optimization strategy to estimate clean spectrum stage by stage. Specifically, the low- (0-8 kHz), middle- (8-16 kHz), and high-frequency (16-24 kHz) regions are mapped by three separate sub-networks and are then fused to obtain the full-band clean target STFT spectrum. Comprehensive experiments on two public datasets demonstrate that the proposed method outperforms previous advanced systems and yields promising performance in terms of speech quality and intelligibility in real complex scenarios.
In games, as in and many other domains, design validation and testing is a huge challenge as systems are growing in size and manual testing is becoming infeasible. This paper proposes a new approach to automated game validation and testing. Our method leverages a data-driven imitation learning technique, which requires little effort and time and no knowledge of machine learning or programming, that designers can use to efficiently train game testing agents. We investigate the validity of our approach through a user study with industry experts. The survey results show that our method is indeed a valid approach to game validation and that data-driven programming would be a useful aid to reducing effort and increasing quality of modern playtesting. The survey also highlights several open challenges. With the help of the most recent literature, we analyze the identified challenges and propose future research directions suitable for supporting and maximizing the utility of our approach.
Accurate abnormality localization in chest X-rays (CXR) can benefit the clinical diagnosis of various thoracic diseases. However, the lesion-level annotation can only be performed by experienced radiologists, and it is tedious and time-consuming, thus difficult to acquire. Such a situation results in a difficulty to develop a fully-supervised abnormality localization system for CXR. In this regard, we propose to train the CXR abnormality localization framework via a weakly semi-supervised strategy, termed Point Beyond Class (PBC), which utilizes a small number of fully annotated CXRs with lesion-level bounding boxes and extensive weakly annotated samples by points. Such a point annotation setting can provide weakly instance-level information for abnormality localization with a marginal annotation cost. Particularly, the core idea behind our PBC is to learn a robust and accurate mapping from the point annotations to the bounding boxes against the variance of annotated points. To achieve that, a regularization term, namely multi-point consistency, is proposed, which drives the model to generate the consistent bounding box from different point annotations inside the same abnormality. Furthermore, a self-supervision, termed symmetric consistency, is also proposed to deeply exploit the useful information from the weakly annotated data for abnormality localization. Experimental results on RSNA and VinDr-CXR datasets justify the effectiveness of the proposed method. When less than 20% box-level labels are used for training, an improvement of ~5 in mAP can be achieved by our PBC, compared to the current state-of-the-art method (i.e., Point DETR). Code is available at https://github.com/HaozheLiu-ST/Point-Beyond-Class.
Deep neural networks have become prevalent in human analysis, boosting the performance of applications, such as biometric recognition, action recognition, as well as person re-identification. However, the performance of such networks scales with the available training data. In human analysis, the demand for large-scale datasets poses a severe challenge, as data collection is tedious, time-expensive, costly and must comply with data protection laws. Current research investigates the generation of \textit{synthetic data} as an efficient and privacy-ensuring alternative to collecting real data in the field. This survey introduces the basic definitions and methodologies, essential when generating and employing synthetic data for human analysis. We conduct a survey that summarises current state-of-the-art methods and the main benefits of using synthetic data. We also provide an overview of publicly available synthetic datasets and generation models. Finally, we discuss limitations, as well as open research problems in this field. This survey is intended for researchers and practitioners in the field of human analysis.