Gesture Controlled Robot For Human Detection

It is very important to locate survivors from collapsed buildings so that rescue operations can be arranged. Many lives are lost due to lack of competent systems to detect people in these collapsed buildings at the right time. So here we have designed a hand gesture controlled robot which is capable of detecting humans under these collapsed building parts. The proposed work can be used to access specific locations that are not humanly possible, and detect those humans trapped under the rubble of collapsed buildings. This information is then used to notify the rescue team to take adequate measures and initiate rescue operations accordingly.

An Algorithm for Streaming Differentially Private Data

Much of the research in differential privacy has focused on offline applications with the assumption that all data is available at once. When these algorithms are applied in practice to streams where data is collected over time, this either violates the privacy guarantees or results in poor utility. We derive an algorithm for differentially private synthetic streaming data generation, especially curated towards spatial datasets. Furthermore, we provide a general framework for online selective counting among a collection of queries which forms a basis for many tasks such as query answering and synthetic data generation. The utility of our algorithm is verified on both real-world and simulated datasets.

Particle-MALA and Particle-mGRAD: Gradient-based MCMC methods for high-dimensional state-space models

State-of-the-art methods for Bayesian inference in state-space models are (a) conditional sequential Monte Carlo (CSMC) algorithms; (b) sophisticated 'classical' MCMC algorithms like MALA, or mGRAD from Titsias and Papaspiliopoulos (2018, arXiv:1610.09641v3 [stat.ML]). The former propose $N$ particles at each time step to exploit the model's 'decorrelation-over-time' property and thus scale favourably with the time horizon, $T$ , but break down if the dimension of the latent states, $D$, is large. The latter leverage gradient-/prior-informed local proposals to scale favourably with $D$ but exhibit sub-optimal scalability with $T$ due to a lack of model-structure exploitation. We introduce methods which combine the strengths of both approaches. The first, Particle-MALA, spreads $N$ particles locally around the current state using gradient information, thus extending MALA to $T > 1$ time steps and $N > 1$ proposals. The second, Particle-mGRAD, additionally incorporates (conditionally) Gaussian prior dynamics into the proposal, thus extending the mGRAD algorithm to $T > 1$ time steps and $N > 1$ proposals. We prove that Particle-mGRAD interpolates between CSMC and Particle-MALA, resolving the 'tuning problem' of choosing between CSMC (superior for highly informative prior dynamics) and Particle-MALA (superior for weakly informative prior dynamics). We similarly extend other 'classical' MCMC approaches like auxiliary MALA, aGRAD, and preconditioned Crank-Nicolson-Langevin (PCNL) to $T > 1$ time steps and $N > 1$ proposals. In experiments, for both highly and weakly informative prior dynamics, our methods substantially improve upon both CSMC and sophisticated 'classical' MCMC approaches.

Domain adaptation strategies for 3D reconstruction of the lumbar spine using real fluoroscopy data

This study tackles key obstacles in adopting surgical navigation in orthopedic surgeries, including time, cost, radiation, and workflow integration challenges. Recently, our work X23D showed an approach for generating 3D anatomical models of the spine from only a few intraoperative fluoroscopic images. This negates the need for conventional registration-based surgical navigation by creating a direct intraoperative 3D reconstruction of the anatomy. Despite these strides, the practical application of X23D has been limited by a domain gap between synthetic training data and real intraoperative images. In response, we devised a novel data collection protocol for a paired dataset consisting of synthetic and real fluoroscopic images from the same perspectives. Utilizing this dataset, we refined our deep learning model via transfer learning, effectively bridging the domain gap between synthetic and real X-ray data. A novel style transfer mechanism also allows us to convert real X-rays to mirror the synthetic domain, enabling our in-silico-trained X23D model to achieve high accuracy in real-world settings. Our results demonstrated that the refined model can rapidly generate accurate 3D reconstructions of the entire lumbar spine from as few as three intraoperative fluoroscopic shots. It achieved an 84% F1 score, matching the accuracy of our previous synthetic data-based research. Additionally, with a computational time of only 81.1 ms, our approach provides real-time capabilities essential for surgery integration. Through examining ideal imaging setups and view angle dependencies, we've further confirmed our system's practicality and dependability in clinical settings. Our research marks a significant step forward in intraoperative 3D reconstruction, offering enhancements to surgical planning, navigation, and robotics.

Efficient Data-Driven MPC for Demand Response of Commercial Buildings

Model predictive control (MPC) has been shown to significantly improve the energy efficiency of buildings while maintaining thermal comfort. Data-driven approaches based on neural networks have been proposed to facilitate system modelling. However, such approaches are generally nonconvex and result in computationally intractable optimization problems. In this work, we design a readily implementable energy management method for small commercial buildings. We then leverage our approach to formulate a real-time demand bidding strategy. We propose a data-driven and mixed-integer convex MPC which is solved via derivative-free optimization given a limited computational time of 5 minutes to respect operational constraints. We consider rooftop unit heating, ventilation, and air conditioning systems with discrete controls to accurately model the operation of most commercial buildings. Our approach uses an input convex recurrent neural network to model the thermal dynamics. We apply our approach in several demand response (DR) settings, including a demand bidding, a time-of-use, and a critical peak rebate program. Controller performance is evaluated on a state-of-the-art building simulation. The proposed approach improves thermal comfort while reducing energy consumption and cost through DR participation, when compared to other data-driven approaches or a set-point controller.

Long-Term Typhoon Trajectory Prediction: A Physics-Conditioned Approach Without Reanalysis Data

In the face of escalating climate changes, typhoon intensities and their ensuing damage have surged. Accurate trajectory prediction is crucial for effective damage control. Traditional physics-based models, while comprehensive, are computationally intensive and rely heavily on the expertise of forecasters. Contemporary data-driven methods often rely on reanalysis data, which can be considered to be the closest to the true representation of weather conditions. However, reanalysis data is not produced in real-time and requires time for adjustment because prediction models are calibrated with observational data. This reanalysis data, such as ERA5, falls short in challenging real-world situations. Optimal preparedness necessitates predictions at least 72 hours in advance, beyond the capabilities of standard physics models. In response to these constraints, we present an approach that harnesses real-time Unified Model (UM) data, sidestepping the limitations of reanalysis data. Our model provides predictions at 6-hour intervals for up to 72 hours in advance and outperforms both state-of-the-art data-driven methods and numerical weather prediction models. In line with our efforts to mitigate adversities inflicted by \rthree{typhoons}, we release our preprocessed \textit{PHYSICS TRACK} dataset, which includes ERA5 reanalysis data, typhoon best-track, and UM forecast data.

Framework for Variable-lag Motif Following Relation Inference In Time Series using Matrix Profile analysis

Knowing who follows whom and what patterns they are following are crucial steps to understand collective behaviors (e.g. a group of human, a school of fish, or a stock market). Time series is one of resources that can be used to get insight regarding following relations. However, the concept of following patterns or motifs and the solution to find them in time series are not obvious. In this work, we formalize a concept of following motifs between two time series and present a framework to infer following patterns between two time series. The framework utilizes one of efficient and scalable methods to retrieve motifs from time series called the Matrix Profile Method. We compare our proposed framework with several baselines. The framework performs better than baselines in the simulation datasets. In the dataset of sound recording, the framework is able to retrieve the following motifs within a pair of time series that two singers sing following each other. In the cryptocurrency dataset, the framework is capable of capturing the following motifs within a pair of time series from two digital currencies, which implies that the values of one currency follow the values of another currency patterns. Our framework can be utilized in any field of time series to get insight regarding following patterns between time series.

IGNITE: Individualized GeNeration of Imputations in Time-series Electronic health records

Electronic Health Records present a valuable modality for driving personalized medicine, where treatment is tailored to fit individual-level differences. For this purpose, many data-driven machine learning and statistical models rely on the wealth of longitudinal EHRs to study patients' physiological and treatment effects. However, longitudinal EHRs tend to be sparse and highly missing, where missingness could also be informative and reflect the underlying patient's health status. Therefore, the success of data-driven models for personalized medicine highly depends on how the EHR data is represented from physiological data, treatments, and the missing values in the data. To this end, we propose a novel deep-learning model that learns the underlying patient dynamics over time across multivariate data to generate personalized realistic values conditioning on an individual's demographic characteristics and treatments. Our proposed model, IGNITE (Individualized GeNeration of Imputations in Time-series Electronic health records), utilises a conditional dual-variational autoencoder augmented with dual-stage attention to generate missing values for an individual. In IGNITE, we further propose a novel individualized missingness mask (IMM), which helps our model generate values based on the individual's observed data and missingness patterns. We further extend the use of IGNITE from imputing missingness to a personalized data synthesizer, where it generates missing EHRs that were never observed prior or even generates new patients for various applications. We validate our model on three large publicly available datasets and show that IGNITE outperforms state-of-the-art approaches in missing data reconstruction and task prediction.

Hybrid Quantum Vision Transformers for Event Classification in High Energy Physics

Models based on vision transformer architectures are considered state-of-the-art when it comes to image classification tasks. However, they require extensive computational resources both for training and deployment. The problem is exacerbated as the amount and complexity of the data increases. Quantum-based vision transformer models could potentially alleviate this issue by reducing the training and operating time while maintaining the same predictive power. Although current quantum computers are not yet able to perform high-dimensional tasks yet, they do offer one of the most efficient solutions for the future. In this work, we construct several variations of a quantum hybrid vision transformer for a classification problem in high energy physics (distinguishing photons and electrons in the electromagnetic calorimeter). We test them against classical vision transformer architectures. Our findings indicate that the hybrid models can achieve comparable performance to their classical analogues with a similar number of parameters.

BootsTAP: Bootstrapped Training for Tracking-Any-Point

To endow models with greater understanding of physics and motion, it is useful to enable them to perceive how solid surfaces move and deform in real scenes. This can be formalized as Tracking-Any-Point (TAP), which requires the algorithm to be able to track any point corresponding to a solid surface in a video, potentially densely in space and time. Large-scale ground-truth training data for TAP is only available in simulation, which currently has limited variety of objects and motion. In this work, we demonstrate how large-scale, unlabeled, uncurated real-world data can improve a TAP model with minimal architectural changes, using a self-supervised student-teacher setup. We demonstrate state-of-the-art performance on the TAP-Vid benchmark surpassing previous results by a wide margin: for example, TAP-Vid-DAVIS performance improves from 61.3% to 66.4%, and TAP-Vid-Kinetics from 57.2% to 61.5%.