For safety-related applications, it is crucial to produce trustworthy deep neural networks whose prediction is associated with confidence that can represent the likelihood of correctness for subsequent decision-making. Existing dense binary classification models are prone to being over-confident. To improve model calibration, we propose Adaptive Stochastic Label Perturbation (ASLP) which learns a unique label perturbation level for each training image. ASLP employs our proposed Self-Calibrating Binary Cross Entropy (SC-BCE) loss, which unifies label perturbation processes including stochastic approaches (like DisturbLabel), and label smoothing, to correct calibration while maintaining classification rates. ASLP follows Maximum Entropy Inference of classic statistical mechanics to maximise prediction entropy with respect to missing information. It performs this while: (1) preserving classification accuracy on known data as a conservative solution, or (2) specifically improves model calibration degree by minimising the gap between the prediction accuracy and expected confidence of the target training label. Extensive results demonstrate that ASLP can significantly improve calibration degrees of dense binary classification models on both in-distribution and out-of-distribution data. The code is available on //github.com/Carlisle-Liu/ASLP.
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With the advancing technology, the hardware gain of computers and the increase in the processing capacity of processors have facilitated the processing of instantaneous and real-time images. Face recognition processes are also studies in the field of image processing. Facial recognition processes are frequently used in security applications and commercial applications. Especially in the last 20 years, the high performances of artificial intelligence (AI) studies have contributed to the spread of these studies in many different fields. Education is one of them. The potential and advantages of using AI in education; can be grouped under three headings: student, teacher, and institution. One of the institutional studies may be the security of educational environments and the contribution of automation to education and training processes. From this point of view, deep learning methods, one of the sub-branches of AI, were used in this study. For object detection from images, a pioneering study has been designed and successfully implemented to keep records of students' entrance to the educational institution and to perform class attendance with images taken from the camera using image processing algorithms. The application of the study to real-life problems will be carried out in a school determined in the 2022-2023 academic year.
The representations of neural networks are often compared to those of biological systems by performing regression between the neural network responses and those measured from biological systems. Many different state-of-the-art deep neural networks yield similar neural predictions, but it remains unclear how to differentiate among models that perform equally well at predicting neural responses. To gain insight into this, we use a recent theoretical framework that relates the generalization error from regression to the spectral bias of the model activations and the alignment of the neural responses onto the learnable subspace of the model. We extend this theory to the case of regression between model activations and neural responses, and define geometrical properties describing the error embedding geometry. We test a large number of deep neural networks that predict visual cortical activity and show that there are multiple types of geometries that result in low neural prediction error as measured via regression. The work demonstrates that carefully decomposing representational metrics can provide interpretability of how models are capturing neural activity and points the way towards improved models of neural activity.
Despite the recent success in data-driven fault diagnosis of rotating machines, there are still remaining challenges in this field. Among the issues to be addressed, is the lack of information about variety of faults the system may encounter in the field. In this paper, we assume a partial knowledge of the system faults and use the corresponding data to train a convolutional neural network. A combination of t-SNE method and clustering techniques is then employed to detect novel faults. Upon detection, the network is augmented using the new data. Finally, a test setup is used to validate this two-stage methodology on a centrifugal pump and experimental results show high accuracy in detecting novel faults.
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.
Human following is a crucial feature of human-robot interaction, yet it poses numerous challenges to mobile agents in real-world scenarios. Some major hurdles are that the target person may be in a crowd, obstructed by others, or facing away from the agent. To tackle these challenges, we present a novel person re-identification module composed of three parts: a 360-degree visual registration, a neural-based person re-identification using human faces and torsos, and a motion tracker that records and predicts the target person's future position. Our human-following system also addresses other challenges, including identifying fast-moving targets with low latency, searching for targets that move out of the camera's sight, collision avoidance, and adaptively choosing different following mechanisms based on the distance between the target person and the mobile agent. Extensive experiments show that our proposed person re-identification module significantly enhances the human-following feature compared to other baseline variants.
Modern agile software projects are subject to constant change, making it essential to re-asses overall delay risk throughout the project life cycle. Existing effort estimation models are static and not able to incorporate changes occurring during project execution. In this paper, we propose a dynamic model for continuously predicting overall delay using delay patterns and Bayesian modeling. The model incorporates the context of the project phase and learns from changes in team performance over time. We apply the approach to real-world data from 4,040 epics and 270 teams at ING. An empirical evaluation of our approach and comparison to the state-of-the-art demonstrate significant improvements in predictive accuracy. The dynamic model consistently outperforms static approaches and the state-of-the-art, even during early project phases.
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot performance. Previous research of joint input and state estimation separately studied the continuous and discrete cases without any prior information. This paper combines the continuous and discrete input cases into a unified theory based on the Expectation-Maximum (EM) algorithm. By introducing prior knowledge of events as the constraint, inequality optimization problems are formulated to determine a gain matrix or dynamic weights to realize an optimal input estimation with lower variance and more accurate decision-making. Finally, statistical results from experiments show that our algorithm owns 81\% improvement of the variance than KF and 47\% improvement than RKF in continuous space; a remarkable improvement of right decision-making probability of our input estimator in discrete space, identification ability is also analyzed by experiments.
The study of complex networks has significantly advanced our understanding of community structures which serves as a crucial feature of real-world graphs. Detecting communities in graphs is a challenging problem with applications in sociology, biology, and computer science. Despite the efforts of an interdisciplinary community of scientists, a satisfactory solution to this problem has not yet been achieved. This review article delves into the topic of community detection in graphs, which serves as a crucial role in understanding the organization and functioning of complex systems. We begin by introducing the concept of community structure, which refers to the arrangement of vertices into clusters, with strong internal connections and weaker connections between clusters. Then, we provide a thorough exposition of various community detection methods, including a new method designed by us. Additionally, we explore real-world applications of community detection in diverse networks. In conclusion, this comprehensive review provides a deep understanding of community detection in graphs. It serves as a valuable resource for researchers and practitioners in multiple disciplines, offering insights into the challenges, methodologies, and applications of community detection in complex networks.
Access to online data has long been important for law enforcement agencies in their collection of electronic evidence and investigation of crimes. These activities have also long involved cross-border investigations and international cooperation between agencies and jurisdictions. However, technological advances such as cloud computing have complicated the investigations and cooperation arrangements. Therefore, several new laws have been passed and proposed both in the United States and the European Union for facilitating cross-border crime investigations in the context of cloud computing. These new laws and proposals have also brought many new legal challenges and controversies regarding extraterritoriality, data protection, privacy, and surveillance. With these challenges in mind and with a focus on Europe, this paper reviews the recent trends and policy initiatives for cross-border data access by law enforcement agencies.
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic deformation by adhering to the governing physical constraints and allowing for model prediction and control. However, real soft objects in robotic surgery, such as membranes and soft tissues, have complex, anisotropic physical parameters that a simulation with simple initialization from cameras may not fully capture. To use the simulation techniques in real surgical tasks, the "real-to-sim" gap needs to be properly compensated. In this work, we propose an online, adaptive parameter tuning approach for simulation optimization that (1) bridges the real-to-sim gap between a physics simulation and observations obtained 3D perceptions through estimating a residual mapping and (2) optimizes its stiffness parameters online. Our method ensures a small residual gap between the simulation and observation and improves the simulation's predictive capabilities. The effectiveness of the proposed mechanism is evaluated in the manipulation of both a thin-shell and volumetric tissue, representative of most tissue scenarios. This work contributes to the advancement of simulation-based deformable tissue manipulation and holds potential for improving surgical autonomy.
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