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Detection of small, undetermined moving objects or objects in an occluded environment with a cluttered background is the main problem of computer vision. This greatly affects the detection accuracy of deep learning models. To overcome these problems, we concentrate on deep learning models for real-time detection of cars and tanks in an occluded environment with a cluttered background employing SSD and YOLO algorithms and improved precision of detection and reduce problems faced by these models. The developed method makes the custom dataset and employs a preprocessing technique to clean the noisy dataset. For training the developed model we apply the data augmentation technique to balance and diversify the data. We fine-tuned, trained, and evaluated these models on the established dataset by applying these techniques and highlighting the results we got more accurately than without applying these techniques. The accuracy and frame per second of the SSD-Mobilenet v2 model are higher than YOLO V3 and YOLO V4. Furthermore, by employing various techniques like data enhancement, noise reduction, parameter optimization, and model fusion we improve the effectiveness of detection and recognition. We further added a counting algorithm, and target attributes experimental comparison, and made a graphical user interface system for the developed model with features of object counting, alerts, status, resolution, and frame per second. Subsequently, to justify the importance of the developed method analysis of YOLO V3, V4, and SSD were incorporated. Which resulted in the overall completion of the proposed method.

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ACM/IEEE第23屆模型驅動工程語言和系統國際會議,是模型驅動軟件和系統工程的首要會議系列,由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來,模型涵蓋了建模的各個方面,從語言和方法到工具和應用程序。模特的參加者來自不同的背景,包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇,參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會,并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。 官網鏈接: · Networking · 線性的 · 控制器 · 有向 ·
2024 年 2 月 15 日

Robotic manipulation of deformable linear objects (DLOs) is an active area of research, though emerging applications, like automotive wire harness installation, introduce constraints that have not been considered in prior work. Confined workspaces and limited visibility complicate prior assumptions of multi-robot manipulation and direct measurement of DLO configuration (state). This work focuses on single-arm manipulation of stiff DLOs (StDLOs) connected to form a DLO network (DLON), for which the measurements (output) are the endpoint poses of the DLON, which are subject to unknown dynamics during manipulation. To demonstrate feasibility of output-based control without state estimation, direct input-output dynamics are shown to exist by training neural network models on simulated trajectories. Output dynamics are then approximated with polynomials and found to contain well-known rigid body dynamics terms. A composite model consisting of a rigid body model and an online data-driven residual is developed, which predicts output dynamics more accurately than either model alone, and without prior experience with the system. An adaptive model predictive controller is developed with the composite model for DLON manipulation, which completes DLON installation tasks, both in simulation and with a physical automotive wire harness.

A vital aspect of Indian Classical Music (ICM) is Raga, which serves as a melodic framework for compositions and improvisations alike. Raga Recognition is an important music information retrieval task in ICM as it can aid numerous downstream applications ranging from music recommendations to organizing huge music collections. In this work, we propose a deep learning based approach to Raga recognition. Our approach employs efficient pre possessing and learns temporal sequences in music data using Long Short Term Memory based Recurrent Neural Networks (LSTM-RNN). We train and test the network on smaller sequences sampled from the original audio while the final inference is performed on the audio as a whole. Our method achieves an accuracy of 88.1% and 97 % during inference on the Comp Music Carnatic dataset and its 10 Raga subset respectively making it the state-of-the-art for the Raga recognition task. Our approach also enables sequence ranking which aids us in retrieving melodic patterns from a given music data base that are closely related to the presented query sequence.

The potential of Machine Learning Control (MLC) in HVAC systems is hindered by its opaque nature and inference mechanisms, which is challenging for users and modelers to fully comprehend, ultimately leading to a lack of trust in MLC-based decision-making. To address this challenge, this paper investigates and explores Interpretable Machine Learning (IML), a branch of Machine Learning (ML) that enhances transparency and understanding of models and their inferences, to improve the credibility of MLC and its industrial application in HVAC systems. Specifically, we developed an innovative framework that combines the principles of Shapley values and the in-context learning feature of Large Language Models (LLMs). While the Shapley values are instrumental in dissecting the contributions of various features in ML models, LLM provides an in-depth understanding of rule-based parts in MLC; combining them, LLM further packages these insights into a coherent, human-understandable narrative. The paper presents a case study to demonstrate the feasibility of the developed IML framework for model predictive control-based precooling under demand response events in a virtual testbed. The results indicate that the developed framework generates and explains the control signals in accordance with the rule-based rationale.

Mega-constellations of small satellites have evolved into a source of massive amount of valuable data. To manage this data efficiently, on-board federated learning (FL) enables satellites to train a machine learning (ML) model collaboratively without having to share the raw data. This paper introduces a scheme for scheduling on-board FL for constellations connected with intra-orbit inter-satellite links. The proposed scheme utilizes the predictable visibility pattern between satellites and ground station (GS), both at the individual satellite level and cumulatively within the entire orbit, to mitigate intermittent connectivity and best use of available time. To this end, two distinct schedulers are employed: one for coordinating the FL procedures among orbits, and the other for controlling those within each orbit. These two schedulers cooperatively determine the appropriate time to perform global updates in GS and then allocate suitable duration to satellites within each orbit for local training, proportional to usable time until next global update. This scheme leads to improved test accuracy within a shorter time.

Due to statistical lower bounds on the learnability of many function classes under privacy constraints, there has been recent interest in leveraging public data to improve the performance of private learning algorithms. In this model, algorithms must always guarantee differential privacy with respect to the private samples while also ensuring learning guarantees when the private data distribution is sufficiently close to that of the public data. Previous work has demonstrated that when sufficient public, unlabelled data is available, private learning can be made statistically tractable, but the resulting algorithms have all been computationally inefficient. In this work, we present the first computationally efficient, algorithms to provably leverage public data to learn privately whenever a function class is learnable non-privately, where our notion of computational efficiency is with respect to the number of calls to an optimization oracle for the function class. In addition to this general result, we provide specialized algorithms with improved sample complexities in the special cases when the function class is convex or when the task is binary classification.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing algorithms learn robust policies by modeling the disturbance and applying it to source environments during training, which usually requires prior knowledge about the disturbance and control of simulators. However, these algorithms can fail in scenarios where the disturbance from target environments is unknown or is intractable to model in simulators. To tackle this problem, we propose a novel model-free actor-critic algorithm -- namely, state-conservative policy optimization (SCPO) -- to learn robust policies without modeling the disturbance in advance. Specifically, SCPO reduces the disturbance in transition dynamics to that in state space and then approximates it by a simple gradient-based regularizer. The appealing features of SCPO include that it is simple to implement and does not require additional knowledge about the disturbance or specially designed simulators. Experiments in several robot control tasks demonstrate that SCPO learns robust policies against the disturbance in transition dynamics.

The accurate and interpretable prediction of future events in time-series data often requires the capturing of representative patterns (or referred to as states) underpinning the observed data. To this end, most existing studies focus on the representation and recognition of states, but ignore the changing transitional relations among them. In this paper, we present evolutionary state graph, a dynamic graph structure designed to systematically represent the evolving relations (edges) among states (nodes) along time. We conduct analysis on the dynamic graphs constructed from the time-series data and show that changes on the graph structures (e.g., edges connecting certain state nodes) can inform the occurrences of events (i.e., time-series fluctuation). Inspired by this, we propose a novel graph neural network model, Evolutionary State Graph Network (EvoNet), to encode the evolutionary state graph for accurate and interpretable time-series event prediction. Specifically, Evolutionary State Graph Network models both the node-level (state-to-state) and graph-level (segment-to-segment) propagation, and captures the node-graph (state-to-segment) interactions over time. Experimental results based on five real-world datasets show that our approach not only achieves clear improvements compared with 11 baselines, but also provides more insights towards explaining the results of event predictions.

Incompleteness is a common problem for existing knowledge graphs (KGs), and the completion of KG which aims to predict links between entities is challenging. Most existing KG completion methods only consider the direct relation between nodes and ignore the relation paths which contain useful information for link prediction. Recently, a few methods take relation paths into consideration but pay less attention to the order of relations in paths which is important for reasoning. In addition, these path-based models always ignore nonlinear contributions of path features for link prediction. To solve these problems, we propose a novel KG completion method named OPTransE. Instead of embedding both entities of a relation into the same latent space as in previous methods, we project the head entity and the tail entity of each relation into different spaces to guarantee the order of relations in the path. Meanwhile, we adopt a pooling strategy to extract nonlinear and complex features of different paths to further improve the performance of link prediction. Experimental results on two benchmark datasets show that the proposed model OPTransE performs better than state-of-the-art methods.

Named entity recognition (NER) is the task to identify text spans that mention named entities, and to classify them into predefined categories such as person, location, organization etc. NER serves as the basis for a variety of natural language applications such as question answering, text summarization, and machine translation. Although early NER systems are successful in producing decent recognition accuracy, they often require much human effort in carefully designing rules or features. In recent years, deep learning, empowered by continuous real-valued vector representations and semantic composition through nonlinear processing, has been employed in NER systems, yielding stat-of-the-art performance. In this paper, we provide a comprehensive review on existing deep learning techniques for NER. We first introduce NER resources, including tagged NER corpora and off-the-shelf NER tools. Then, we systematically categorize existing works based on a taxonomy along three axes: distributed representations for input, context encoder, and tag decoder. Next, we survey the most representative methods for recent applied techniques of deep learning in new NER problem settings and applications. Finally, we present readers with the challenges faced by NER systems and outline future directions in this area.

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