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Anomaly Detection in multivariate time series is a major problem in many fields. Due to their nature, anomalies sparsely occur in real data, thus making the task of anomaly detection a challenging problem for classification algorithms to solve. Methods that are based on Deep Neural Networks such as LSTM, Autoencoders, Convolutional Autoencoders etc., have shown positive results in such imbalanced data. However, the major challenge that algorithms face when applied to multivariate time series is that the anomaly can arise from a small subset of the feature set. To boost the performance of these base models, we propose a feature-bagging technique that considers only a subset of features at a time, and we further apply a transformation that is based on nested rotation computed from Principal Component Analysis (PCA) to improve the effectiveness and generalization of the approach. To further enhance the prediction performance, we propose an ensemble technique that combines multiple base models toward the final decision. In addition, a semi-supervised approach using a Logistic Regressor to combine the base models' outputs is proposed. The proposed methodology is applied to the Skoltech Anomaly Benchmark (SKAB) dataset, which contains time series data related to the flow of water in a closed circuit, and the experimental results show that the proposed ensemble technique outperforms the basic algorithms. More specifically, the performance improvement in terms of anomaly detection accuracy reaches 2% for the unsupervised and at least 10% for the semi-supervised models.

The concept of the federated Cloud-Edge-IoT continuum promises to alleviate many woes of current systems, improving resource use, energy efficiency, quality of service, and more. However, this continuum is still far from being realized in practice, with no comprehensive solutions for developing, deploying, and managing continuum-native applications. Breakthrough innovations and novel system architectures are needed to cope with the ever-increasing heterogeneity and the multi-stakeholder nature of computing resources. This work proposes a novel architecture for choreographing workloads in the continuum, attempting to address these challenges. The architecture that tackles this issue comprehensively, spanning from the workloads themselves, through networking and data exchange, up to the orchestration and choreography mechanisms. The concept emphasizes the use of varied AI techniques, enabling autonomous and intelligent management of resources and workloads. Open standards are also a key part of the proposition, making it possible to fully engage third parties in multi-stakeholder scenarios. Although the presented architecture is promising, much work is required to realize it in practice. To this end, the key directions for future research are outlined.

Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the Forward Kinematics (FK) and its inverse in the linear approximation of the IK. Despite all the successful implementations reported in the literature, Jacobian-based IK methods can still fail to preserve certain useful properties if an improper matrix inverse, e.g. Moore-Penrose (MP), is employed for incommensurate robotic systems. In this paper, we propose a systematic, robust and accurate numerical solution for the IK problem using the Mixed (MX) Generalized Inverse (GI) applied to any type of Jacobians (e.g., analytical, numerical or geometric) derived for any commensurate and incommensurate robot. This approach is robust to whether the system is under-determined (less than 6 DoF) or over-determined (more than 6 DoF). We investigate six robotics manipulators with various Degrees of Freedom (DoF) to demonstrate that commonly used GI's fail to guarantee the same system behaviors when the units are varied for incommensurate robotics manipulators. In addition, we evaluate the proposed methodology as a global IK solver and compare against well-known IK methods for redundant manipulators. Based on the experimental results, we conclude that the right choice of GI is crucial in preserving certain properties of the system (i.e. unit-consistency).

The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we present different types of controllers for the nonlinear dynamical system of quadrotor and pendulum combination, utilizing feedback-linearization and control Lyapunov function with quadratic programming (CLF-QP) approaches. We demonstrated trajectory tracking for quadrotor-only case as well as quadrotor-pendulum-combined case.

We consider the problem of estimating the false-/ true-positive-rate (FPR/TPR) for a binary classification model when there are incorrect labels (label noise) in the validation set. Our motivating application is fraud prevention where accurate estimates of FPR are critical to preserving the experience for good customers, and where label noise is highly asymmetric. Existing methods seek to minimize the total error in the cleaning process - to avoid cleaning examples that are not noise, and to ensure cleaning of examples that are. This is an important measure of accuracy but insufficient to guarantee good estimates of the true FPR or TPR for a model, and we show that using the model to directly clean its own validation data leads to underestimates even if total error is low. This indicates a need for researchers to pursue methods that not only reduce total error but also seek to de-correlate cleaning error with model scores.

We explore the information geometry and asymptotic behaviour of estimators for Kronecker-structured covariances, in both growing-$n$ and growing-$p$ scenarios, with a focus towards examining the quadratic form or partial trace estimator proposed by Linton and Tang. It is shown that the partial trace estimator is asymptotically inefficient An explanation for this inefficiency is that the partial trace estimator does not scale sub-blocks of the sample covariance matrix optimally. To correct for this, an asymptotically efficient, rescaled partial trace estimator is proposed. Motivated by this rescaling, we introduce an orthogonal parameterization for the set of Kronecker covariances. High-dimensional consistency results using the partial trace estimator are obtained that demonstrate a blessing of dimensionality. In settings where an array has at least order three, it is shown that as the array dimensions jointly increase, it is possible to consistently estimate the Kronecker covariance matrix, even when the sample size is one.

The Fourth Industrial Revolution, particularly Artificial Intelligence (AI), has had a profound impact on society, raising concerns about its implications and ethical considerations. The emergence of text generative AI tools like ChatGPT has further intensified concerns regarding ethics, security, privacy, and copyright. This study aims to examine the perceptions of individuals in different information flow categorizations toward AI. The results reveal key themes in participant-supplied definitions of AI and the fourth industrial revolution, emphasizing the replication of human intelligence, machine learning, automation, and the integration of digital technologies. Participants expressed concerns about job replacement, privacy invasion, and inaccurate information provided by AI. However, they also recognized the benefits of AI, such as solving complex problems and increasing convenience. Views on government involvement in shaping the fourth industrial revolution varied, with some advocating for strict regulations and others favoring support and development. The anticipated changes brought by the fourth industrial revolution include automation, potential job impacts, increased social disconnect, and reliance on technology. Understanding these perceptions is crucial for effectively managing the challenges and opportunities associated with AI in the evolving digital landscape.

Explainable Artificial Intelligence (XAI) is transforming the field of Artificial Intelligence (AI) by enhancing the trust of end-users in machines. As the number of connected devices keeps on growing, the Internet of Things (IoT) market needs to be trustworthy for the end-users. However, existing literature still lacks a systematic and comprehensive survey work on the use of XAI for IoT. To bridge this lacking, in this paper, we address the XAI frameworks with a focus on their characteristics and support for IoT. We illustrate the widely-used XAI services for IoT applications, such as security enhancement, Internet of Medical Things (IoMT), Industrial IoT (IIoT), and Internet of City Things (IoCT). We also suggest the implementation choice of XAI models over IoT systems in these applications with appropriate examples and summarize the key inferences for future works. Moreover, we present the cutting-edge development in edge XAI structures and the support of sixth-generation (6G) communication services for IoT applications, along with key inferences. In a nutshell, this paper constitutes the first holistic compilation on the development of XAI-based frameworks tailored for the demands of future IoT use cases.

Graph Convolutional Networks (GCNs) have been widely applied in various fields due to their significant power on processing graph-structured data. Typical GCN and its variants work under a homophily assumption (i.e., nodes with same class are prone to connect to each other), while ignoring the heterophily which exists in many real-world networks (i.e., nodes with different classes tend to form edges). Existing methods deal with heterophily by mainly aggregating higher-order neighborhoods or combing the immediate representations, which leads to noise and irrelevant information in the result. But these methods did not change the propagation mechanism which works under homophily assumption (that is a fundamental part of GCNs). This makes it difficult to distinguish the representation of nodes from different classes. To address this problem, in this paper we design a novel propagation mechanism, which can automatically change the propagation and aggregation process according to homophily or heterophily between node pairs. To adaptively learn the propagation process, we introduce two measurements of homophily degree between node pairs, which is learned based on topological and attribute information, respectively. Then we incorporate the learnable homophily degree into the graph convolution framework, which is trained in an end-to-end schema, enabling it to go beyond the assumption of homophily. More importantly, we theoretically prove that our model can constrain the similarity of representations between nodes according to their homophily degree. Experiments on seven real-world datasets demonstrate that this new approach outperforms the state-of-the-art methods under heterophily or low homophily, and gains competitive performance under homophily.

While it is nearly effortless for humans to quickly assess the perceptual similarity between two images, the underlying processes are thought to be quite complex. Despite this, the most widely used perceptual metrics today, such as PSNR and SSIM, are simple, shallow functions, and fail to account for many nuances of human perception. Recently, the deep learning community has found that features of the VGG network trained on the ImageNet classification task has been remarkably useful as a training loss for image synthesis. But how perceptual are these so-called "perceptual losses"? What elements are critical for their success? To answer these questions, we introduce a new Full Reference Image Quality Assessment (FR-IQA) dataset of perceptual human judgments, orders of magnitude larger than previous datasets. We systematically evaluate deep features across different architectures and tasks and compare them with classic metrics. We find that deep features outperform all previous metrics by huge margins. More surprisingly, this result is not restricted to ImageNet-trained VGG features, but holds across different deep architectures and levels of supervision (supervised, self-supervised, or even unsupervised). Our results suggest that perceptual similarity is an emergent property shared across deep visual representations.