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In this work we present a novel bulk-surface virtual element method (BSVEM) for the numerical approximation of elliptic bulk-surface partial differential equations (BSPDEs) in three space dimensions. The BSVEM is based on the discretisation of the bulk domain into polyhedral elements with arbitrarily many faces. The polyhedral approximation of the bulk induces a polygonal approximation of the surface. Firstly, we present a geometric error analysis of bulk-surface polyhedral meshes independent of the numerical method. Hence, we show that BSVEM has optimal second-order convergence in space, provided the exact solution is $H^{2+3/4}$ in the bulk and $H^2$ on the surface, where the additional $\frac{3}{4}$ is due to the combined effect of surface curvature and polyhedral elements close to the boundary. We show that general polyhedra can be exploited to reduce the computational time of the matrix assembly. To support our convergence results, a numerical example is presented which demonstrates optimal convergence of an elliptic BSPDE in three space dimensions.

Deep Neural Networks (DNNs) are often criticized for being susceptible to adversarial attacks. Most successful defense strategies adopt adversarial training or random input transformations that typically require retraining or fine-tuning the model to achieve reasonable performance. In this work, our investigations of intermediate representations of a pre-trained DNN lead to an interesting discovery pointing to intrinsic robustness to adversarial attacks. We find that we can learn a generative classifier by statistically characterizing the neural response of an intermediate layer to clean training samples. The predictions of multiple such intermediate-layer based classifiers, when aggregated, show unexpected robustness to adversarial attacks. Specifically, we devise an ensemble of these generative classifiers that rank-aggregates their predictions via a Borda count-based consensus. Our proposed approach uses a subset of the clean training data and a pre-trained model, and yet is agnostic to network architectures or the adversarial attack generation method. We show extensive experiments to establish that our defense strategy achieves state-of-the-art performance on the ImageNet validation set.

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding environment perception. Modern perception systems feature complex and often machine-learning-based components with various failure modes that can jeopardize the overall safety. At the same time, a verification by for example redundant execution is not always feasible due to resource constraints. In this paper, we address the need for feasible and efficient perception monitors and propose a lightweight approach that helps to protect the integrity of the perception system while keeping the additional compute overhead minimal. In contrast to existing solutions, the monitor is realized by a well-balanced combination of sensor checks -- here using LiDAR information -- and plausibility checks on the object motion history. It is designed to detect relevant errors in the distance and velocity of objects in the environment of the automated vehicle. In conjunction with an appropriate planning system, such a monitor can help to make safe automated driving feasible.

In this paper, we study the transmission design for reconfigurable intelligent surface (RIS)-aided multiuser communication networks. Different from most of the existing contributions, we consider long-term CSI-based transmission design, where both the beamforming vectors at the base station (BS) and the phase shifts at the RIS are designed based on long-term CSI, which can significantly reduce the channel estimation overhead. Due to the lack of explicit ergodic data rate expression, we propose a novel deep deterministic policy gradient (DDPG) based algorithm to solve the optimization problem, which was trained by using the channel vectors generated in an offline manner. Simulation results demonstrate that the achievable net throughput is higher than that achieved by the conventional instantaneous-CSI based scheme when taking the channel estimation overhead into account.

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid manipulators with few degrees of freedom, which limits their capability to compensate for disturbances caused by the vehicle positioning errors. Moreover, UAVs have to minimize external contact forces in order to maintain stability. Biological systems, on the other hand, exploit softness to overcome similar limitations, and leverage compliance to enable aggressive grasping. This paper investigates control and trajectory optimization for a soft aerial manipulator, consisting of a quadrotor and a tendon-actuated soft gripper, in which the advantages of softness can be fully exploited. To the best of our knowledge, this is the first work at the intersection between soft manipulation and UAV control. We present a decoupled approach for the quadrotor and the soft gripper, combining (i) a geometric controller and a minimum-snap trajectory optimization for the quadrotor (rigid) base, with (ii) a quasi-static finite element model and control-space interpolation for the soft gripper. We prove that the geometric controller asymptotically stabilizes the quadrotor velocity and attitude despite the addition of the soft load. Finally, we evaluate the proposed system in a realistic soft dynamics simulator, and show that: (i) the geometric controller is fairly insensitive to the soft payload, (ii) the platform can reliably grasp unknown objects despite inaccurate positioning and initial conditions, and (iii) the decoupled controller is amenable for real-time execution.

We introduce a novel audio processing architecture, the Open Voice Brain Model (OVBM), improving detection accuracy for Alzheimer's (AD) longitudinal discrimination from spontaneous speech. We also outline the OVBM design methodology leading us to such architecture, which in general can incorporate multimodal biomarkers and target simultaneously several diseases and other AI tasks. Key in our methodology is the use of multiple biomarkers complementing each other, and when two of them uniquely identify different subjects in a target disease we say they are orthogonal. We illustrate the methodology by introducing 16 biomarkers, three of which are orthogonal, demonstrating simultaneous above state-of-the-art discrimination for apparently unrelated diseases such as AD and COVID-19. Inspired by research conducted at the MIT Center for Brain Minds and Machines, OVBM combines biomarker implementations of the four modules of intelligence: The brain OS chunks and overlaps audio samples and aggregates biomarker features from the sensory stream and cognitive core creating a multi-modal graph neural network of symbolic compositional models for the target task. We apply it to AD, achieving above state-of-the-art accuracy of 93.8% on raw audio, while extracting a subject saliency map that longitudinally tracks relative disease progression using multiple biomarkers, 16 in the reported AD task. The ultimate aim is to help medical practice by detecting onset and treatment impact so that intervention options can be longitudinally tested. Using the OBVM design methodology, we introduce a novel lung and respiratory tract biomarker created using 200,000+ cough samples to pre-train a model discriminating cough cultural origin. This cough dataset sets a new benchmark as the largest audio health dataset with 30,000+ subjects participating in April 2020, demonstrating for the first-time cough cultural bias.

Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced object detection and tracking approaches have been widely applied to various UAV-related tasks, such as environmental monitoring, precision agriculture, traffic management. This paper provides a comprehensive survey on the research progress and prospects of DL-based UAV object detection and tracking methods. More specifically, we first outline the challenges, statistics of existing methods, and provide solutions from the perspectives of DL-based models in three research topics: object detection from the image, object detection from the video, and object tracking from the video. Open datasets related to UAV-dominated object detection and tracking are exhausted, and four benchmark datasets are employed for performance evaluation using some state-of-the-art methods. Finally, prospects and considerations for the future work are discussed and summarized. It is expected that this survey can facilitate those researchers who come from remote sensing field with an overview of DL-based UAV object detection and tracking methods, along with some thoughts on their further developments.

In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationary looking at a moving object. Point features inside the object are sampled as measurements. An ellipsoidal approximation of the shape is assumed as a primitive shape. The shape of an ellipse is estimated using a combination of image moments. Dynamic model of image moments when the object moves under the constant velocity or coordinated turn motion model is derived as a function for the shape estimation of the object. An Unscented Kalman Filter-Interacting Multiple Model (UKF-IMM) filter algorithm is applied to estimate the shape of the object (approximated as an ellipse) and track its position and velocity. A likelihood function based on average log-likelihood is derived for the IMM filter. Simulation results of the proposed UKF-IMM algorithm with the image moments based models are presented that show the estimations of the shape of the object moving in complex trajectories. Comparison results, using intersection over union (IOU), and position and velocity root mean square errors (RMSE) as metrics, with a benchmark algorithm from literature are presented. Results on real image data captured from the quadcopter are also presented.

In this paper, we present a new method for detecting road users in an urban environment which leads to an improvement in multiple object tracking. Our method takes as an input a foreground image and improves the object detection and segmentation. This new image can be used as an input to trackers that use foreground blobs from background subtraction. The first step is to create foreground images for all the frames in an urban video. Then, starting from the original blobs of the foreground image, we merge the blobs that are close to one another and that have similar optical flow. The next step is extracting the edges of the different objects to detect multiple objects that might be very close (and be merged in the same blob) and to adjust the size of the original blobs. At the same time, we use the optical flow to detect occlusion of objects that are moving in opposite directions. Finally, we make a decision on which information we keep in order to construct a new foreground image with blobs that can be used for tracking. The system is validated on four videos of an urban traffic dataset. Our method improves the recall and precision metrics for the object detection task compared to the vanilla background subtraction method and improves the CLEAR MOT metrics in the tracking tasks for most videos.

The task of multi-person human pose estimation in natural scenes is quite challenging. Existing methods include both top-down and bottom-up approaches. The main advantage of bottom-up methods is its excellent tradeoff between estimation accuracy and computational cost. We follow this path and aim to design smaller, faster, and more accurate neural networks for the regression of keypoints and limb association vectors. These two regression tasks are naturally dependent on each other. In this work, we propose a dual-path network specially designed for multi-person human pose estimation, and compare our performance with the openpose network in aspects of model size, forward speed, and estimation accuracy.