Remotely operating vehicles utilizes the benefits of vehicle automation when fully automated driving is not yet possible. A human operator ensures safety and availability from afar and supports the vehicle automation when its capabilities are exceeded. The remote operator thus fulfills the legal requirements in Germany as a Technical Supervisor to operate highly automated vehicles at SAE 4. To integrate the remote operator into the automated driving system, a novel user-centered human-machine interface (HMI) for remote assistance workplaces was developed and initially evaluated. The insights gained in this process were incorporated into the design of a workplace prototype for remote assistance. This prototype was now tested in the study reported here by 34 participants meeting the professional background criteria for the role of Technical Supervisor according to the German law by using typical remote assistance scenarios created in a simulation environment. Even under elevated cognitive load induced by simultaneously engaging in a secondary task, participants were able to obtain sufficient situation awareness and quickly resolve the scenarios. The HMI also yielded favorable usability and acceptance ratings. The results of the study inform the iterative workplace development and further research on the remote assistance of highly automated vehicles.
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Crafting an effective Automatic Speech Recognition (ASR) solution for dialects demands innovative approaches that not only address the data scarcity issue but also navigate the intricacies of linguistic diversity. In this paper, we address the aforementioned ASR challenge, focusing on the Tunisian dialect. First, textual and audio data is collected and in some cases annotated. Second, we explore self-supervision, semi-supervision and few-shot code-switching approaches to push the state-of-the-art on different Tunisian test sets; covering different acoustic, linguistic and prosodic conditions. Finally, and given the absence of conventional spelling, we produce a human evaluation of our transcripts to avoid the noise coming from spelling inadequacies in our testing references. Our models, allowing to transcribe audio samples in a linguistic mix involving Tunisian Arabic, English and French, and all the data used during training and testing are released for public use and further improvements.
Neural Networks (NN) provide a solid and reliable way of executing different types of applications, ranging from speech recognition to medical diagnosis, speeding up onerous and long workloads. The challenges involved in their implementation at the edge include providing diversity, flexibility, and sustainability. That implies, for instance, supporting evolving applications and algorithms energy-efficiently. Using hardware or software accelerators can deliver fast and efficient computation of the \acp{nn}, while flexibility can be exploited to support long-term adaptivity. Nonetheless, handcrafting an NN for a specific device, despite the possibility of leading to an optimal solution, takes time and experience, and that's why frameworks for hardware accelerators are being developed. This work-in-progress study focuses on exploring the possibility of combining the toolchain proposed by Ratto et al., which has the distinctive ability to favor adaptivity, with approximate computing. The goal will be to allow lightweight adaptable NN inference on FPGAs at the edge. Before that, the work presents a detailed review of established frameworks that adopt a similar streaming architecture for future comparison.
Collaborative perception, which greatly enhances the sensing capability of connected and autonomous vehicles (CAVs) by incorporating data from external resources, also brings forth potential security risks. CAVs' driving decisions rely on remote untrusted data, making them susceptible to attacks carried out by malicious participants in the collaborative perception system. However, security analysis and countermeasures for such threats are absent. To understand the impact of the vulnerability, we break the ground by proposing various real-time data fabrication attacks in which the attacker delivers crafted malicious data to victims in order to perturb their perception results, leading to hard brakes or increased collision risks. Our attacks demonstrate a high success rate of over 86\% on high-fidelity simulated scenarios and are realizable in real-world experiments. To mitigate the vulnerability, we present a systematic anomaly detection approach that enables benign vehicles to jointly reveal malicious fabrication. It detects 91.5% of attacks with a false positive rate of 3% in simulated scenarios and significantly mitigates attack impacts in real-world scenarios.
Prognostics and Health Management (PHM) is a discipline focused on predicting the point at which systems or components will cease to perform as intended, typically measured as Remaining Useful Life (RUL). RUL serves as a vital decision-making tool for contingency planning, guiding the timing and nature of system maintenance. Historically, PHM has primarily been applied to hardware systems, with its application to software only recently explored. In a recent study we introduced a methodology and demonstrated how changes in software can impact the RUL of software. However, in practical software development, real-time performance is also influenced by various environmental attributes, including operating systems, clock speed, processor performance, RAM, machine core count and others. This research extends the analysis to assess how changes in environmental attributes, such as operating system and clock speed, affect RUL estimation in software. Findings are rigorously validated using real performance data from controlled test beds and compared with predictive model-generated data. Statistical validation, including regression analysis, supports the credibility of the results. The controlled test bed environment replicates and validates faults from real applications, ensuring a standardized assessment platform. This exploration yields actionable knowledge for software maintenance and optimization strategies, addressing a significant gap in the field of software health management.
Recent transportation research suggests that autonomous vehicles (AVs) have the potential to improve traffic flow efficiency as they are able to maintain smaller car-following distances. Nevertheless, being a unique class of ground robots, AVs are susceptible to robotic errors, particularly in their perception module, leading to uncertainties in their movements and an increased risk of collisions. Consequently, conservative operational strategies, such as larger headway and slower speeds, are implemented to prioritize safety over traffic capacity in real-world operations. To reconcile the inconsistency, this paper proposes an analytical model framework that delineates the endogenous reciprocity between traffic safety and efficiency that arises from robotic uncertainty in AVs. Car-following scenarios are extensively examined, with uncertain headway as the key parameter for bridging the single-lane capacity and the collision probability. A Markov chain is then introduced to describe the dynamics of the lane capacity, and the resulting expected collision-inclusive capacity is adopted as the ultimate performance measure for fully autonomous traffic. With the help of this analytical model, it is possible to support the settings of critical parameters in AV operations and incorporate optimization techniques to assist traffic management strategies for autonomous traffic.
Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety critical events makes large scale collection of driving scenarios expensive. In this paper, we present DJINN - a diffusion based method of generating traffic scenarios. Our approach jointly diffuses the trajectories of all agents, conditioned on a flexible set of state observations from the past, present, or future. On popular trajectory forecasting datasets, we report state of the art performance on joint trajectory metrics. In addition, we demonstrate how DJINN flexibly enables direct test-time sampling from a variety of valuable conditional distributions including goal-based sampling, behavior-class sampling, and scenario editing.
Australia is a leading AI nation with strong allies and partnerships. Australia has prioritised robotics, AI, and autonomous systems to develop sovereign capability for the military. Australia commits to Article 36 reviews of all new means and methods of warfare to ensure weapons and weapons systems are operated within acceptable systems of control. Additionally, Australia has undergone significant reviews of the risks of AI to human rights and within intelligence organisations and has committed to producing ethics guidelines and frameworks in Security and Defence. Australia is committed to OECD's values-based principles for the responsible stewardship of trustworthy AI as well as adopting a set of National AI ethics principles. While Australia has not adopted an AI governance framework specifically for Defence; Defence Science has published 'A Method for Ethical AI in Defence' (MEAID) technical report which includes a framework and pragmatic tools for managing ethical and legal risks for military applications of AI.
The dominating NLP paradigm of training a strong neural predictor to perform one task on a specific dataset has led to state-of-the-art performance in a variety of applications (eg. sentiment classification, span-prediction based question answering or machine translation). However, it builds upon the assumption that the data distribution is stationary, ie. that the data is sampled from a fixed distribution both at training and test time. This way of training is inconsistent with how we as humans are able to learn from and operate within a constantly changing stream of information. Moreover, it is ill-adapted to real-world use cases where the data distribution is expected to shift over the course of a model's lifetime. The first goal of this thesis is to characterize the different forms this shift can take in the context of natural language processing, and propose benchmarks and evaluation metrics to measure its effect on current deep learning architectures. We then proceed to take steps to mitigate the effect of distributional shift on NLP models. To this end, we develop methods based on parametric reformulations of the distributionally robust optimization framework. Empirically, we demonstrate that these approaches yield more robust models as demonstrated on a selection of realistic problems. In the third and final part of this thesis, we explore ways of efficiently adapting existing models to new domains or tasks. Our contribution to this topic takes inspiration from information geometry to derive a new gradient update rule which alleviate catastrophic forgetting issues during adaptation.
Within the rapidly developing Internet of Things (IoT), numerous and diverse physical devices, Edge devices, Cloud infrastructure, and their quality of service requirements (QoS), need to be represented within a unified specification in order to enable rapid IoT application development, monitoring, and dynamic reconfiguration. But heterogeneities among different configuration knowledge representation models pose limitations for acquisition, discovery and curation of configuration knowledge for coordinated IoT applications. This paper proposes a unified data model to represent IoT resource configuration knowledge artifacts. It also proposes IoT-CANE (Context-Aware recommendatioN systEm) to facilitate incremental knowledge acquisition and declarative context driven knowledge recommendation.
Many natural language processing tasks solely rely on sparse dependencies between a few tokens in a sentence. Soft attention mechanisms show promising performance in modeling local/global dependencies by soft probabilities between every two tokens, but they are not effective and efficient when applied to long sentences. By contrast, hard attention mechanisms directly select a subset of tokens but are difficult and inefficient to train due to their combinatorial nature. In this paper, we integrate both soft and hard attention into one context fusion model, "reinforced self-attention (ReSA)", for the mutual benefit of each other. In ReSA, a hard attention trims a sequence for a soft self-attention to process, while the soft attention feeds reward signals back to facilitate the training of the hard one. For this purpose, we develop a novel hard attention called "reinforced sequence sampling (RSS)", selecting tokens in parallel and trained via policy gradient. Using two RSS modules, ReSA efficiently extracts the sparse dependencies between each pair of selected tokens. We finally propose an RNN/CNN-free sentence-encoding model, "reinforced self-attention network (ReSAN)", solely based on ReSA. It achieves state-of-the-art performance on both Stanford Natural Language Inference (SNLI) and Sentences Involving Compositional Knowledge (SICK) datasets.
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