OpenRaiser/Intern-Atlas huggingface dataset:
Self-Normalized Density Map (SNDM) for Counting Microbiological Objects
Venue: arXiv cs.CV 2022
Year: 2022

The statistical properties of the density map (DM) approach to counting microbiological objects on images are studied in detail. The DM is given by U$^2$-Net. Two statistical methods for deep neural networks are utilized: the bootstrap and the Monte Carlo (MC) dropout. The detailed analysis of the uncertainties for the DM predictions leads to a deeper understanding of the DM model's deficiencies. Based on our investigation, we propose a self-normalization module in the network. The improved network model, called \textit{Self-Normalized Density Map} (SNDM), can correct its output density map by itself to accurately predict the total number of objects in the image. The SNDM architecture outperforms the original model. Moreover, both statistical frameworks -- bootstrap and MC dropout -- have consistent statistical results for SNDM, which were not observed in the original model. The SNDM efficiency is comparable with the detector-base models, such as Faster and Cascade R-CNN detectors.
CaRTS: Causality-driven Robot Tool Segmentation from Vision and Kinematics Data
Venue: arXiv cs.RO 2022
Year: 2022

Vision-based segmentation of the robotic tool during robot-assisted surgery enables downstream applications, such as augmented reality feedback, while allowing for inaccuracies in robot kinematics. With the introduction of deep learning, many methods were presented to solve instrument segmentation directly and solely from images. While these approaches made remarkable progress on benchmark datasets, fundamental challenges pertaining to their robustness remain. We present CaRTS, a causality-driven robot tool segmentation algorithm, that is designed based on a complementary causal model of the robot tool segmentation task. Rather than directly inferring segmentation masks from observed images, CaRTS iteratively aligns tool models with image observations by updating the initially incorrect robot kinematic parameters through forward kinematics and differentiable rendering to optimize image feature similarity end-to-end. We benchmark CaRTS with competing techniques on both synthetic as well as real data from the dVRK, generated in precisely controlled scenarios to allow for counterfactual synthesis. On training-domain test data, CaRTS achieves a Dice score of 93.4 that is preserved well (Dice score of 91.8) when tested on counterfactually altered test data, exhibiting low brightness, smoke, blood, and altered background patterns. This compares favorably to Dice scores of 95.0 and 86.7, respectively, of the SOTA image-based method. Future work will involve accelerating CaRTS to achieve video framerate and estimating the impact occlusion has in practice. Despite these limitations, our results are promising: In addition to achieving high segmentation accuracy, CaRTS provides estimates of the true robot kinematics, which may benefit applications such as force estimation. Code is available at: https://github.com/hding2455/CaRTS
Uncertainty with UAV Search of Multiple Goal-oriented Targets
Venue: arXiv cs.RO 2022
Year: 2022

This paper considers the complex problem of a team of UAVs searching targets under uncertainty. The goal of the UAV team is to find all of the moving targets as quickly as possible before they arrive at their selected goal. The uncertainty considered is threefold: First, the UAVs do not know the targets' locations and destinations. Second, the sensing capabilities of the UAVs are not perfect. Third, the targets' movement model is unknown. We suggest a real-time algorithmic framework for the UAVs, combining entropy and stochastic-temporal belief, that aims at optimizing the probability of a quick and successful detection of all of the targets. We have empirically evaluated the algorithmic framework, and have shown its efficiency and significant performance improvement compared to other solutions. Furthermore, we have evaluated our framework using Peer Designed Agents (PDAs), which are computer agents that simulate targets and show that our algorithmic framework outperforms other solutions in this scenario.
Extremal Event Graphs: A (Stable) Tool for Analyzing Noisy Time Series Data
Venue: arXiv cs.DS 2022
Year: 2022

Local maxima and minima, or extremal events, in experimental time series can be used as a coarse summary to characterize data. However, the discrete sampling in recording experimental measurements suggests uncertainty on the true timing of extrema during the experiment. This in turn gives uncertainty in the timing order of extrema within the time series. Motivated by applications in genomic time series and biological network analysis, we construct a weighted directed acyclic graph (DAG) called an extremal event DAG using techniques from persistent homology that is robust to measurement noise. Furthermore, we define a distance between extremal event DAGs based on the edit distance between strings. We prove several properties including local stability for the extremal event DAG distance with respect to pairwise $L_{\infty}$ distances between functions in the time series data. Lastly, we provide algorithms, publicly free software, and implementations on extremal event DAG construction and comparison.
MolecuSense: Using Force-Feedback Gloves for Creating and Interacting with Ball-and-Stick Molecules in VR
Venue: arXiv cs.HC 2022
Year: 2022

We contribute MolecuSense, a virtual version of a physical molecule construction kit, based on visualization in Virtual Reality (VR) and interaction with force-feedback gloves. Targeting at chemistry education, our goal is to make virtual molecule structures more tangible. Results of an initial user study indicate that the VR molecular construction kit was positively received. Compared to a physical construction kit, the VR molecular construction kit is on the same level in terms of natural interaction. Besides, it fosters the typical digital advantages though, such as saving, exporting, and sharing of molecules. Feedback from the study participants has also revealed potential future avenues for tangible molecule visualizations.
Towards Axiomatic Foundations for Conceptual Modeling: An Example
Venue: arXiv cs.SE 2022
Year: 2022

Conceptual modeling is a strongly interdisciplinary field of research. Although numerous proposals for axiomatic foundations of the main ideas of the field exist, there is still a lack of understanding main concepts such as system, process, event, data, and many more. Against the background of the tremendously gaining importance of digital phenomena, we argue that axiomatic foundations are needed for our discipline. Besides the general call, we provide a particular case study using HERAKLIT. This modeling infrastructure encompasses the architecture, statics, and dynamics of computer-integrated systems. The case study illustrates how axiomatically well-founded conceptual models may look like in practice. We argue that axiomatic foundations do not only have positive effects for theoretical research, but also for empirical research, because, for instance, assumed axioms can explicitly be tested. It is now time to spark the discussion on axiomatic foundations of our field.
Overview of Test Coverage Criteria for Test Case Generation from Finite State Machines Modelled as Directed Graphs
Venue: arXiv cs.SE 2022
Year: 2022

Test Coverage criteria are an essential concept for test engineers when generating the test cases from a System Under Test model. They are routinely used in test case generation for user interfaces, middleware, and back-end system parts for software, electronics, or Internet of Things (IoT) systems. Test Coverage criteria define the number of actions or combinations by which a system is tested, informally determining a potential "strength" of a test set. As no previous study summarized all commonly used test coverage criteria for Finite State Machines and comprehensively discussed them regarding their subsumption, equivalence, or non-comparability, this paper provides this overview. In this study, 14 most common test coverage criteria and seven of their synonyms for Finite State Machines defined via a directed graph are summarized and compared. The results give researchers and industry testing engineers a helpful overview when setting a software-based or IoT system test strategy.
Developing a Successful Bomberman Agent
Venue: arXiv cs.AI 2022
Year: 2022

In this paper, we study AI approaches to successfully play a 2-4 players, full information, Bomberman variant published on the CodinGame platform. We compare the behavior of three search algorithms: Monte Carlo Tree Search, Rolling Horizon Evolution, and Beam Search. We present various enhancements leading to improve the agents' strength that concern search, opponent prediction, game state evaluation, and game engine encoding. Our top agent variant is based on a Beam Search with low-level bit-based state representation and evaluation function heavy relying on pruning unpromising states based on simulation-based estimation of survival. It reached the top one position among the 2,300 AI agents submitted on the CodinGame arena.
Message recovery attack to NTRU using a lattice independent from the public key
Venue: arXiv cs.CR 2022
Year: 2022

In the present paper we introduce a new attack on NTRU-HPS cryptosystem using lattice theory and Babai's Nearest Plane Algorithm. This attack has many similarities with the classic CVP attack on NTRU, but in our case we use a different lattice, instead of the classic lattice which is constructed with the public key. Finally, the attack is illustrated by many examples.
Modeling of a Quadruped Robot with Spine Joints and Full-Dynamics Simulation Environment Construction
Venue: arXiv cs.RO 2022
Year: 2022

This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot models in their simulations. This survey reveals the need for the full-body spined quadruped simulation environment. First, the kinematics and dynamics modeling of the active spined quadruped robot is obtained. Since quadruped robots are floating-base robots, all derivations are performed with respect to an inertial frame. The motion equations are acquired by the Lagrangian approach. The simulation environment is constructed in the MATLAB/Simulink platform, considering its rich library, powerful solvers, and suitable and resilient environment in integrating controllers. The computation speed of the simulation environment is increased by using optimized MATLAB functions. Precise and accurate contact model is utilized in the simulation environment. We foreseen that the provided full-dynamics simulation environment will be helpful for further spine joint studies on the quadruped robot field.
A Density Evolution framework for Preferential Recovery of Covariance and Causal Graphs from Compressed Measurements
Venue: arXiv cs.IT 2022
Year: 2022

In this paper, we propose a general framework for designing sensing matrix $\boldsymbol{A} \in \mathbb{R}^{d\times p}$, for estimation of sparse covariance matrix from compressed measurements of the form $\boldsymbol{y} = \boldsymbol{A}\boldsymbol{x} + \boldsymbol{n}$, where $\boldsymbol{y}, \boldsymbol{n} \in \mathbb{R}^d$, and $\boldsymbol{x} \in \mathbb{R}^p$. By viewing covariance recovery as inference over factor graphs via message passing algorithm, ideas from coding theory, such as \textit{Density Evolution} (DE), are leveraged to construct a framework for the design of the sensing matrix. The proposed framework can handle both (1) regular sensing, i.e., equal importance is given to all entries of the covariance, and (2) preferential sensing, i.e., higher importance is given to a part of the covariance matrix. Through experiments, we show that the sensing matrix designed via density evolution can match the state-of-the-art for covariance recovery in the regular sensing paradigm and attain improved performance in the preferential sensing regime. Additionally, we study the feasibility of causal graph structure recovery using the estimated covariance matrix obtained from the compressed measurements.
A Cost-Efficient Look-Up Table Based Binary Coded Decimal Adder Design
Venue: arXiv cs.AR 2022
Year: 2022

The BCD (Binary Coded Decimal) being the more accurate and human-readable representation with ease of conversion, is prevailing in the computing and electronic communication.In this paper, a tree-structured parallel BCD addition algorithm is proposed with the reduced time complexity. BCD adder is more effective with a LUT (Look-Up Table)-based design, due to FPGA (Field Programmable Gate Array) technology's enumerable benefits and applications. A size-minimal and depth-minimal LUT-based BCD adder circuit construction is the main contribution of this paper.
Facial Geometric Detail Recovery via Implicit Representation
Venue: arXiv cs.CV 2022
Year: 2022

Learning a dense 3D model with fine-scale details from a single facial image is highly challenging and ill-posed. To address this problem, many approaches fit smooth geometries through facial prior while learning details as additional displacement maps or personalized basis. However, these techniques typically require vast datasets of paired multi-view data or 3D scans, whereas such datasets are scarce and expensive. To alleviate heavy data dependency, we present a robust texture-guided geometric detail recovery approach using only a single in-the-wild facial image. More specifically, our method combines high-quality texture completion with the powerful expressiveness of implicit surfaces. Initially, we inpaint occluded facial parts, generate complete textures, and build an accurate multi-view dataset of the same subject. In order to estimate the detailed geometry, we define an implicit signed distance function and employ a physically-based implicit renderer to reconstruct fine geometric details from the generated multi-view images. Our method not only recovers accurate facial details but also decomposes normals, albedos, and shading parts in a self-supervised way. Finally, we register the implicit shape details to a 3D Morphable Model template, which can be used in traditional modeling and rendering pipelines. Extensive experiments demonstrate that the proposed approach can reconstruct impressive facial details from a single image, especially when compared with state-of-the-art methods trained on large datasets.
Decentralizing Permissioned Blockchain with Delay Towers
Venue: arXiv cs.MA 2022
Year: 2022

Growing excitement around permissionless blockchains is uncovering its latent scalability concerns. Permissioned blockchains offer high transactional throughput and low latencies while compromising decentralization. In the quest for a decentralized, scalable blockchain fabric, i.e., to offer the scalability of permissioned blockchain in a permissionless setting, we present L4L to encourage decentralization over the permissioned Libra network without compromising its sustainability. L4L employs delay towers, -- puzzle towers that leverage verifiable delay functions -- for establishing identity in a permissionless setting. Delay towers cannot be parallelized due to their sequential execution, making them an eco-friendly alternative. We also discuss methodologies to replace validators participating in consensus to promote compliant behavior. Our evaluations found that the cost of enabling decentralization over permissioned networks is almost negligible. Furthermore, delay towers offer an alternative to existing permissionless consensus mechanisms without requiring airdrops or pre-sale of tokens.
Distortion-Tolerant Monocular Depth Estimation On Omnidirectional Images Using Dual-cubemap
Venue: arXiv cs.CV 2022
Year: 2022

Estimating the depth of omnidirectional images is more challenging than that of normal field-of-view (NFoV) images because the varying distortion can significantly twist an object's shape. The existing methods suffer from troublesome distortion while estimating the depth of omnidirectional images, leading to inferior performance. To reduce the negative impact of the distortion influence, we propose a distortion-tolerant omnidirectional depth estimation algorithm using a dual-cubemap. It comprises two modules: Dual-Cubemap Depth Estimation (DCDE) module and Boundary Revision (BR) module. In DCDE module, we present a rotation-based dual-cubemap model to estimate the accurate NFoV depth, reducing the distortion at the cost of boundary discontinuity on omnidirectional depths. Then a boundary revision module is designed to smooth the discontinuous boundaries, which contributes to the precise and visually continuous omnidirectional depths. Extensive experiments demonstrate the superiority of our method over other state-of-the-art solutions.
Dencentralized learning in the presence of low-rank noise
Venue: arXiv cs.LG 2022
Year: 2022

Observations collected by agents in a network may be unreliable due to observation noise or interference. This paper proposes a distributed algorithm that allows each node to improve the reliability of its own observation by relying solely on local computations and interactions with immediate neighbors, assuming that the field (graph signal) monitored by the network lies in a low-dimensional subspace and that a low-rank noise is present in addition to the usual full-rank noise. While oblique projections can be used to project measurements onto a low-rank subspace along a direction that is oblique to the subspace, the resulting solution is not distributed. Starting from the centralized solution, we propose an algorithm that performs the oblique projection of the overall set of observations onto the signal subspace in an iterative and distributed manner. We then show how the oblique projection framework can be extended to handle distributed learning and adaptation problems over networks.
Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration
Venue: arXiv cs.RO 2022
Year: 2022

Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them safer. In this work, we study the after impact behavior of two collaborative manipulators (UR10e and KUKA LBR iiwa) and one classical industrial manipulator (KUKA Cybertech), in presence or absence of an industrial protective skin (AIRSKIN). In addition, we isolate the effects of the passive padding and the active contribution of the sensor to robot reaction. We present a total of 2250 collision measurements and study the impact force, contact duration, clamping force, and impulse. The dataset is publicly available. We summarize our results as follows. For transient collisions, the passive skin properties lowered the impact forces by about 40 %. During quasi-static contact, the effect of skin covers -- active or passive -- cannot be isolated from the collision detection and reaction by the collaborative robots. Important effects of the stop categories triggered by the active protective skin were found. We systematically compare the different settings and the empirically established safe velocities with prescriptions by the ISO/TS 15066. In some cases, up to the quadruple of the ISO/TS 15066 prescribed velocity can comply with the impact force limits and thus be considered safe. We propose an extension of the formulas relating impact force and permissible velocity that take into account the stiffness and compressible thickness of the protective cover, leading to better predictions of the collision forces. At the same time, this work emphasizes the need for in situ measurements as all the factors we studied -- presence of active/passive skin, safety stop settings, robot collision reaction, impact direction, and, of course, velocity -- have effects on the force evolution after impact.
Development Effort Estimation in Free/Open Source Software from Activity in Version Control Systems
Venue: arXiv cs.SE 2022
Year: 2022

Effort estimation models are a fundamental tool in software management, and used as a forecast for resources, constraints and costs associated to software development. For Free/Open Source Software (FOSS) projects, effort estimation is especially complex: professional developers work alongside occasional, volunteer developers, so the overall effort (in person-months) becomes non-trivial to determine. The objective of this work it to develop a simple effort estimation model for FOSS projects, based on the historic data of developers' effort. The model is fed with direct developer feedback to ensure its accuracy. After extracting the personal development profiles of several thousands of developers from 6 large FOSS projects, we asked them to fill in a questionnaire to determine if they should be considered as full-time developers in the project that they work in. Their feedback was used to fine-tune the value of an effort threshold, above which developers can be considered as full-time. With the help of the over 1,000 questionnaires received, we were able to determine, for every project in our sample, the threshold of commits that separates full-time from non-full-time developers.%, and that minimizes the type I and type II errors. We finally offer guidelines and a tool to apply our model to FOSS projects that use a version control system.
Configurable Per-Query Data Minimization for Privacy-Compliant Web APIs
Venue: arXiv cs.CR 2022
Year: 2022

The purpose of regulatory data minimization obligations is to limit personal data to the absolute minimum necessary for a given context. Beyond the initial data collection, storage, and processing, data minimization is also required for subsequent data releases, as it is the case when data are provided using query-capable Web APIs. Data-providing Web APIs, however, typically lack sophisticated data minimization features, leaving the task open to manual and all too often missing implementations. In this paper, we address the problem of data minimization for data-providing, query-capable Web APIs. Based on a careful analysis of functional and non-functional requirements, we introduce Janus, an easy-to-use, highly configurable solution for implementing legally compliant data minimization in GraphQL Web APIs. Janus provides a rich set of information reduction functionalities that can be configured for different client roles accessing the API. We present a technical proof-of-concept along with experimental measurements that indicate reasonable overheads. Janus is thus a practical solution for implementing GraphQL APIs in line with the regulatory principle of data minimization.
PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation
Venue: arXiv cs.RO 2022
Year: 2022

PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described by complementarity constraints and provides a general framework for specifying obstacle avoidance constraints. The package performs direct transcription of the DAEs into a set of nonlinear equations by performing orthogonal collocation on finite elements. PYROBOCOP provides automatic reformulation of the complementarity constraints that are tractable to NLP solvers to perform optimization of robotic systems. The package is interfaced with ADOL-C[1] for obtaining sparse derivatives by automatic differentiation and IPOPT[2] for performing optimization. We evaluate PYROBOCOP on several manipulation problems for control and estimation.