OpenRaiser/Intern-Atlas huggingface dataset:
Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments
Venue: arXiv cs.RO 2021
Year: 2021

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy, and are more resilient against the malfunction of individual sensors. The development of algorithms for autonomous navigation, mapping and localization have seen big advancements over the past two decades. Nonetheless, challenges remain in developing robust solutions for accurate localization in dense urban environments, where the so called last-mile delivery occurs. In these scenarios, local motion estimation is combined with the matching of real-time data with a detailed pre-built map. In this paper, we utilize data gathered with an autonomous delivery robot to compare different sensor fusion techniques and evaluate which are the algorithms providing the highest accuracy depending on the environment. The techniques we analyze and propose in this paper utilize 3D lidar data, inertial data, GNSS data and wheel encoder readings. We show how lidar scan matching combined with other sensor data can be used to increase the accuracy of the robot localization and, in consequence, its navigation. Moreover, we propose a strategy to reduce the impact on navigation performance when a change in the environment renders map data invalid or part of the available map is corrupted.
Implementation of the PaperRank and AuthorRank indices in the Scopus database
Venue: arXiv cs.DL 2021
Year: 2021

We implement the PaperRank and AuthorRank indices introduced in [Amodio & Brugnano, 2014] in the Scopus database, in order to highlight quantitative and qualitative information that the bare number of citations and/or the h-index of an author are unable to provide. In addition to this, the new indices can be cheaply updated in Scopus, since this has a cost comparable to that of updating the number of citations. Some examples are reported to provide insight in their potentialities, as well as possible extensions.
Multi-frame Super-resolution from Noisy Data
Venue: arXiv cs.CV 2021
Year: 2021

Obtaining high resolution images from low resolution data with clipped noise is algorithmically challenging due to the ill-posed nature of the problem. So far such problems have hardly been tackled, and the few existing approaches use simplistic regularisers. We show the usefulness of two adaptive regularisers based on anisotropic diffusion ideas: Apart from evaluating the classical edge-enhancing anisotropic diffusion regulariser, we introduce a novel non-local one with one-sided differences and superior performance. It is termed sector diffusion. We combine it with all six variants of the classical super-resolution observational model that arise from permutations of its three operators for warping, blurring, and downsampling. Surprisingly, the evaluation in a practically relevant noisy scenario produces a different ranking than the one in the noise-free setting in our previous work (SSVM 2017).
Coverage Analysis for UAV-Assisted Cellular Networks in Rural Areas
Venue: arXiv cs.NI 2021
Year: 2021

Despite coverage enhancement in rural areas is one of the main requirements in next generations of wireless networks (i.e., 5G and 6G), the low expected profit prevents telecommunication providers from investing in such sparsely populated areas. Hence, it is required to design and deploy cost efficient alternatives for extending the cellular infrastructure to these regions. A concrete mathematical model that characterizes and clearly captures the aforementioned problem might be a key-enabler for studying the efficiency of any potential solution. Unfortunately, the commonly used mathematical tools that model large scale wireless networks are not designed to capture the unfairness, in terms of cellular coverage, suffered by exurban and rural areas. In big cities, in fact, cellular deployment is essentially capacity driven and thus cellular base station densities are maximum in the town centers and decline when getting far from them. In this paper, a new stochastic geometry-based model is implemented in order to show the coverage spatial variation among urban, suburban, and exurban settlements. Indeed, by implementing inhomogeneous Poisson point processes (PPPs) it is possible to study the performance metrics in a realistic scenario where terrestrial base stations (TBSs) are clustered around the urban center while outer aerial base stations (ABSs) are uniformly distributed outside an urban exclusion zone. Based on this, our simulation results can quantify the improvement, in terms of coverage probability, that even a surprisingly low density of ABSs can bring to peripheral regions depending on the extension of the exclusion zone, enabling us to draw insightful considerations.
Harvested Power Region of Two-user MISO WPT Systems With Non-linear EH Nodes
Venue: arXiv cs.IT 2021
Year: 2021

In this paper, we determine the harvested power region of a two-user multiple-input single-output (MISO) wireless power transfer (WPT) system for a non-linear model of the rectennas at the energy harvester (EH) nodes. To this end, we characterize the distributions of the transmit symbol vector that achieve individual points on the boundary of this region. Each distribution is obtained as solution of an optimization problem where we maximize a weighted sum of the average harvested powers at the EH nodes under a constraint on the power budget of the transmitter. We prove that the optimal transmit strategy employs two beamforming vectors and scalar unit norm transmit symbols with arbitrary phase. To determine the beamforming vectors, we propose an iterative algorithm based on a two-dimensional grid search, semi-definite relaxation, and successive convex approximation. Our numerical results reveal that the proposed design outperforms two baseline schemes based on a linear EH model and a single beamforming vector, respectively. Finally, we observe that the harvested power region is convex and the power harvested at one EH node can be traded for a higher harvested power at the other node.
TrustCross: Enabling Confidential Interoperability across Blockchains Using Trusted Hardware
Venue: arXiv cs.CR 2021
Year: 2021

With the rapid development of blockchain technology, different types of blockchains are adopted and interoperability across blockchains has received widespread attention. There have been many cross-chain solutions proposed in recent years, including notary scheme, sidechain, and relay chain. However, most of the existing platforms do not take confidentiality into account, although privacy has become an important concern for blockchain. In this paper, we present TrustCross, a privacy-preserving cross-chain platform to enable confidential interoperability across blockchains. The key insight behind TrustCross is to encrypt cross-chain communication data on the relay chain with the assistance of trusted execution environment and employ fine-grained access control to protect user privacy. Our experimental results show that TrustCross achieves reasonable latency and high scalability on the contract calls across heterogeneous blockchains.
The Cost of OSCORE and EDHOC for Constrained Devices
Venue: arXiv cs.CR 2021
Year: 2021

Many modern IoT applications rely on the Constrained Application Protocol (CoAP) because of its efficiency and seamless integrability in the existing Internet infrastructure. One of the strategies that CoAP leverages to achieve these characteristics is the usage of proxies. Unfortunately, in order for a proxy to operate, it needs to terminate the (D)TLS channels between clients and servers. Therefore, end-to-end confidentiality, integrity and authenticity of the exchanged data cannot be achieved. In order to overcome this problem, an alternative to (D)TLS was recently proposed by the Internet Engineering Task Force (IETF). This alternative consists of two novel protocols: 1) Object Security for Constrained RESTful Environments (OSCORE) providing authenticated encryption for the payload data and 2) Ephemeral Diffie-Hellman Over COSE (EDHOC) providing the symmetric session keys required for OSCORE. In this paper, we present the design of four firmware libraries for these protocols especially targeted for constrained microcontrollers and their detailed evaluation. More precisely, we present the design of uOSCORE and uEDHOC libraries for regular microcontrollers and uOSCORE-TEE and uEDHOC-TEE libraries for microcontrollers with a Trusted Execution Environment (TEE), such as microcontrollers featuring ARM TrustZone-M. Our firmware design for the later class of devices concerns the fact that attackers may exploit common software vulnerabilities, e.g., buffer overflows in the protocol logic, OS or application to compromise the protocol security. uOSCORE-TEE and uEDHOC-TEE achieve separation of the cryptographic operations and keys from the remainder of the firmware, which could be vulnerable. We present an evaluation of our implementations in terms of RAM/FLASH requirements, execution speed and energy on a broad range of microcontrollers.
Searching for waveforms on spatially-filtered epileptic ECoG
Venue: arXiv cs.LG 2021
Year: 2021

Seizures are one of the defining symptoms in patients with epilepsy, and due to their unannounced occurrence, they can pose a severe risk for the individual that suffers it. New research efforts are showing a promising future for the prediction and preemption of imminent seizures, and with those efforts, a vast and diverse set of features have been proposed for seizure prediction algorithms. However, the data-driven discovery of nonsinusoidal waveforms for seizure prediction is lacking in the literature, which is in stark contrast with recent works that show the close connection between the waveform morphology of neural oscillations and the physiology and pathophysiology of the brain, and especially its use in effectively discriminating between normal and abnormal oscillations in electrocorticographic (ECoG) recordings of epileptic patients. Here, we explore a scalable, energy-guided waveform search strategy on spatially-projected continuous multi-day ECoG data sets. Our work shows that data-driven waveform learning methods have the potential to not only contribute features with predictive power for seizure prediction, but also to facilitate the discovery of oscillatory patterns that could contribute to our understanding of the pathophysiology and etiology of seizures.
Generative-Adversarial-Networks-based Ghost Recognition
Venue: arXiv cs.CV 2021
Year: 2021

Nowadays, target recognition technique plays an important role in many fields. However, the current target image information based methods suffer from the influence of image quality and the time cost of image reconstruction. In this paper, we propose a novel imaging-free target recognition method combining ghost imaging (GI) and generative adversarial networks (GAN). Based on the mechanism of GI, a set of random speckles sequence is employed to illuminate target, and a bucket detector without resolution is utilized to receive echo signal. The bucket signal sequence formed after continuous detections is constructed into a bucket signal array, which is regarded as the sample of GAN. Then, conditional GAN is used to map bucket signal array and target category. In practical application, the speckles sequence in training step is employed to illuminate target, and the bucket signal array is input GAN for recognition. The proposed method can improve the problems caused by conventional recognition methods that based on target image information, and provide a certain turbulence-free ability. Extensive experiments show that the proposed method achieves promising performance.
Hierarchical Program-Triggered Reinforcement Learning Agents For Automated Driving
Venue: arXiv cs.AI 2021
Year: 2021

Recent advances in Reinforcement Learning (RL) combined with Deep Learning (DL) have demonstrated impressive performance in complex tasks, including autonomous driving. The use of RL agents in autonomous driving leads to a smooth human-like driving experience, but the limited interpretability of Deep Reinforcement Learning (DRL) creates a verification and certification bottleneck. Instead of relying on RL agents to learn complex tasks, we propose HPRL - Hierarchical Program-triggered Reinforcement Learning, which uses a hierarchy consisting of a structured program along with multiple RL agents, each trained to perform a relatively simple task. The focus of verification shifts to the master program under simple guarantees from the RL agents, leading to a significantly more interpretable and verifiable implementation as compared to a complex RL agent. The evaluation of the framework is demonstrated on different driving tasks, and NHTSA precrash scenarios using CARLA, an open-source dynamic urban simulation environment.
A Physics-Informed Neural Network Framework For Partial Differential Equations on 3D Surfaces: Time-Dependent Problems
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we show a physics-informed neural network solver for the time-dependent surface PDEs. Unlike the traditional numerical solver, no extension of PDE and mesh on the surface is needed. We show a simplified prior estimate of the surface differential operators so that PINN's loss value will be an indicator of the residue of the surface PDEs. Numerical experiments verify efficacy of our algorithm.
Boosting Binary Masks for Multi-Domain Learning through Affine Transformations
Venue: arXiv cs.CV 2021
Year: 2021

In this work, we present a new, algorithm for multi-domain learning. Given a pretrained architecture and a set of visual domains received sequentially, the goal of multi-domain learning is to produce a single model performing a task in all the domains together. Recent works showed how we can address this problem by masking the internal weights of a given original conv-net through learned binary variables. In this work, we provide a general formulation of binary mask based models for multi-domain learning by affine transformations of the original network parameters. Our formulation obtains significantly higher levels of adaptation to new domains, achieving performances comparable to domain-specific models while requiring slightly more than 1 bit per network parameter per additional domain. Experiments on two popular benchmarks showcase the power of our approach, achieving performances close to state-of-the-art methods on the Visual Decathlon Challenge.
An Image is Worth 16x16 Words, What is a Video Worth?
Venue: arXiv cs.CV 2021
Year: 2021

Leading methods in the domain of action recognition try to distill information from both the spatial and temporal dimensions of an input video. Methods that reach State of the Art (SotA) accuracy, usually make use of 3D convolution layers as a way to abstract the temporal information from video frames. The use of such convolutions requires sampling short clips from the input video, where each clip is a collection of closely sampled frames. Since each short clip covers a small fraction of an input video, multiple clips are sampled at inference in order to cover the whole temporal length of the video. This leads to increased computational load and is impractical for real-world applications. We address the computational bottleneck by significantly reducing the number of frames required for inference. Our approach relies on a temporal transformer that applies global attention over video frames, and thus better exploits the salient information in each frame. Therefore our approach is very input efficient, and can achieve SotA results (on Kinetics dataset) with a fraction of the data (frames per video), computation and latency. Specifically on Kinetics-400, we reach $80.5$ top-1 accuracy with $\times 30$ less frames per video, and $\times 40$ faster inference than the current leading method. Code is available at: https://github.com/Alibaba-MIIL/STAM
Computational Mechanism for the Effect of Psychosis Community Treatment: A Conceptual Review from Neurobiology to Social Interaction
Venue: arXiv cs.CY 2021
Year: 2021

The computational underpinnings of positive psychotic symptoms have recently received significant attention. Candidate mechanisms include some combination of maladaptive priors and reduced updating of these priors during perception. A potential benefit of models with such mechanisms is their ability to link multiple levels of explanation. This is key to improving how we understand the experience of psychosis. Moreover, it points us towards more comprehensive avenues for therapeutic research by providing a putative mechanism that could allow for the generation of new treatments from first principles. In order to demonstrate this, our conceptual paper will discuss the application of the insights from previous computational models to an important and complex set of evidence-based clinical interventions with strong social elements, such as coordinated specialty care clinics in early psychosis and assertive community treatment. These interventions may include but also go beyond psychopharmacology, providing, we argue, structure and predictability for patients experiencing psychosis. We develop the argument that this structure and predictability directly counteract the relatively low precision afforded to sensory information in psychosis, while also providing the patient more access to external cognitive resources in the form of providers and the structure of the programs themselves. We discuss how computational models explain the resulting reduction in symptoms, as well as the predictions these models make about potential responses of patients to modifications or to different variations of these interventions. We also link, via the framework of computational models, the experiences of patients and response to interventions to putative neurobiology.
CUDA Tutorial -- Cryptanalysis of Classical Ciphers Using Modern GPUs and CUDA
Venue: arXiv cs.CR 2021
Year: 2021

CUDA (formerly an abbreviation of Compute Unified Device Architecture) is a parallel computing platform and API model created by Nvidia allowing software developers to use a CUDA-enabled graphics processing unit (GPU) for general purpose processing. This 90-pages tutorial introduces the CUDA concepts in an easy-to-grasp and interactive way with ready-to-run code samples tested on Windows and Linux. Starting from scratch, a complete stand-alone GPU tool is implemented which automatically performs a ciphertext-only attack on ciphertexts encrypted by monoalphabetic substitution and columnar transposition. Throughout this process, you will learn how to architect the tool, what optimizations could significantly accelerate the routines, why the choice of an adequate metaheuristic is critical, and how to draw sketches to enlighten the design process. This tutorial will be incorporated in the CrypTool book as chapter 13.
Reachability and Matching in Single Crossing Minor Free Graphs
Venue: arXiv cs.CC 2021
Year: 2021

We show that for each single crossing graph $H$, a polynomially bounded weight function for all $H$-minor free graphs $G$ can be constructed in Logspace such that it gives nonzero weights to all the cycles in $G$. This class of graphs subsumes almost all classes of graphs for which such a weight function is known to be constructed in Logspace. As a consequence, we obtain that for the class of $H$-minor free graphs where $H$ is a single crossing graph, reachability can be solved in UL, and bipartite maximum matching can be solved in SPL, which are small subclasses of the parallel complexity class NC. In the restrictive case of bipartite graphs, our maximum matching result improves upon the recent result of Eppstein and Vazirani, where they show an NC bound for constructing perfect matching in general single crossing minor free graphs.
Real-time low-resource phoneme recognition on edge devices
Venue: arXiv cs.CL 2021
Year: 2021

While speech recognition has seen a surge in interest and research over the last decade, most machine learning models for speech recognition either require large training datasets or lots of storage and memory. Combined with the prominence of English as the number one language in which audio data is available, this means most other languages currently lack good speech recognition models. The method presented in this paper shows how to create and train models for speech recognition in any language which are not only highly accurate, but also require very little storage, memory and training data when compared with traditional models. This allows training models to recognize any language and deploying them on edge devices such as mobile phones or car displays for fast real-time speech recognition.
Realistic Differentially-Private Transmission Power Flow Data Release
Venue: arXiv cs.CR 2021
Year: 2021

For the modeling, design and planning of future energy transmission networks, it is vital for stakeholders to access faithful and useful power flow data, while provably maintaining the privacy of business confidentiality of service providers. This critical challenge has recently been somewhat addressed in [1]. This paper significantly extends this existing work. First, we reduce the potential leakage information by proposing a fundamentally different post-processing method, using public information of grid losses rather than power dispatch, which achieve a higher level of privacy protection. Second, we protect more sensitive parameters, i.e., branch shunt susceptance in addition to series impedance (complete pi-model). This protects power flow data for the transmission high-voltage networks, using differentially private transformations that maintain the optimal power flow consistent with, and faithful to, expected model behaviour. Third, we tested our approach at a larger scale than previous work, using the PGLib-OPF test cases [10]. This resulted in the successful obfuscation of up to a 4700-bus system, which can be successfully solved with faithfulness of parameters and good utility to data analysts. Our approach addresses a more feasible and realistic scenario, and provides higher than state-of-the-art privacy guarantees, while maintaining solvability, fidelity and feasibility of the system.
Hastily Formed Knowledge Networks and Distributed Situation Awareness for Collaborative Robotics
Venue: arXiv cs.MA 2021
Year: 2021

In the context of collaborative robotics, distributed situation awareness is essential for supporting collective intelligence in teams of robots and human agents where it can be used for both individual and collective decision support. This is particularly important in applications pertaining to emergency rescue and crisis management. During operational missions, data and knowledge is gathered incrementally and in different ways by heterogeneous robots and humans. We describe this as the creation of \emph{Hastily Formed Knowledge Networks} (HFKNs). The focus of this paper is the specification and prototyping of a general distributed system architecture that supports the creation of HFKNs by teams of robots and humans. The information collected ranges from low-level sensor data to high-level semantic knowledge, the latter represented in part as RDF Graphs. The framework includes a synchronization protocol and associated algorithms that allow for the automatic distribution and sharing of data and knowledge between agents. This is done through the distributed synchronization of RDF Graphs shared between agents. High-level semantic queries specified in SPARQL can be used by robots and humans alike to acquire both knowledge and data content from team members. The system is empirically validated and complexity results of the proposed algorithms are provided. Additionally, a field robotics case study is described, where a 3D mapping mission has been executed using several UAVs in a collaborative emergency rescue scenario while using the full HFKN Framework.