OpenRaiser/Intern-Atlas huggingface dataset:
Efficient Implementation of Non-linear Flow Law Using Neural Network into the Abaqus Explicit FEM code
Venue: arXiv cs.CE 2022
Year: 2022

Machine learning techniques are increasingly used to predict material behavior in scientific applications and offer a significant advantage over conventional numerical methods. In this work, an Artificial Neural Network (ANN) model is used in a finite element formulation to define the flow law of a metallic material as a function of plastic strain, plastic strain rate and temperature. First, we present the general structure of the neural network, its operation and focus on the ability of the network to deduce, without prior learning, the derivatives of the flow law with respect to the model inputs. In order to validate the robustness and accuracy of the proposed model, we compare and analyze the performance of several network architectures with respect to the analytical formulation of a Johnson-Cook behavior law for a 42CrMo4 steel. In a second part, after having selected an Artificial Neural Network architecture with $2$ hidden layers, we present the implementation of this model in the Abaqus Explicit computational code in the form of a VUHARD subroutine. The predictive capability of the proposed model is then demonstrated during the numerical simulation of two test cases: the necking of a circular bar and a Taylor impact test. The results obtained show a very high capability of the ANN to replace the analytical formulation of a Johnson-Cook behavior law in a finite element code, while remaining competitive in terms of numerical simulation time compared to a classical approach.
Driverless road-marking Machines: Ma(r)king the Way towards the Future of Mobility
Venue: arXiv cs.RO 2022
Year: 2022

Driverless road maintenance could potentially be highly beneficial to all its stakeholders, with the key goals being increased safety for all road participants, more efficient traffic management, and reduced road maintenance costs such that the standard of the road infrastructure is sufficient for it to be used in Automated Driving (AD). This paper addresses how the current state of technology could be expanded to reach those goals. Within the project 'System for Teleoperated Road-marking' (SToRM), using the road-marking machine as the system, different operation modes based on teleoperation were discussed and developed. Furthermore, a functional system overview considering both hardware and software elements was experimentally validated with an actual road-marking machine and should serve as a baseline for future efforts in this and similar areas.
Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations
Venue: arXiv cs.RO 2022
Year: 2022

The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust closed-loop input-output stability and asymptotic pose trajectory tracking via the passivity theorem. A novelty of the proposed controller is its formulation for use with a range of payload attitude parameterizations, including any unconstrained attitude parameterization, the quaternion, or the direction cosine matrix (DCM). The performance and robustness of the proposed controller is demonstrated through numerical simulations of a CDPR with rigid and flexible cables. The results demonstrate the importance of carefully defining the CDPR's pose error, which is performed in multiplicative fashion when using the quaternion and DCM, and in a specific additive fashion when using unconstrained attitude parameters (e.g., an Euler-angle sequence).
A Test for FLOPs as a Discriminant for Linear Algebra Algorithms
Venue: arXiv cs.PF 2022
Year: 2022

Linear algebra expressions, which play a central role in countless scientific computations, are often computed via a sequence of calls to existing libraries of building blocks (such as those provided by BLAS and LAPACK). A sequence identifies a computing strategy, i.e., an algorithm, and normally for one linear algebra expression many alternative algorithms exist. Although mathematically equivalent, those algorithms might exhibit significant differences in terms of performance. Several high-level languages and tools for matrix computations such as Julia, Armadillo, Linnea, etc., make algorithmic choices by minimizing the number of Floating Point Operations (FLOPs). However, there can be several algorithms that share the same (or have nearly identical) number of FLOPs; in many cases, these algorithms exhibit execution times which are statistically equivalent and one could arbitrarily select one of them as the best algorithm. It is however not unlikely to find cases where the execution times are significantly different from one another (despite the FLOP count being almost the same). It is also possible that the algorithm that minimizes FLOPs is not the one that minimizes execution time. In this work, we develop a methodology to test the reliability of FLOPs as discriminant for linear algebra algorithms. Given a set of algorithms (for an instance of a linear algebra expression) as input, the methodology ranks them into performance classes; i.e., multiple algorithms are allowed to share the same rank. To this end, we measure the algorithms iteratively until the changes in the ranks converge to a value close to zero. FLOPs are a valid discriminant for an instance if all the algorithms with minimum FLOPs are assigned the best rank; otherwise, the instance is regarded as an anomaly, which can then be used in the investigation of the root cause of performance differences.
Accurate Cooperative Sensor Fusion by Parameterized Covariance Generation for Sensing and Localization Pipelines in CAVs
Venue: arXiv cs.RO 2022
Year: 2022

A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However, previous cooperative sensor fusion approaches for autonomous vehicles use a fixed error model, in which the covariance of a sensor and its recognizer pipeline is just the mean of the measured covariance for all sensing scenarios. The approach proposed in this paper estimates error using key predictor terms that have high correlation with sensing and localization accuracy for accurate covariance estimation of each sensor observation. We adopt a tiered fusion model consisting of local and global sensor fusion steps. At the local fusion level, we add in a covariance generation stage using the error model for each sensor and the measured distance to generate the expected covariance matrix for each observation. At the global sensor fusion stage we add an additional stage to generate the localization covariance matrix from the key predictor term velocity and combines that with the covariance generated from the local fusion for accurate cooperative sensing. To showcase our method, we built a set of 1/10 scale model autonomous vehicles with scale accurate sensing capabilities and classified the error characteristics against a motion capture system. Results show an average and max improvement in RMSE when detecting vehicle positions of 1.42x and 1.78x respectively in a four-vehicle cooperative fusion scenario when using our error model versus a typical fixed error model.
SZZ in the time of Pull Requests
Venue: arXiv cs.SE 2022
Year: 2022

In the multi-commit development model, programmers complete tasks (e.g., implementing a feature) by organizing their work in several commits and packaging them into a commit-set. Analyzing data from developers using this model can be useful to tackle challenging developers' needs, such as knowing which features introduce a bug as well as assessing the risk of integrating certain features in a release. However, to do so one first needs to identify fix-inducing commit-sets. For such an identification, the SZZ algorithm is the most natural candidate, but its performance has not been evaluated in the multi-commit context yet. In this study, we conduct an in-depth investigation on the reliability and performance of SZZ in the multi-commit model. To obtain a reliable ground truth, we consider an already existing SZZ dataset and adapt it to the multi-commit context. Moreover, we devise a second dataset that is more extensive and directly created by developers as well as Quality Assurance (QA) engineers of Mozilla. Based on these datasets, we (1) test the performance of B-SZZ and its non-language-specific SZZ variations in the context of the multi-commit model, (2) investigate the reasons behind their specific behavior, and (3) analyze the impact of non-relevant commits in a commit-set and automatically detect them before using SZZ.
Joint Learning of Deep Texture and High-Frequency Features for Computer-Generated Image Detection
Venue: arXiv cs.CV 2022
Year: 2022

Distinguishing between computer-generated (CG) and natural photographic (PG) images is of great importance to verify the authenticity and originality of digital images. However, the recent cutting-edge generation methods enable high qualities of synthesis in CG images, which makes this challenging task even trickier. To address this issue, a joint learning strategy with deep texture and high-frequency features for CG image detection is proposed. We first formulate and deeply analyze the different acquisition processes of CG and PG images. Based on the finding that multiple different modules in image acquisition will lead to different sensitivity inconsistencies to the convolutional neural network (CNN)-based rendering in images, we propose a deep texture rendering module for texture difference enhancement and discriminative texture representation. Specifically, the semantic segmentation map is generated to guide the affine transformation operation, which is used to recover the texture in different regions of the input image. Then, the combination of the original image and the high-frequency components of the original and rendered images are fed into a multi-branch neural network equipped with attention mechanisms, which refines intermediate features and facilitates trace exploration in spatial and channel dimensions respectively. Extensive experiments on two public datasets and a newly constructed dataset with more realistic and diverse images show that the proposed approach outperforms existing methods in the field by a clear margin. Besides, results also demonstrate the detection robustness and generalization ability of the proposed approach to postprocessing operations and generative adversarial network (GAN) generated images.
Using Computational Approaches in Visual Identity Design: A Visual Identity for the Design and Multimedia Courses of Faculty of Sciences and Technology of University of Coimbra
Venue: arXiv cs.MM 2022
Year: 2022

Computational approaches are beginning to be used to design dynamic visual identities fuelled by data and generative processes. In this work, we explore these computational approaches in order to generate a visual identity that creates bespoke letterings and images. We achieve this developing a generative design system that automatically assembles black and white visual modules. This system generates designs performing two main methods: (i) Assisted generation; and (ii) Automatic generation. Assisted generation method produces outputs wherein the placement of modules is determined by a configuration file previous defined. On the other hand, the Automatic generation method produces outputs wherein the modules are assembled to depict an input image. This system speeds up the process of design and deployment of one visual identity design as well as it generates outputs visual coherent among them. In this paper, we compressively describe this system and its achievements.
Scheduling Operator Assistance for Shared Autonomy in Multi-Robot Teams
Venue: arXiv cs.RO 2022
Year: 2022

In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a task, a robot can either operate autonomously or be teleoperated by the human operator to complete the task at a faster rate. We show that the problem of creating a teleoperation schedule that minimizes makespan of the system is NP-Hard. We formulate our problem as a Mixed Integer Linear Program, which can be used to optimally solve small to moderate sized problem instances. We also develop an anytime algorithm that makes use of the problem structure to provide a fast and high-quality solution of the operator scheduling problem, even for larger problem instances. Our key insight is to identify blocking tasks in greedily-created schedules and iteratively remove those blocks to improve the quality of the solution. Through numerical simulations, we demonstrate the benefits of the proposed algorithm as an efficient and scalable approach that outperforms other greedy methods.
Supervised GAN Watermarking for Intellectual Property Protection
Venue: arXiv cs.CV 2022
Year: 2022

We propose a watermarking method for protecting the Intellectual Property (IP) of Generative Adversarial Networks (GANs). The aim is to watermark the GAN model so that any image generated by the GAN contains an invisible watermark (signature), whose presence inside the image can be checked at a later stage for ownership verification. To achieve this goal, a pre-trained CNN watermarking decoding block is inserted at the output of the generator. The generator loss is then modified by including a watermark loss term, to ensure that the prescribed watermark can be extracted from the generated images. The watermark is embedded via fine-tuning, with reduced time complexity. Results show that our method can effectively embed an invisible watermark inside the generated images. Moreover, our method is a general one and can work with different GAN architectures, different tasks, and different resolutions of the output image. We also demonstrate the good robustness performance of the embedded watermark against several post-processing, among them, JPEG compression, noise addition, blurring, and color transformations.
Evaluating Temporal Patterns in Applied Infant Affect Recognition
Venue: arXiv cs.HC 2022
Year: 2022

Agents must monitor their partners' affective states continuously in order to understand and engage in social interactions. However, methods for evaluating affect recognition do not account for changes in classification performance that may occur during occlusions or transitions between affective states. This paper addresses temporal patterns in affect classification performance in the context of an infant-robot interaction, where infants' affective states contribute to their ability to participate in a therapeutic leg movement activity. To support robustness to facial occlusions in video recordings, we trained infant affect recognition classifiers using both facial and body features. Next, we conducted an in-depth analysis of our best-performing models to evaluate how performance changed over time as the models encountered missing data and changing infant affect. During time windows when features were extracted with high confidence, a unimodal model trained on facial features achieved the same optimal performance as multimodal models trained on both facial and body features. However, multimodal models outperformed unimodal models when evaluated on the entire dataset. Additionally, model performance was weakest when predicting an affective state transition and improved after multiple predictions of the same affective state. These findings emphasize the benefits of incorporating body features in continuous affect recognition for infants. Our work highlights the importance of evaluating variability in model performance both over time and in the presence of missing data when applying affect recognition to social interactions.
CWP: Instance complexity weighted channel-wise soft masks for network pruning
Venue: arXiv cs.LG 2022
Year: 2022

Existing differentiable channel pruning methods often attach scaling factors or masks behind channels to prune filters with less importance, and implicitly assume uniform contribution of input samples to filter importance. Specifically, the effects of instance complexity on pruning performance are not yet fully investigated in static network pruning. In this paper, we propose a simple yet effective differentiable network pruning method CWP based on instance complexity weighted filter importance scores. We define instance complexity related weight for each instance by giving higher weights to hard instances, and measure the weighted sum of instance-specific soft masks to model non-uniform contribution of different inputs, which encourages hard instances to dominate the pruning process and the model performance to be well preserved. In addition, we introduce a regularizer to maximize polarization of the masks, such that a sweet spot can be easily found to identify the filters to be pruned. Performance evaluations on various network architectures and datasets demonstrate CWP has advantages over the state-of-the-arts in pruning large networks. For instance, CWP improves the accuracy of ResNet56 on CIFAR-10 dataset by 0.32% aftering removing 64.11% FLOPs, and prunes 87.75% FLOPs of ResNet50 on ImageNet dataset with only 0.93% Top-1 accuracy loss.
VizBelle: A Design Space of Embellishments for Data Visualization
Venue: arXiv cs.HC 2022
Year: 2022

Visual embellishments, as a form of non-linguistic rhetorical figures, are used to help convey abstract concepts or attract readers' attention. Creating data visualizations with appropriate and visually pleasing embellishments is challenging since this process largely depends on the experience and the aesthetic taste of designers. To help facilitate designers in the ideation and creation process, we propose a design space, VizBelle, based on the analysis of 361 classified visualizations from online sources. VizBelle consists of four dimensions, namely, communication goal to fit user intention, object to select the target area, strategy and technique to offer potential approaches. We further provide a website to present detailed explanations and examples of various techniques. We conducted a within-subject study with 20 professional and amateur design enthusiasts to evaluate the effectiveness of our design space. Results show that our design space is illuminating and useful for designers to create data visualizations with embellishments.
Practical Aspects of Membership Problem of Watson-Crick Context-free Grammars
Venue: arXiv cs.FL 2022
Year: 2022

This paper focuses on Watson-Crick languages inspired by DNA computing, their models, and algorithms for deciding the language membership. It analyzes a recently introduced algorithm called WK-CYK and introduces a state space search algorithm that is based on regular Breadth-first search but uses a number of optimizations and heuristics to be efficient in practical use and able to analyze longer inputs. The key parts are the heuristics for pruning the state space (detecting dead ends) and heuristics for choosing the most promising branches to continue the search. These two algorithms have been tested with 20 different Watson-Crick grammars (40 including their Chomsky normal form versions). While WK-CYK is able to decide the language membership in a reasonable time for inputs of the length of roughly 30-50 symbols and its performance is very consistent for all kinds of grammars and inputs, the state space search is usually (89-98 % of cases) more efficient and able to do the computation for inputs with lengths of hundreds or even thousands of symbols. Thus, the state space search has the potential to be a good tool for practical Watson-Crick membership testing and is a good basis for improvement the efficiency of the algorithm in the future.
Saliency-based Multiple Region of Interest Detection from a Single 360° image
Venue: arXiv cs.CV 2022
Year: 2022

360° images are informative -- it contains omnidirectional visual information around the camera. However, the areas that cover a 360° image is much larger than the human's field of view, therefore important information in different view directions is easily overlooked. To tackle this issue, we propose a method for predicting the optimal set of Region of Interest (RoI) from a single 360° image using the visual saliency as a clue. To deal with the scarce, strongly biased training data of existing single 360° image saliency prediction dataset, we also propose a data augmentation method based on the spherical random data rotation. From the predicted saliency map and redundant candidate regions, we obtain the optimal set of RoIs considering both the saliency within a region and the Interaction-Over-Union (IoU) between regions. We conduct the subjective evaluation to show that the proposed method can select regions that properly summarize the input 360° image.
R$^3$LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
Venue: arXiv cs.CV 2022
Year: 2022

Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work proposed a novel LiDAR-inertial-visual fusion framework termed R$^3$LIVE++ to achieve robust and accurate state estimation while simultaneously reconstructing the radiance map on the fly. R$^3$LIVE++ consists of a LiDAR-inertial odometry (LIO) and a visual-inertial odometry (VIO), both running in real-time. The LIO subsystem utilizes the measurements from a LiDAR for reconstructing the geometric structure (i.e., the positions of 3D points), while the VIO subsystem simultaneously recovers the radiance information of the geometric structure from the input images. R$^3$LIVE++ is developed based on R$^3$LIVE and further improves the accuracy in localization and mapping by accounting for the camera photometric calibration (e.g., non-linear response function and lens vignetting) and the online estimation of camera exposure time. We conduct more extensive experiments on both public and our private datasets to compare our proposed system against other state-of-the-art SLAM systems. Quantitative and qualitative results show that our proposed system has significant improvements over others in both accuracy and robustness. In addition, to demonstrate the extendability of our work, {we developed several applications based on our reconstructed radiance maps, such as high dynamic range (HDR) imaging, virtual environment exploration, and 3D video gaming.} Lastly, to share our findings and make contributions to the community, we make our codes, hardware design, and dataset publicly available on our Github: github.com/hku-mars/r3live
Epic Fail: Emulators can tolerate polynomially many edge faults for free
Venue: arXiv cs.DS 2022
Year: 2022

A $t$-emulator of a graph $G$ is a graph $H$ that approximates its pairwise shortest path distances up to multiplicative $t$ error. We study fault tolerant $t$-emulators, under the model recently introduced by Bodwin, Dinitz, and Nazari [ITCS 2022] for vertex failures. In this paper we consider the version for edge failures, and show that they exhibit surprisingly different behavior. In particular, our main result is that, for $(2k-1)$-emulators with $k$ odd, we can tolerate a polynomial number of edge faults for free. For example: for any $n$-node input graph, we construct a $5$-emulator ($k=3$) on $O(n^{4/3})$ edges that is robust to $f = O(n^{2/9})$ edge faults. It is well known that $Ω(n^{4/3})$ edges are necessary even if the $5$-emulator does not need to tolerate any faults. Thus we pay no extra cost in the size to gain this fault tolerance. We leave open the precise range of free fault tolerance for odd $k$, and whether a similar phenomenon can be proved for even $k$.