Reviewerly/exHarmony huggingface dataset:
A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning

In this paper, we present a distributed algorithm to generate collision-free trajectories for a group of quadrotors flying through a common workspace. In the setup adopted, each vehicle replans its trajectory, in a receding horizon manner, by solving a small-scale optimization problem that only involves its own individual variables. We adopt the Voronoi partitioning of space to derive local constraints that guarantee collision avoidance with all neighbors for a certain time horizon. The obtained set of collision avoidance constraints explicitly takes into account the vehicle's orientation to avoid infeasiblity issues caused by ignoring the quadrotor's rotational motion. Moreover, the resulting constraints can be expressed as Bézier curves, and thus can be evaluated efficiently, without discretization, to ensure that collision avoidance requirements are satisfied at any time instant, even for an extended planning horizon. The proposed approach is validated through extensive simulations with up to 100 drones. The results show that the proposed method has a higher success rate at finding collision-free trajectories for large groups of drones compared to other Voronoi diagram-based methods.
Improving Classification Performance of Fully Connected Layers by Fuzzy Clustering in Transformed Feature Space

Fully connected (FC) layers are used in almost all neural network architectures ranging from multilayer perceptrons to deep neural networks. FC layers allow any kind of symmetric/asymmetric interaction between features without making any assumption about the structure of the data. However, success of convolutional and recursive layers and findings of many studies have proven that the intrinsic structure of a dataset holds a great potential to improve the success of a classification problem. Leveraging clustering to explore and exploit this intrinsic structure in classification problems has been the subject of various studies. In this paper, we propose a new training pipeline for fully connected layers which enables them to make more accurate classification predictions. The proposed method aims to reflect the clustering patterns in the original feature space of the training dataset to the transformed feature space created by the FC layer. In this way, we intend to enhance the representation ability of the extracted features and accordingly increase the classification accuracy. The Fuzzy C-Means algorithm is employed in this study as the clustering tool. To evaluate the performance of the proposed method, 11 experiments were conducted on 9 benchmark UCI datasets. Empirical results show that the proposed method works well in practice and gives higher classification accuracies compared to a regular FC layer in most datasets.
IoT Forensic Frameworks (DFIF, IoTDOTS, FSAIoT): A Comprehensive Study

In the Internet of Things, millions of electronic items, including automobiles, smoke alarms, watches, eyeglasses, webcams, and other devices, are now connected to the Internet (IoT). Aside from the luxury and comfort that the individual obtains in the field of IoT, as well as its ability to communicate and obtain information easily and quickly, the other concerning aspect is the achievement of privacy and security in this connection, especially given the rapid increase in the number of existing and new IoT devices. Concerns, threats, and assaults related to IoT security have been regarded as a potential and problematic area of research. This necessitates the quick development or creation of suitable technologies with the nature of crimes in the IoT environment. On the other hand, criminal investigation specialists encounter difficulties and hurdles due to various locations, data types, instruments used, and device recognition. This paper provides an in-depth explanation of the criminal content of the Internet of Things. It compares its stages to the detailed stages of traditional digital forensics in terms of similarities and differences, the frameworks used in dealing with electronic crimes, and the techniques used in both types. This paper presents previous discussions of researchers in the field of digital forensics. For the IoT, which brings us to the most important parts of this paper, which is a comprehensive study of the IoT criminal frameworks that are used to protect communication in the field of IoT, such as Digital Forensic Investigation Framework (DFIF), Digital Forensic Framework for Smart Environments (IoTDOTS), Forensic State Acquisition from the Internet of Things (FSAIoT), and discusses the challenges in their general frameworks and provides solutions and strategies.
QoS-Aware Algorithm Based on Task Flow Scheduling in Cloud Computing Environment

This paper deals with the challenging problem of scheduling users' tasks, while taking into consideration users' quality of service (QoS) requirements, with the objective of reducing the energy consumption of physical machines. This paper presents a model to analyze the current state of the running tasks according to the results of the QoS prediction assigned by an ARIMA prediction model optimized with Kalman filter. Then, we calculate a scheduling policy with a combined particle swarm optimization (PSO) and gravitational search algorithm (GSA) algorithms according to the QoS status analysis. Experimental results show that the proposed HPSO algorithm reduces resources consumption 16.51% more than the original hybrid algorithm, and the violation of service-level agreement (SLA) is 0.053% less when the optimized prediction model is used.
A Survey of Hardware Self-Organizing Maps

Self-organizing feature maps (SOMs) are commonly used technique for clustering and data dimensionality reduction in many application fields. Indeed, their inherent property of topology preservation and unsupervised learning of processed data without any prior knowledge put them in the front of candidates for data reduction in the Internet of Things (IoT) and big data (BD) technologies. However, the high computational cost of SOMs limits their use to offline approaches and makes the online real-time high-performance SOM processing more challenging and mostly reserved to specific hardware implementations. In this article, we present a survey of hardware (HW) SOM implementations found in the literature so far: the most widely used computing blocks, architectures, design choices, adaptation, and optimization techniques that have been reported in the field of hardware SOMs. Moreover, we give an overview of main challenges and trends for their ubiquitous adoption as hardware accelerators in many application fields. This article is expected to be useful for researchers in the areas of artificial intelligence, hardware architecture, and system design.
Evaluation Algorithm of English Audiovisual Teaching Effect Based on Deep Learning

Traditional English teaching focuses on exam-oriented education. Although many students have passed various English tests and even achieved high scores, they cannot communicate freely in English. In order to change this situation, the state has adjusted the syllabus to enhance students’ audiovisual (AV) and oral ability. With more attention paid to the course of audiovisual speaking, the improvement of teaching quality has become an important part. The rationality of teaching effect evaluation plays a key role. Therefore, it is necessary to establish a scientific and reasonable AV and oral teaching effect evaluation model. Based on this, this paper proposes an evaluation algorithm of English AV and oral teaching effect based on deep learning (DL). Its characteristics are as follows: firstly, a data-based objective evaluation method of teaching effect is constructed, and then the adaptive algorithm is used to optimize the initial weight and threshold of deep neural network. English teaching implementation shows to us that English language characteristic and the matter of actual activities are closely connected to the context. English learning should not only pay attention to the understanding of English vocabulary and sentence and also carry out cultural exchanges with the countries, but English is the common language. The experimental results show that this model improves the prediction accuracy and convergence speed of teaching quality evaluation results, providing a more feasible scheme for the evaluation of English AV teaching effect.
Improved U-Net3+ with stage residual for brain tumor segmentation

Abstract Background For the encoding part of U-Net3+,the ability of brain tumor feature extraction is insufficient, as a result, the features can not be fused well during up-sampling, and the accuracy of segmentation will reduce. Methods In this study, we put forward an improved U-Net3+ segmentation network based on stage residual. In the encoder part, the encoder based on the stage residual structure is used to solve the vanishing gradient problem caused by the increasing in network depth, and enhances the feature extraction ability of the encoder which is instrumental in full feature fusion when up-sampling in the network. What’s more, we replaced batch normalization (BN) layer with filter response normalization (FRN) layer to eliminate batch size impact on the network. Based on the improved U-Net3+ two-dimensional (2D) model with stage residual, IResUnet3+ three-dimensional (3D) model is constructed. We propose appropriate methods to deal with 3D data, which achieve accurate segmentation of the 3D network. Results The experimental results showed that: the sensitivity of WT, TC, and ET increased by 1.34%, 4.6%, and 8.44%, respectively. And the Dice coefficients of ET and WT were further increased by 3.43% and 1.03%, respectively. To facilitate further research, source code can be found at: https://github.com/YuOnlyLookOne/IResUnet3Plus . Conclusion The improved network has a significant improvement in the segmentation task of the brain tumor BraTS2018 dataset, compared with the classical networks u-net, v-net, resunet and u-net3+, the proposed network has smaller parameters and significantly improved accuracy.
An out-of-core method for GPU image mapping on large 3D scenarios of the real world

Image mapping on 3D huge scenarios of the real world is one of the most fundamental and computational expensive processes for the integration of multi-source sensing data. Recent studies focused on the observation and characterization of Earth have been enhanced by the proliferation of Unmanned Aerial Vehicle (UAV) and sensors able to capture massive datasets with a high spatial resolution. Despite the advances in manufacturing new cameras and versatile platforms, only a few methods have been developed to characterize the study area by fusing heterogeneous data such as thermal, multispectral or hyperspectral images with high-resolution 3D models. The main reason for this lack of solutions is the challenge to integrate multi-scale datasets and high computational efforts required for image mapping on dense and complex geometric models. In this paper, we propose an efficient pipeline for multi-source image mapping on huge 3D scenarios. Our GPU-based solution significantly reduces the run time and allows us to generate enriched 3D models on-site. The proposed method is out-of-core and it uses available resources of the GPU's machine to perform two main tasks: (i) image mapping and (ii) occlusion testing. We deploy highly-optimized GPU-kernels for image mapping and detection of self-hidden geometry in the 3D model, as well as a GPU-based parallelization to manage the 3D model considering several spatial partitions according to the GPU capabilities. Our method has been tested on 3D scenarios with different point cloud densities (66M, 271M, 542M) and two sets of multispectral images collected by two drone flights. We focus on launching the proposed method on three platforms: (i) System on a Chip (SoC), (ii) a user-grade laptop and (iii) a PC. The results demonstrate the method's capabilities in terms of performance and versatility to be computed by commodity hardware. Thus, taking advantage of GPUs, this method opens the door for embedded and edge computing devices for 3D image mapping on large-scale scenarios in near real-time.
An Accelerated Dual Fast Marching Tree Applied to Emergency Geometric Trajectory Generation

This paper addresses the generation of aircraft emergency trajectories with obstacle avoidance. After presenting in detail the fast marching tree algorithm, in this paper we propose an improvement of its performance. First, the free space checking function is sped up. Then, the algorithm is used twice, firstly with the sampling of a few points to generate an approximate trajectory, and secondly with a sampling of points close to the first computed trajectory to refine it. The proposed method significantly reduces the computing time of the emergency geometric trajectory generation.
Multi‐head attention graph convolutional network model: End‐to‐end entity and relation joint extraction based on multi‐head attention graph convolutional network

Abstract At present, the entity and relation joint extraction task has attracted more and more scholars' attention in the field of natural language processing (NLP). However, most of their methods rely on NLP tools to construct dependency trees to obtain sentence structure information. The adjacency matrix constructed by the dependency tree can convey syntactic information. Dependency trees obtained through NLP tools are too dependent on the tools and may not be very accurate in contextual semantic description. At the same time, a large amount of irrelevant information will cause redundancy. This paper presents a novel end‐to‐end entity and relation joint extraction based on the multi‐head attention graph convolutional network model (MAGCN), which does not rely on external tools. MAGCN generates an adjacency matrix through a multi‐head attention mechanism to form an attention graph convolutional network model, uses head selection to identify multiple relations, and effectively improve the prediction result of overlapping relations. The authors extensively experiment and prove the method's effectiveness on three public datasets: NYT, WebNLG, and CoNLL04. The results show that the authors’ method outperforms the state‐of‐the‐art research results for the task of entities and relation extraction.
Virtual Reality and Art History: A Case Study of Digital Humanities and Immersive Learning Environments

The potential benefits of integrating immersive realities into traditional humanities curricula have been touted over the last two decades, but budgetary and technical constraints of implementation have limited its adoption. However, recent advances in technology, along with more affordable hardware coupled with more user-friendly interfaces, have seen widespread adoption beyond that of the military and healthcare. In fact, higher education institutions are poised to adopt VR on a broader scale to enhance learning with virtual environments. This study seeks to determine the expectations and results of integrating virtual reality into coursework with students and faculty in Art History. The study surveyed students, first to ascertain the prevalence and familiarity of immersive reality technologies, as well as the perceived benefit of integration into curriculum. Next, surveys collected data on student experience relating to virtual reality assignments integrated into coursework for both face-to-face and online learners. The results provide a model for other institutions for a variety of disciplines to reinforce outcomes through strategic use of the technology.
Deep-Forest-Based Encrypted Malicious Traffic Detection

The SSL/TLS protocol is widely used in data encryption transmission. Aiming at the problem of detecting SSL/TLS-encrypted malicious traffic with small-scale and unbalanced training data, a deep-forest-based detection method called DF-IDS is proposed in this paper. According to the characteristics of SSL/TSL protocol, the network traffic was split into sessions according to the 5-tuple information. Each session was then transformed into a two-dimensional traffic image as the input of a deep-learning classifier. In order to avoid information loss and improve the detection efficiency, the multi-grained cascade forest (gcForest) framework was simplified with only cascade structure, which was named cascade forest (CaForest). By integrating random forest and extra trees in the CaForest framework, an end-to-end high-precision detector for small-scale and unbalanced SSL/TSL encrypted malicious traffic was realized. Compared with other deep-learning-based methods, the experimental results showed that the detection rate of DF-IDS was 6.87% to 29.5% higher than that of other methods on a small-scale and unbalanced dataset. The advantage of DF-IDS was more obvious in the multi-classification case.
Application of Real and Virtual Radial Arm Maze Task in Human

Virtual Reality (VR) emerges as a promising technology capable of creating different scenarios in which the body, environment, and brain are closely related, proving enhancements in the diagnosis and treatment of several spatial memory deficits. In recent years, human spatial navigation has increasingly been studied in interactive virtual environments. However, navigational tasks are still not completely adapted in immersive 3D VR systems. We stipulate that an immersive Radial Arm Maze (RAM) is an excellent instrument, allowing the participants to be physically active within the maze exactly as in the walking RAM version in reality modality. RAM is a behavioral ecological task that allows the analyses of different facets of spatial memory, distinguishing declarative components from procedural ones. In addition to describing the characteristics of RAM, we will also analyze studies in which RAM has been used in virtual modality to provide suggestions into RAM building in immersive modality.
A role‐entity based human activity recognition using inter‐body features and temporal sequence memory

Recognizing entities and their corresponding roles are important in human activity recognition. In light of recent advancements, the primary emphasis is recognizing the abstract activities involving person-person interaction. The contribution of this work is proposing an architecture, which utilizes the knowledge of the human body parts coordinates in role detection of each individual. The network preprocesses the coordinates to build intra-body and inter-body features. The extracted features build the relationship between the interacting bodies and learn the temporal relation corresponding to each role using the human memory-inspired hierarchical temporal memory. The model is tested on vague samples of mutual actions in the experimental work. The model is found robust in action and role recognition tasks and performed well per expectations.
DARER: Dual-task Temporal Relational Recurrent Reasoning Network for Joint Dialog Sentiment Classification and Act Recognition

The task of joint dialog sentiment classification (DSC) and act recognition (DAR) aims to simultaneously predict the sentiment label and act label for each utterance in a dialog.In this paper, we put forward a new framework which models the explicit dependencies via integrating prediction-level interactions other than semantics-level interactions, more consistent with human intuition.Besides, we propose a speaker-aware temporal graph (SATG) and a dual-task relational temporal graph (DRTG) to introduce temporal relations into dialog understanding and dual-task reasoning.To implement our framework, we propose a novel model dubbed DARER, which first generates the context-, speaker-and temporal-sensitive utterance representations via modeling SATG, then conducts recurrent dual-task relational reasoning on DRTG, in which process the estimated label distributions act as key clues in prediction-level interactions.Experiment results show that DARER outperforms existing models by large margins while requiring much less computation resource and costing less training time.Remarkably, on DSC task in Mastodon, DARER gains a relative improvement of about 25% over previous best model in terms of F1, with less than 50% parameters and about only 60% required GPU memory.
IAM: A Comprehensive and Large-Scale Dataset for Integrated Argument Mining Tasks

Traditionally, a debate usually requires a manual preparation process, including reading plenty of articles, selecting the claims, identifying the stances of the claims, seeking the evidence for the claims, etc.As the AI debate attracts more attention these years, it is worth exploring the methods to automate the tedious process involved in the debating system.In this work, we introduce a comprehensive and large dataset named IAM, which can be applied to a series of argument mining tasks, including claim extraction, stance classification, evidence extraction, etc.Our dataset is collected from over 1k articles related to 123 topics.Near 70k sentences in the dataset are fully annotated based on their argument properties (e.g., claims, stances, evidence, etc.).We further propose two new integrated argument mining tasks associated with the debate preparation process: (1) claim extraction with stance classification (CESC) and (2) claim-evidence pair extraction (CEPE).We adopt a pipeline approach and an end-to-end method for each integrated task separately.Promising experimental results are reported to show the values and challenges of our proposed tasks, and motivate future research on argument mining.
Social engineering attacks and defenses in the physical world vs. cyberspace: A contrast study

Social engineering attacks are phenomena that are equally applicable to both the physical world and cyberspace. These attacks in the physical world have been studied for a much longer time than their counterpart in cyberspace. This motivates us to investigate how social engineering attacks in the physical world and cyberspace relate to each other, including their common characteristics and unique features. For this purpose, we propose a methodology to unify social engineering attacks and defenses in the physical world and cyberspace into a single framework, including: (i) a systematic model based on psychological principles for describing these attacks, (ii) a systematization of these attacks, and (iii) a systematization of defenses against them. Our study leads to several insights, which shed light on the future research directions toward adequately defending against social engineering attacks in cyberspace.
Cabana: A Performance Portable Library for Particle-Based Simulations

Particle-based simulations are ubiquitous throughout many fields of computational science and engineering, spanning the atomistic level with molecular dynamics (MD), to mesoscale particle-in-cell (PIC) simulations for solid mechanics, device-scale modeling with PIC methods for plasma physics, and massive N-body cosmology simulations of galaxy structures, with many other methods in between (Hockney & Eastwood, 1989).While these methods use particles to represent significantly different entities with completely different physical models, many low-level details are shared including performant algorithms for short-and/or long-range particle interactions, multi-node particle communication patterns, and other data management tasks such as particle sorting and neighbor list construction.