Reviewerly/exHarmony huggingface dataset:
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing

Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a NMPC specifically designed for MAVs equipped with a robotic arm. We formulate a hybrid control model for the combined MAV-arm system which incorporates interaction forces acting on the end effector. We explain the practical implementation of our algorithm and show extensive experimental results of our custom built system performing multiple aerial-writing tasks on a whiteboard, revealing accuracy in the order of millimetres.
Controlling information capacity of binary neural network

Despite the growing popularity of deep learning technologies, high memory requirements and power consumption are essentially limiting their application in mobile and IoT areas. While binary convolutional networks can alleviate these problems, the limited bitwidth of weights is often leading to significant degradation of prediction accuracy. In this paper, we present a method for training binary networks that maintains a stable predefined level of their information capacity throughout the training process by applying Shannon entropy based penalty to convolutional filters. The results of experiments conducted on the SVHN, CIFAR and ImageNet datasets demonstrate that the proposed approach can statistically significantly improve the accuracy of binary networks.
Efficient top-k high utility itemset mining on massive data

In practical applications, top-k high utility itemset mining (top-k HUIM) is an interesting operation to find the k itemsets with the highest utilities. It is analyzed that, the existing algorithms only can deal with the small and medium-sized data, and their performance degrades significantly on massive data. This paper presents a novel top-k HUIM algorithm PTM which can mine top-k high utility itemsets on massive data efficiently. PTM maintains the transaction database as a set of prefix-based partitions, each of which can fit in the memory and keeps the transactions with the same prefix item. The utility of an itemset can be computed by the transactions in one particular partition. PTM processes the prefix-based partitions in the order of average transaction utility to raise utility threshold faster. By the concise assistant data structures, PTM can skip majority of the partitions directly. For the partitions to be processed, PTM utilizes depth-first search on the set enumeration tree of the promising items to find the required results. The full-suffix-utility-based subtree pruning rule is devised to reduce the exploration space of set enumeration tree effectively. The extensive experimental results show that PTM can discover the top-k high utility itemsets on massive data efficiently.
Edge and identity preserving network for face super-resolution

Face super-resolution (SR) has become an indispensable function in security solutions such as video surveillance and identification system, but the distortion in facial components is a great challenge in it. Most state-of-the-art methods have utilized facial priors with deep neural networks. These methods require extra labels, longer training time, and larger computation memory. In this paper, we propose a novel Edge and Identity Preserving Network for Face SR Network, named as EIPNet, to minimize the distortion by utilizing a lightweight edge block and identity information. We present an edge block to extract perceptual edge information, and concatenate it to the original feature maps in multiple scales. This structure progressively provides edge information in reconstruction to aggregate local and global structural information. Moreover, we define an identity loss function to preserve identification of SR images. The identity loss function compares feature distributions between SR images and their ground truth to recover identities in SR images. In addition, we provide a luminance-chrominance error (LCE) to separately infer brightness and color information in SR images. The LCE method not only reduces the dependency of color information by dividing brightness and color components but also enables our network to reflect differences between SR images and their ground truth in two color spaces of RGB and YUV. The proposed method facilitates the proposed SR network to elaborately restore facial components and generate high quality 8x scaled SR images with a lightweight network structure. Furthermore, our network is able to reconstruct an 128x128 SR image with 215 fps on a GTX 1080Ti GPU. Extensive experiments demonstrate that our network qualitatively and quantitatively outperforms state-of-the-art methods on two challenging datasets: CelebA and VGGFace2.
Error analysis in suppression of unwanted qubit interactions for a parametric gate in a tunable superconducting circuit

We experimentally demonstrate a parametric iswap gate in a superconducting circuit based on a tunable coupler for achieving a continuous tunability to eliminate unwanted qubit interactions. We implement the two-qubit iswap gate by applying a fast-flux bias modulation pulse on the coupler to turn on parametric exchange interaction between computational qubits. The controllable interaction can provide an extra degree of freedom to verify the optimal condition for constructing the parametric gate. Aiming to fully investigate error sources of the two-qubit gates, we perform quantum process tomography measurements and numerical simulations as varying static $ZZ$ coupling strength. We quantitatively calculate the dynamic $ZZ$ coupling parasitizing in two-qubit gate operation, and extract the particular gate error from the decoherence, dynamic $ZZ$ coupling, and high-order oscillation terms. Our results reveal that the main gate error comes from the decoherence, while the increase in the dynamic $ZZ$ coupling and high-order oscillation error degrades the parametric gate performance. This approach, which has not yet been previously explored, provides a guiding principle to improve gate fidelity of a parametric iswap gate by suppression of the unwanted qubit interactions. This controllable interaction, together with the parametric modulation technique, is desirable for crosstalk-free multiqubit quantum circuits and quantum simulation applications.
Exploring design variations of the Titian Stradivari violin using a finite element model

Because violins are traditionally hand-crafted using wood, each one is unique. This makes the design of repeatable experiments studying some aspects of its dynamic behavior unfeasible. To tackle this problem, an adjustable finite element (FE) model of a violin soundbox using the geometry and behavior of the "Titian" Stradivari was developed in this paper. The model is parametric, so its design and material properties can be varied for before/after comparisons in both the frequency and time domains. Systematic simulations revealed that f-holes set lower in the top, as seen in some Stradivari violins (e.g., Hellier, Cremonese), raise the frequency of the Hill (a feature in the bridge mobility); conversely, the higher set f-holes seen in some Guarneri violins (e.g., Principe Doria) reduces such frequency. This agrees with the widespread belief that the high-frequency response of Stradivari violins is stronger than Guarneri violins. Changes in the response of the system were quantified once each part of the design was added, calling attention to the influence of the blocks on the behavior of signature modes, especially in the frequency and shape of B1+. A text file of the FE model is available in supplemental materials; it runs in ANSYS (free version), for which guides are included.
A Survey of Automatic Software Vulnerability Detection, Program Repair, and Defect Prediction Techniques

Open source software has been widely used in various industries due to its openness and flexibility, but it also brings potential software security problems. Together with the large-scale increase in the number of software and the increase in complexity, the traditional manual methods to deal with these security issues are inefficient and cannot meet the current cyberspace security requirements. Therefore, it is an important research topic for researchers in the field of software security to develop more intelligent technologies to apply to potential security issues in software. The development of deep learning technology has brought new opportunities for the study of potential security issues in software, and researchers have successively proposed many automation methods. In this paper, these automation technologies are evaluated and analysed in detail from three aspects: software vulnerability detection, software program repair, and software defect prediction. At the same time, we point out some problems of these research methods, give corresponding solutions, and finally look forward to the application prospect of deep learning technology in automated software vulnerability detection, automated program repair, and automated defect prediction.
A Visual Analytics Framework for Reviewing Multivariate Time-Series Data with Dimensionality Reduction

Data-driven problem solving in many real-world applications involves analysis of time-dependent multivariate data, for which dimensionality reduction (DR) methods are often used to uncover the intrinsic structure and features of the data. However, DR is usually applied to a subset of data that is either single-time-point multivariate or univariate time-series, resulting in the need to manually examine and correlate the DR results out of different data subsets. When the number of dimensions is large either in terms of the number of time points or attributes, this manual task becomes too tedious and infeasible. In this paper, we present MulTiDR, a new DR framework that enables processing of time-dependent multivariate data as a whole to provide a comprehensive overview of the data. With the framework, we employ DR in two steps. When treating the instances, time points, and attributes of the data as a 3D array, the first DR step reduces the three axes of the array to two, and the second DR step visualizes the data in a lower-dimensional space. In addition, by coupling with a contrastive learning method and interactive visualizations, our framework enhances analysts' ability to interpret DR results. We demonstrate the effectiveness of our framework with four case studies using real-world datasets.
A Neural Vocoder With Hierarchical Generation of Amplitude and Phase Spectra for Statistical Parametric Speech Synthesis

This article presents a neural vocoder named HiNet which reconstructs speech waveforms from acoustic features by predicting amplitude and phase spectra hierarchically. Different from existing neural vocoders such as WaveNet, SampleRNN and WaveRNN which directly generate waveform samples using single neural networks, the HiNet vocoder is composed of an amplitude spectrum predictor (ASP) and a phase spectrum predictor (PSP). The ASP is a simple DNN model which predicts log amplitude spectra (LAS) from acoustic features. The predicted LAS are sent into the PSP for phase recovery. Considering the issue of phase warping and the difficulty of phase modeling, the PSP is constructed by concatenating a neural source-filter (NSF) waveform generator with a phase extractor. We also introduce generative adversarial networks (GANs) into both ASP and PSP. Finally, the outputs of ASP and PSP are combined to reconstruct speech waveforms by short-time Fourier synthesis. Since there are no autoregressive structures in both predictors, the HiNet vocoder can generate speech waveforms with high efficiency. Objective and subjective experimental results show that our proposed HiNet vocoder achieves better naturalness of reconstructed speech than the conventional STRAIGHT vocoder, a 16-bit WaveNet vocoder using open source implementation and an NSF vocoder with similar complexity to the PSP and obtains similar performance with a 16-bit WaveRNN vocoder. We also find that the performance of HiNet is insensitive to the complexity of the neural waveform generator in PSP to some extend. After simplifying its model structure, the time consumed for generating 1 s waveforms of 16 kHz speech using a GPU can be further reduced from 0.34 s to 0.19 s without significant quality degradation.
Online Continual Learning Under Extreme Memory Constraints

Continual Learning (CL) aims to develop agents emulating the human ability to sequentially learn new tasks while being able to retain knowledge obtained from past experiences. In this paper, we introduce the novel problem of Memory-Constrained Online Continual Learning (MC-OCL) which imposes strict constraints on the memory overhead that a possible algorithm can use to avoid catastrophic forgetting. As most, if not all, previous CL methods violate these constraints, we propose an algorithmic solution to MC-OCL: Batch-level Distillation (BLD), a regularization-based CL approach, which effectively balances stability and plasticity in order to learn from data streams, while preserving the ability to solve old tasks through distillation. Our extensive experimental evaluation, conducted on three publicly available benchmarks, empirically demonstrates that our approach successfully addresses the MC-OCL problem and achieves comparable accuracy to prior distillation methods requiring higher memory overhead (Code available at https://github.com/DonkeyShot21/batch-level-distillation ).
Generic security analysis framework for quantum secure direct communication

Quantum secure direct communication provides a direct means of conveying secret information via quantum states among legitimate users. The past two decades have witnessed its great strides both theoretically and experimentally. However, the security analysis of it still stays in its infant. Some practical problems in this field to be solved urgently, such as detector efficiency mismatch, side-channel effect and source imperfection, are propelling the birth of a more impeccable solution. In this paper, we establish a new framework of the security analysis driven by numerics where all the practical problems may be taken into account naturally. We apply this framework to several variations of the DL04 protocol considering real-world experimental conditions. Also, we propose two optimizing methods to process the numerical part of the framework so as to meet different requirements in practice. With these properties considered, we predict the robust framework would open up a broad avenue of the development in the field.
Hierarchical Human Semantic Parsing with Comprehensive Part-Relation Modeling

Modeling the human structure is central for human parsing that extracts pixel-wise semantic information from images. We start with analyzing three types of inference processes over the hierarchical structure of human bodies: direct inference (directly predicting human semantic parts using image information), bottom-up inference (assembling knowledge from constituent parts), and top-down inference (leveraging context from parent nodes). We then formulate the problem as a compositional neural information fusion (CNIF) framework, which assembles the information from the three inference processes in a conditional manner, i.e., considering the confidence of the sources. Based on CNIF, we further present a part-relation-aware human parser (PRHP), which precisely describes three kinds of human part relations, i.e., decomposition, composition, and dependency, by three distinct relation networks. Expressive relation information can be captured by imposing the parameters in the relation networks to satisfy specific geometric characteristics of different relations. By assimilating generic message-passing networks with their edge-typed, convolutional counterparts, PRHP performs iterative reasoning over the human body hierarchy. With these efforts, PRHP provides a more general and powerful form of CNIF, and lays the foundation for more sophisticated and flexible human relation patterns of reasoning. Experiments on five datasets demonstrate that our two human parsers outperform the state-of-the-arts in all cases.
Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting

Advances in the field of unmanned aerial vehicles (UAVs) have led to an exponential increase in their market, thanks to the development of innovative technological solutions aimed at a wide range of applications and services, such as emergencies and those related to fires. In addition, the expansion of this market has been accompanied by the birth and growth of the so-called UAV swarms. Currently, the expansion of these systems is due to their properties in terms of robustness, versatility, and efficiency. Along with these properties there is an aspect, which is still a field of study, such as autonomous and cooperative navigation of these swarms. In this paper we present an architecture that includes a set of complementary methods that allow the establishment of different control layers to enable the autonomous and cooperative navigation of a swarm of UAVs. Among the different layers, there are a global trajectory planner based on sampling, algorithms for obstacle detection and avoidance, and methods for autonomous decision making based on deep reinforcement learning. The paper shows satisfactory results for a line-of-sight based algorithm for global path planner trajectory smoothing in 2D and 3D. In addition, a novel method for autonomous navigation of UAVs based on deep reinforcement learning is shown, which has been tested in 2 different simulation environments with promising results about the use of these techniques to achieve autonomous navigation of UAVs.
SQL Injection Attack Detection and Prevention Techniques Using Deep Learning

Abstract Web application brings us convenience but also has some potential security problems. SQL injection attacks topped the list of Top 10 Network Security Problems released by OWASP, and the detection technology of SQL injection attacks has been one of the hotspots of network security research. In this paper, we propose a SQL injection detection method that does not rely on background rule base by using a natural language processing model and deep learning framework on the basis of comprehensive domestic and international research. The method can improve the accuracy and reduce the false alarm rate while allowing the machine to automatically learn the language model features of SQL injection attacks, greatly reducing human intervention and providing some defense against 0day attacks that never occur.
Noise Learning-Based Denoising Autoencoder

This letter introduces a new denoiser that modifies the structure of denoising autoencoder (DAE), namely noise learning based DAE (nlDAE). The proposed nlDAE learns the noise of the input data. Then, the denoising is performed by subtracting the regenerated noise from the noisy input. Hence, nlDAE is more effective than DAE when the noise is simpler to regenerate than the original data. To validate the performance of nlDAE, we provide three case studies: signal restoration, symbol demodulation, and precise localization. Numerical results suggest that nlDAE requires smaller latent space dimension and smaller training dataset compared to DAE.
Survey and Performance Analysis of Deep Learning Based Object Detection in Challenging Environments

Recent progress in deep learning has led to accurate and efficient generic object detection networks. Training of highly reliable models depends on large datasets with highly textured and rich images. However, in real-world scenarios, the performance of the generic object detection system decreases when (i) occlusions hide the objects, (ii) objects are present in low-light images, or (iii) they are merged with background information. In this paper, we refer to all these situations as challenging environments. With the recent rapid development in generic object detection algorithms, notable progress has been observed in the field of deep learning-based object detection in challenging environments. However, there is no consolidated reference to cover the state of the art in this domain. To the best of our knowledge, this paper presents the first comprehensive overview, covering recent approaches that have tackled the problem of object detection in challenging environments. Furthermore, we present a quantitative and qualitative performance analysis of these approaches and discuss the currently available challenging datasets. Moreover, this paper investigates the performance of current state-of-the-art generic object detection algorithms by benchmarking results on the three well-known challenging datasets. Finally, we highlight several current shortcomings and outline future directions.
Artificial Intelligence Technologies in Education: Benefits, Challenges and Strategies of Implementation

Since the education sector is associated with highly dynamic business environments which are controlled and maintained by information systems, recent technological advancements and the increasing pace of adopting artificial intelligence (AI) technologies constitute a need to identify and analyze the issues regarding their implementation in education sector. However, a study of the contemporary literature reveled that relatively little research has been undertaken in this area. To fill this void, we have identified the benefits and challenges of implementing artificial intelligence in the education sector, preceded by a short discussion on the concepts of AI and its evolution over time. Moreover, we have also reviewed modern AI technologies for learners and educators, currently available on the software market, evaluating their usefulness. Last but not least, we have developed a strategy implementation model, described by a five-stage, generic process, along with the corresponding configuration guide. To verify and validate their design, we separately developed three implementation strategies for three different higher education organizations. We believe that the obtained results will contribute to better understanding the specificities of AI systems, services and tools, and afterwards pave a smooth way in their implementation.
Amplitude estimation via maximum likelihood on noisy quantum computer

Recently we find several candidates of quantum algorithms that may be implementable in near-term devices for estimating the amplitude of a given quantum state, which is a core sub- routine in various computing tasks such as the Monte Carlo methods. One of those algorithms is based on the maximum likelihood estimate with parallelized quantum circuits. In this paper, we extend this method so that it incorporates the realistic noise effect, and then give an experimental demonstration on a superconducting IBM Quantum device. The maximum likelihood estimator is constructed based on the model assuming the depolarization noise. We then formulate the problem as a two-parameters estimation problem with respect to the target amplitude parameter and the noise parameter. In particular we show that there exist anomalous target values, where the Fisher information matrix becomes degenerate and consequently the estimation error cannot be improved even by increasing the number of amplitude amplifications. The experimental demonstration shows that the proposed maximum likelihood estimator achieves quantum speedup in the number of queries, though the estimation error saturates due to the noise. This saturated value of estimation error is consistent to the theory, which implies the validity of the depolarization noise model and thereby enables us to predict the basic requirement on the hardware components (particularly the gate error) in quantum computers to realize the quantum speedup in the amplitude estimation task.