pwc-archive/papers-with-abstracts huggingface dataset:
Investigating Robustness in Cyber-Physical Systems: Specification-Centric Analysis in the face of System Deviations
Authors: Changjian Zhang, Parv Kapoor, Romulo Meira-Goes, David Garlan, Eunsuk Kang, Akila Ganlath, Shatadal Mishra, Nejib Ammar
Date: 2023-11-13 00:00:00
Tasks: Attribute, Autonomous Vehicles, Reinforcement Learning (RL)

The adoption of cyber-physical systems (CPS) is on the rise in complex physical environments, encompassing domains such as autonomous vehicles, the Internet of Things (IoT), and smart cities. A critical attribute of CPS is robustness, denoting its capacity to operate safely despite potential disruptions and uncertainties in the operating environment. This paper proposes a novel specification-based robustness, which characterizes the effectiveness of a controller in meeting a specified system requirement, articulated through Signal Temporal Logic (STL) while accounting for possible deviations in the system. This paper also proposes the robustness falsification problem based on the definition, which involves identifying minor deviations capable of violating the specified requirement. We present an innovative two-layer simulation-based analysis framework designed to identify subtle robustness violations. To assess our methodology, we devise a series of benchmark problems wherein system parameters can be adjusted to emulate various forms of uncertainties and disturbances. Initial evaluations indicate that our falsification approach proficiently identifies robustness violations, providing valuable insights for comparing robustness between conventional and reinforcement learning (RL)-based controllers
Knowledge-Based Support for Adhesive Selection: Will it Stick?
Authors: Simon Vandevelde, Jeroen Jordens, Bart Van Doninck, Maarten Witters, Joost Vennekens
Date: 2023-11-07 00:00:00

As the popularity of adhesive joints in industry increases, so does the need for tools to support the process of selecting a suitable adhesive. While some such tools already exist, they are either too limited in scope, or offer too little flexibility in use. This work presents a more advanced tool, that was developed together with a team of adhesive experts. We first extract the experts' knowledge about this domain and formalize it in a Knowledge Base (KB). The IDP-Z3 reasoning system can then be used to derive the necessary functionality from this KB. Together with a user-friendly interactive interface, this creates an easy-to-use tool capable of assisting the adhesive experts. To validate our approach, we performed user testing in the form of qualitative interviews. The experts are very positive about the tool, stating that, among others, it will help save time and find more suitable adhesives. Under consideration in Theory and Practice of Logic Programming (TPLP).
Multi-Point Method using Effective Demodulation and Decomposition Techniques allowing Identification of Disturbing Loads in Power Grids
Authors: Piotr Kuwałek, Grzegorz Wiczyński
Date: 2023-11-13 00:00:00

The paper presents an innovative approach to identifying voltage fluctuation sources in power networks, also considering the localization understood as the indication of supply points of disturbing loads. The presented approach considers disturbance sources that change their operating state with a frequency higher than the power frequency. The implementation of the proposed solution is also proposed in such a way that its implementation in the smart meter infrastructure allows automatic localization of disturbance sources without additional expert knowledge. In the proposed approach, the modulation signal is estimated using a carrier signal estimator, which allows the estimation of a modulation signal with a frequency higher than the power frequency. The estimated modulating signal is decomposed into component signals associated with individual disturbing loads by decomposition by approximation using pulse waves. The decomposition process allows for the estimation of selected parameters associated with disturbing loads, on the basis of which the assessment of propagation of voltage fluctuations associated with the impact of individual disturbance sources is performed, which allows for the indication of their supply point. The proposed approach was verified in numerical simulation studies using MATLAB/SIMULINK and in experimental studies carried out in a real low-voltage power grid.
Stacked networks improve physics-informed training: applications to neural networks and deep operator networks
Authors: Amanda A Howard, Sarah H Murphy, Shady E Ahmed, Panos Stinis
Date: 2023-11-11 00:00:00

Physics-informed neural networks and operator networks have shown promise for effectively solving equations modeling physical systems. However, these networks can be difficult or impossible to train accurately for some systems of equations. We present a novel multifidelity framework for stacking physics-informed neural networks and operator networks that facilitates training. We successively build a chain of networks, where the output at one step can act as a low-fidelity input for training the next step, gradually increasing the expressivity of the learned model. The equations imposed at each step of the iterative process can be the same or different (akin to simulated annealing). The iterative (stacking) nature of the proposed method allows us to progressively learn features of a solution that are hard to learn directly. Through benchmark problems including a nonlinear pendulum, the wave equation, and the viscous Burgers equation, we show how stacking can be used to improve the accuracy and reduce the required size of physics-informed neural networks and operator networks.
Sparse Attention-Based Neural Networks for Code Classification
Authors: Ziyang Xiang, Zaixi Zhang, Qi Liu
Date: 2023-11-11 00:00:00
Tasks: Classification, Code Classification

Categorizing source codes accurately and efficiently is a challenging problem in real-world programming education platform management. In recent years, model-based approaches utilizing abstract syntax trees (ASTs) have been widely applied to code classification tasks. We introduce an approach named the Sparse Attention-based neural network for Code Classification (SACC) in this paper. The approach involves two main steps: In the first step, source code undergoes syntax parsing and preprocessing. The generated abstract syntax tree is split into sequences of subtrees and then encoded using a recursive neural network to obtain a high-dimensional representation. This step simultaneously considers both the logical structure and lexical level information contained within the code. In the second step, the encoded sequences of subtrees are fed into a Transformer model that incorporates sparse attention mechanisms for the purpose of classification. This method efficiently reduces the computational cost of the self-attention mechanisms, thus improving the training speed while preserving effectiveness. Our work introduces a carefully designed sparse attention pattern that is specifically designed to meet the unique needs of code classification tasks. This design helps reduce the influence of redundant information and enhances the overall performance of the model. Finally, we also deal with problems in previous related research, which include issues like incomplete classification labels and a small dataset size. We annotated the CodeNet dataset with algorithm-related labeling categories, which contains a significantly large amount of data. Extensive comparative experimental results demonstrate the effectiveness and efficiency of SACC for the code classification tasks.
Topology-Matching Normalizing Flows for Out-of-Distribution Detection in Robot Learning
Authors: Jianxiang Feng, JongSeok Lee, Simon Geisler, Stephan Gunnemann, Rudolph Triebel
Date: 2023-11-11 00:00:00
Tasks: 2D Object Detection, Density Estimation, object-detection, Object Detection, Out-of-Distribution Detection, Out of Distribution (OOD) Detection

To facilitate reliable deployments of autonomous robots in the real world, Out-of-Distribution (OOD) detection capabilities are often required. A powerful approach for OOD detection is based on density estimation with Normalizing Flows (NFs). However, we find that prior work with NFs attempts to match the complex target distribution topologically with naive base distributions leading to adverse implications. In this work, we circumvent this topological mismatch using an expressive class-conditional base distribution trained with an information-theoretic objective to match the required topology. The proposed method enjoys the merits of wide compatibility with existing learned models without any performance degradation and minimum computation overhead while enhancing OOD detection capabilities. We demonstrate superior results in density estimation and 2D object detection benchmarks in comparison with extensive baselines. Moreover, we showcase the applicability of the method with a real-robot deployment.
R$^2$NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control
Authors: Baha Zarrouki, João Nunes, Johannes Betz
Date: 2023-11-10 00:00:00
Tasks: Model Predictive Control, State Estimation

In this paper, we present a novel Reduced Robustified NMPC (R$^2$NMPC) algorithm that has the same complexity as an equivalent nominal NMPC while enhancing it with robustified constraints based on the dynamics of ellipsoidal uncertainty sets. This promises both a closed-loop- and constraint satisfaction performance equivalent to common Robustified NMPC approaches, while drastically reducing the computational complexity. The main idea lies in approximating the ellipsoidal uncertainty sets propagation over the prediction horizon with the system dynamics' sensitivities inferred from the last optimal control problem (OCP) solution, and similarly for the gradients to robustify the constraints. Thus, we do not require the decision variables related to the uncertainty propagation within the OCP, rendering it computationally tractable. Next, we illustrate the real-time control capabilities of our algorithm in handling a complex, high-dimensional, and highly nonlinear system, namely the trajectory following of an autonomous passenger vehicle modeled with a dynamic nonlinear single-track model. Our experimental findings, alongside a comparative assessment against other Robust NMPC approaches, affirm the robustness of our method in effectively tracking an optimal racetrack trajectory while satisfying the nonlinear constraints. This performance is achieved while fully utilizing the vehicle's interface limits, even at high speeds of up to 37.5m/s, and successfully managing state estimation disturbances. Remarkably, our approach maintains a mean solving frequency of 144Hz.
Zero-Shot Duet Singing Voices Separation with Diffusion Models
Authors: Chin-Yun Yu, Emilian Postolache, Emanuele Rodolà, György Fazekas
Date: 2023-11-13 00:00:00

In recent studies, diffusion models have shown promise as priors for solving audio inverse problems. These models allow us to sample from the posterior distribution of a target signal given an observed signal by manipulating the diffusion process. However, when separating audio sources of the same type, such as duet singing voices, the prior learned by the diffusion process may not be sufficient to maintain the consistency of the source identity in the separated audio. For example, the singer may change from one to another occasionally. Tackling this problem will be useful for separating sources in a choir, or a mixture of multiple instruments with similar timbre, without acquiring large amounts of paired data. In this paper, we examine this problem in the context of duet singing voices separation, and propose a method to enforce the coherency of singer identity by splitting the mixture into overlapping segments and performing posterior sampling in an auto-regressive manner, conditioning on the previous segment. We evaluate the proposed method on the MedleyVox dataset and show that the proposed method outperforms the naive posterior sampling baseline. Our source code and the pre-trained model are publicly available at https://github.com/iamycy/duet-svs-diffusion.
Transfer Learning to Detect COVID-19 Coughs with Incremental Addition of Patient Coughs to Healthy People's Cough Detection Models
Authors: Sudip Vhaduri, Seungyeon Paik, Jessica E Huber
Date: 2023-11-12 00:00:00
Tasks: Transfer Learning

Millions of people have died worldwide from COVID-19. In addition to its high death toll, COVID-19 has led to unbearable suffering for individuals and a huge global burden to the healthcare sector. Therefore, researchers have been trying to develop tools to detect symptoms of this human-transmissible disease remotely to control its rapid spread. Coughing is one of the common symptoms that researchers have been trying to detect objectively from smartphone microphone-sensing. While most of the approaches to detect and track cough symptoms rely on machine learning models developed from a large amount of patient data, this is not possible at the early stage of an outbreak. In this work, we present an incremental transfer learning approach that leverages the relationship between healthy peoples' coughs and COVID-19 patients' coughs to detect COVID-19 coughs with reasonable accuracy using a pre-trained healthy cough detection model and a relatively small set of patient coughs, reducing the need for large patient dataset to train the model. This type of model can be a game changer in detecting the onset of a novel respiratory virus.
Adversarial Fine-tuning using Generated Respiratory Sound to Address Class Imbalance
Authors: June-Woo Kim, Chihyeon Yoon, Miika Toikkanen, Sangmin Bae, Ho-Young Jung
Date: 2023-11-11 00:00:00
Tasks: Audio Classification, Sound Classification

Deep generative models have emerged as a promising approach in the medical image domain to address data scarcity. However, their use for sequential data like respiratory sounds is less explored. In this work, we propose a straightforward approach to augment imbalanced respiratory sound data using an audio diffusion model as a conditional neural vocoder. We also demonstrate a simple yet effective adversarial fine-tuning method to align features between the synthetic and real respiratory sound samples to improve respiratory sound classification performance. Our experimental results on the ICBHI dataset demonstrate that the proposed adversarial fine-tuning is effective, while only using the conventional augmentation method shows performance degradation. Moreover, our method outperforms the baseline by 2.24% on the ICBHI Score and improves the accuracy of the minority classes up to 26.58%. For the supplementary material, we provide the code at https://github.com/kaen2891/adversarial_fine-tuning_using_generated_respiratory_sound.
The AeroSonicDB (YPAD-0523) Dataset for Acoustic Detection and Classification of Aircraft
Authors: Blake Downward, Jon Nordby
Date: 2023-11-10 00:00:00
Tasks: Binary Classification, Specificity

The time and expense required to collect and label audio data has been a prohibitive factor in the availability of domain specific audio datasets. As the predictive specificity of a classifier depends on the specificity of the labels it is trained on, it follows that finely-labelled datasets are crucial for advances in machine learning. Aiming to stimulate progress in the field of machine listening, this paper introduces AeroSonicDB (YPAD-0523), a dataset of low-flying aircraft sounds for training acoustic detection and classification systems. This paper describes the method of exploiting ADS-B radio transmissions to passively collect and label audio samples. Provides a summary of the collated dataset. Presents baseline results from three binary classification models, then discusses the limitations of the current dataset and its future potential. The dataset contains 625 aircraft recordings ranging in event duration from 18 to 60 seconds, for a total of 8.87 hours of aircraft audio. These 625 samples feature 301 unique aircraft, each of which are supplied with 14 supplementary (non-acoustic) labels to describe the aircraft. The dataset also contains 3.52 hours of ambient background audio ("silence"), as a means to distinguish aircraft noise from other local environmental noises. Additionally, 6 hours of urban soundscape recordings (with aircraft annotations) are included as an ancillary method for evaluating model performance, and to provide a testing ground for real-time applications.
Optimal Load Shedding for Public Safety Power Shutoffs
Authors: Aniruddha Rajendra Rao, Chandrasekar Venkatraman, Robert Ellis, Chetan Gupta
Date: 2023-11-13 00:00:00

Public utilities are faced with situations where high winds can bring trees and debris into contact with energized power lines and other equipments, which could ignite wildfires. As a result, they need to turn off power during severe weather to help prevent wildfires. This is called Public Safety Power Shutoff (PSPS). We present a method for load reduction using a multi-step genetic algorithm for Public Safety Power Shutoff events. The proposed method optimizes load shedding using partial load shedding based on load importance (critical loads like hospitals, fire stations, etc). The multi-step genetic algorithm optimizes load shedding while minimizing the impact on important loads and preserving grid stability. The effectiveness of the method is demonstrated through network examples. The results show that the proposed method achieves minimal load shedding while maintaining the critical loads at acceptable levels. This approach will help utilities to effectively manage PSPS events and reduce the risk of wildfires caused by the power lines.
Vertiport Navigation Requirements and Multisensor Architecture Considerations for Urban Air Mobility
Authors: Omar Garcia Crespillo, Chen Zhu, Maximilian Simonetti, Daniel Gerbeth, Young-Hee Lee, Wenhan Hao
Date: 2023-11-13 00:00:00

Communication, Navigation and Surveillance (CNS) technologies are key enablers for future safe operation of drones in urban environments. However, the design of navigation technologies for these new applications is more challenging compared to e.g., civil aviation. On the one hand, the use cases and operations in urban environments are expected to have stringent requirements in terms of accuracy, integrity, continuity and availability. On the other hand, airborne sensors may not be based on high-quality equipment as in civil aviation and solutions need to rely on tighter multisensor solutions, whose safety is difficult to assess. In this work, we first provide some initial navigation requirements related to precision approach operations based on recently proposed vertiport designs. Then, we provide an overview of a possible multisensor navigation architecture solution able to support these types of operations and we comment on the challenges of each of the subsystems. Finally, initial proof of concept for some navigation sensor subsystems is presented based on flight trials performed during the German Aerospace Center (DLR) project HorizonUAM.
Trajectories and Platoon-forming Algorithm for Intersections with Heterogeneous Autonomous Traffic
Authors: P. C. Joshi, M. A. A. Boon, S. C. Borst
Date: 2023-11-13 00:00:00
Tasks: Autonomous Vehicles, Management

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for performance improvements of traffic flow if managed efficiently. Platoon-forming algorithms, in which vehicles are grouped together with short inter-vehicular distances just before arriving at an intersection at high speed, seem particularly promising in this aspect. In this work, we present an intersection access control system based on platoon-forming for heterogeneous autonomous traffic. The heterogeneity of traffic arises from vehicles with different acceleration capabilities and safety constraints. We focus on obtaining computationally fast and interpretable closed-form expressions for safe and efficient vehicle trajectories that lead to platoon formation, and show that these trajectories are solutions to certain classes of optimisation problems. Additionally, we conduct a numerical study to obtain approximations for intersection capacity as a result of such platoon formation.
Recurrence of Nonlinear Control Systems: Entropy and Bit Rates
Authors: Hussein Sibai, Enrique Mallada
Date: 2023-11-13 00:00:00

In this paper, we introduce the notion of recurrence entropy in the context of nonlinear control systems. A set is said to be ($\tau$-)recurrent if every trajectory that starts in the set returns to it (within at most $\tau$ units of time). Recurrence entropy quantifies the complexity of making a set $\tau$-recurrent measured by the average rate of growth, as time increases, of the number of control signals required to achieve this goal. Our analysis reveals that, compared to invariance, recurrence is quantitatively less complex, meaning that the recurrence entropy of a set is no larger than, and often strictly smaller than, the invariance entropy. Our results further offer insights into the minimum data rate required for achieving recurrence. We also present an algorithm for achieving recurrence asymptotically.
Geometric Tracking Control of a Multi-rotor UAV for Partially Known Trajectories
Authors: Yogesh Kumar, S. B. Roy, P. B. Sujit
Date: 2023-11-13 00:00:00
Tasks: Position

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the state-of-the-art geometric controller, effectively addressing challenges related to the non-existence of the desired attitude and ensuring positive total thrust input for all time. We tackle the additional challenge of the non-availability of the higher derivatives of the trajectory by introducing novel nonlinear filter structures. We formalize theoretically the effect of these filter structures on the system error dynamics. Subsequently, through a rigorous theoretical analysis, we demonstrate that the proposed controller leads to uniformly ultimately bounded system error dynamics.
The Dynamics of a Bicycle on a Pump Track -- First Results on Modeling and Optimal Control
Authors: Julian Golembiewski, Marcus Schmidt, Benedikt Terschluse, Thomas Jaitner, Thomas Liebig, Timm Faulwasser
Date: 2023-11-13 00:00:00

We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture the possibilities to accelerate the bicycle without pedaling. Since this is a first approach to the problem, only corners connected by straight lines are considered to compute optimal riding strategies. The simulation is validated with experimental data obtained on a real pump track. It is demonstrated that the model effectively captures the longitudinal bike acceleration resulting from the relative vertical motion between the rider's upper body and the bicycle. Our numerical results are in good analogy with real rider's actions on similar tracks.