28,858 research outputs found
Formation control of robots in nonlinear two-dimensional potential
The formation control of multi-agent systems has garnered significant
research attention in both theoretical and practical aspects over the past two
decades. Despite this, the examination of how external environments impact
swarm formation dynamics and the design of formation control algorithms for
multi-agent systems in nonlinear external potentials have not been thoroughly
explored. In this paper, we apply our theoretical formulation of the formation
control algorithm to mobile robots operating in nonlinear external potentials.
To validate the algorithm's effectiveness, we conducted experiments using real
mobile robots. Furthermore, the results demonstrate the effectiveness of
Dynamic Mode Decomposition in predicting the velocity of robots in unknown
environments
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Ensuring Access to Safe and Nutritious Food for All Through the Transformation of Food Systems
The Viability and Potential Consequences of IoT-Based Ransomware
With the increased threat of ransomware and the substantial growth of the Internet of Things (IoT) market, there is significant motivation for attackers to carry out IoT-based ransomware campaigns. In this thesis, the viability of such malware is tested.
As part of this work, various techniques that could be used by ransomware developers to attack commercial IoT devices were explored. First, methods that attackers could use to communicate with the victim were examined, such that a ransom note was able to be reliably sent to a victim. Next, the viability of using "bricking" as a method of ransom was evaluated, such that devices could be remotely disabled unless the victim makes a payment to the attacker. Research was then performed to ascertain whether it was possible to remotely gain persistence on IoT devices, which would improve the efficacy of existing ransomware methods, and provide opportunities for more advanced ransomware to be created. Finally, after successfully identifying a number of persistence techniques, the viability of privacy-invasion based ransomware was analysed.
For each assessed technique, proofs of concept were developed. A range of devices -- with various intended purposes, such as routers, cameras and phones -- were used to test the viability of these proofs of concept. To test communication hijacking, devices' "channels of communication" -- such as web services and embedded screens -- were identified, then hijacked to display custom ransom notes. During the analysis of bricking-based ransomware, a working proof of concept was created, which was then able to remotely brick five IoT devices. After analysing the storage design of an assortment of IoT devices, six different persistence techniques were identified, which were then successfully tested on four devices, such that malicious filesystem modifications would be retained after the device was rebooted. When researching privacy-invasion based ransomware, several methods were created to extract information from data sources that can be commonly found on IoT devices, such as nearby WiFi signals, images from cameras, or audio from microphones. These were successfully implemented in a test environment such that ransomable data could be extracted, processed, and stored for later use to blackmail the victim.
Overall, IoT-based ransomware has not only been shown to be viable but also highly damaging to both IoT devices and their users. While the use of IoT-ransomware is still very uncommon "in the wild", the techniques demonstrated within this work highlight an urgent need to improve the security of IoT devices to avoid the risk of IoT-based ransomware causing havoc in our society. Finally, during the development of these proofs of concept, a number of potential countermeasures were identified, which can be used to limit the effectiveness of the attacking techniques discovered in this PhD research
ADS_UNet: A Nested UNet for Histopathology Image Segmentation
The UNet model consists of fully convolutional network (FCN) layers arranged
as contracting encoder and upsampling decoder maps. Nested arrangements of
these encoder and decoder maps give rise to extensions of the UNet model, such
as UNete and UNet++. Other refinements include constraining the outputs of the
convolutional layers to discriminate between segment labels when trained end to
end, a property called deep supervision. This reduces feature diversity in
these nested UNet models despite their large parameter space. Furthermore, for
texture segmentation, pixel correlations at multiple scales contribute to the
classification task; hence, explicit deep supervision of shallower layers is
likely to enhance performance. In this paper, we propose ADS UNet, a stage-wise
additive training algorithm that incorporates resource-efficient deep
supervision in shallower layers and takes performance-weighted combinations of
the sub-UNets to create the segmentation model. We provide empirical evidence
on three histopathology datasets to support the claim that the proposed ADS
UNet reduces correlations between constituent features and improves performance
while being more resource efficient. We demonstrate that ADS_UNet outperforms
state-of-the-art Transformer-based models by 1.08 and 0.6 points on CRAG and
BCSS datasets, and yet requires only 37% of GPU consumption and 34% of training
time as that required by Transformers.Comment: To be published in Expert Systems With Application
One Small Step for Generative AI, One Giant Leap for AGI: A Complete Survey on ChatGPT in AIGC Era
OpenAI has recently released GPT-4 (a.k.a. ChatGPT plus), which is
demonstrated to be one small step for generative AI (GAI), but one giant leap
for artificial general intelligence (AGI). Since its official release in
November 2022, ChatGPT has quickly attracted numerous users with extensive
media coverage. Such unprecedented attention has also motivated numerous
researchers to investigate ChatGPT from various aspects. According to Google
scholar, there are more than 500 articles with ChatGPT in their titles or
mentioning it in their abstracts. Considering this, a review is urgently
needed, and our work fills this gap. Overall, this work is the first to survey
ChatGPT with a comprehensive review of its underlying technology, applications,
and challenges. Moreover, we present an outlook on how ChatGPT might evolve to
realize general-purpose AIGC (a.k.a. AI-generated content), which will be a
significant milestone for the development of AGI.Comment: A Survey on ChatGPT and GPT-4, 29 pages. Feedback is appreciated
([email protected]
Wav2code: Restore Clean Speech Representations via Codebook Lookup for Noise-Robust ASR
Automatic speech recognition (ASR) has gained a remarkable success thanks to
recent advances of deep learning, but it usually degrades significantly under
real-world noisy conditions. Recent works introduce speech enhancement (SE) as
front-end to improve speech quality, which is proved effective but may not be
optimal for downstream ASR due to speech distortion problem. Based on that,
latest works combine SE and currently popular self-supervised learning (SSL) to
alleviate distortion and improve noise robustness. Despite the effectiveness,
the speech distortion caused by conventional SE still cannot be completely
eliminated. In this paper, we propose a self-supervised framework named
Wav2code to implement a generalized SE without distortions for noise-robust
ASR. First, in pre-training stage the clean speech representations from SSL
model are sent to lookup a discrete codebook via nearest-neighbor feature
matching, the resulted code sequence are then exploited to reconstruct the
original clean representations, in order to store them in codebook as prior.
Second, during finetuning we propose a Transformer-based code predictor to
accurately predict clean codes by modeling the global dependency of input noisy
representations, which enables discovery and restoration of high-quality clean
representations without distortions. Furthermore, we propose an interactive
feature fusion network to combine original noisy and the restored clean
representations to consider both fidelity and quality, resulting in even more
informative features for downstream ASR. Finally, experiments on both synthetic
and real noisy datasets demonstrate that Wav2code can solve the speech
distortion and improve ASR performance under various noisy conditions,
resulting in stronger robustness.Comment: 12 pages, 7 figures, Submitted to IEEE/ACM TASL
RAPID: Enabling Fast Online Policy Learning in Dynamic Public Cloud Environments
Resource sharing between multiple workloads has become a prominent practice
among cloud service providers, motivated by demand for improved resource
utilization and reduced cost of ownership. Effective resource sharing, however,
remains an open challenge due to the adverse effects that resource contention
can have on high-priority, user-facing workloads with strict Quality of Service
(QoS) requirements. Although recent approaches have demonstrated promising
results, those works remain largely impractical in public cloud environments
since workloads are not known in advance and may only run for a brief period,
thus prohibiting offline learning and significantly hindering online learning.
In this paper, we propose RAPID, a novel framework for fast, fully-online
resource allocation policy learning in highly dynamic operating environments.
RAPID leverages lightweight QoS predictions, enabled by
domain-knowledge-inspired techniques for sample efficiency and bias reduction,
to decouple control from conventional feedback sources and guide policy
learning at a rate orders of magnitude faster than prior work. Evaluation on a
real-world server platform with representative cloud workloads confirms that
RAPID can learn stable resource allocation policies in minutes, as compared
with hours in prior state-of-the-art, while improving QoS by 9.0x and
increasing best-effort workload performance by 19-43%
BotMoE: Twitter Bot Detection with Community-Aware Mixtures of Modal-Specific Experts
Twitter bot detection has become a crucial task in efforts to combat online
misinformation, mitigate election interference, and curb malicious propaganda.
However, advanced Twitter bots often attempt to mimic the characteristics of
genuine users through feature manipulation and disguise themselves to fit in
diverse user communities, posing challenges for existing Twitter bot detection
models. To this end, we propose BotMoE, a Twitter bot detection framework that
jointly utilizes multiple user information modalities (metadata, textual
content, network structure) to improve the detection of deceptive bots.
Furthermore, BotMoE incorporates a community-aware Mixture-of-Experts (MoE)
layer to improve domain generalization and adapt to different Twitter
communities. Specifically, BotMoE constructs modal-specific encoders for
metadata features, textual content, and graphical structure, which jointly
model Twitter users from three modal-specific perspectives. We then employ a
community-aware MoE layer to automatically assign users to different
communities and leverage the corresponding expert networks. Finally, user
representations from metadata, text, and graph perspectives are fused with an
expert fusion layer, combining all three modalities while measuring the
consistency of user information. Extensive experiments demonstrate that BotMoE
significantly advances the state-of-the-art on three Twitter bot detection
benchmarks. Studies also confirm that BotMoE captures advanced and evasive
bots, alleviates the reliance on training data, and better generalizes to new
and previously unseen user communities.Comment: Accepted at SIGIR 202
UniverSeg: Universal Medical Image Segmentation
While deep learning models have become the predominant method for medical
image segmentation, they are typically not capable of generalizing to unseen
segmentation tasks involving new anatomies, image modalities, or labels. Given
a new segmentation task, researchers generally have to train or fine-tune
models, which is time-consuming and poses a substantial barrier for clinical
researchers, who often lack the resources and expertise to train neural
networks. We present UniverSeg, a method for solving unseen medical
segmentation tasks without additional training. Given a query image and example
set of image-label pairs that define a new segmentation task, UniverSeg employs
a new Cross-Block mechanism to produce accurate segmentation maps without the
need for additional training. To achieve generalization to new tasks, we have
gathered and standardized a collection of 53 open-access medical segmentation
datasets with over 22,000 scans, which we refer to as MegaMedical. We used this
collection to train UniverSeg on a diverse set of anatomies and imaging
modalities. We demonstrate that UniverSeg substantially outperforms several
related methods on unseen tasks, and thoroughly analyze and draw insights about
important aspects of the proposed system. The UniverSeg source code and model
weights are freely available at https://universeg.csail.mit.eduComment: Victor and Jose Javier contributed equally to this work. Project
Website: https://universeg.csail.mit.ed
Human Semantic Segmentation using Millimeter-Wave Radar Sparse Point Clouds
This paper presents a framework for semantic segmentation on sparse
sequential point clouds of millimeter-wave radar. Compared with cameras and
lidars, millimeter-wave radars have the advantage of not revealing privacy,
having a strong anti-interference ability, and having long detection distance.
The sparsity and capturing temporal-topological features of mmWave data is
still a problem. However, the issue of capturing the temporal-topological
coupling features under the human semantic segmentation task prevents previous
advanced segmentation methods (e.g PointNet, PointCNN, Point Transformer) from
being well utilized in practical scenarios. To address the challenge caused by
the sparsity and temporal-topological feature of the data, we (i) introduce
graph structure and topological features to the point cloud, (ii) propose a
semantic segmentation framework including a global feature-extracting module
and a sequential feature-extracting module. In addition, we design an efficient
and more fitting loss function for a better training process and segmentation
results based on graph clustering. Experimentally, we deploy representative
semantic segmentation algorithms (Transformer, GCNN, etc.) on a custom dataset.
Experimental results indicate that our model achieves mean accuracy on the
custom dataset by and outperforms the state-of-the-art
algorithms. Moreover, to validate the model's robustness, we deploy our model
on the well-known S3DIS dataset. On the S3DIS dataset, our model achieves mean
accuracy by , outperforming baseline algorithms
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