18,899 research outputs found
Meso-scale FDM material layout design strategies under manufacturability constraints and fracture conditions
In the manufacturability-driven design (MDD) perspective, manufacturability of the product or system is the most important of the design requirements. In addition to being able to ensure that complex designs (e.g., topology optimization) are manufacturable with a given process or process family, MDD also helps mechanical designers to take advantage of unique process-material effects generated during manufacturing. One of the most recognizable examples of this comes from the scanning-type family of additive manufacturing (AM) processes; the most notable and familiar member of this family is the fused deposition modeling (FDM) or fused filament fabrication (FFF) process. This process works by selectively depositing uniform, approximately isotropic beads or elements of molten thermoplastic material (typically structural engineering plastics) in a series of pre-specified traces to build each layer of the part. There are many interesting 2-D and 3-D mechanical design problems that can be explored by designing the layout of these elements. The resulting structured, hierarchical material (which is both manufacturable and customized layer-by-layer within the limits of the process and material) can be defined as a manufacturing process-driven structured material (MPDSM). This dissertation explores several practical methods for designing these element layouts for 2-D and 3-D meso-scale mechanical problems, focusing ultimately on design-for-fracture. Three different fracture conditions are explored: (1) cases where a crack must be prevented or stopped, (2) cases where the crack must be encouraged or accelerated, and (3) cases where cracks must grow in a simple pre-determined pattern. Several new design tools, including a mapping method for the FDM manufacturability constraints, three major literature reviews, the collection, organization, and analysis of several large (qualitative and quantitative) multi-scale datasets on the fracture behavior of FDM-processed materials, some new experimental equipment, and the refinement of a fast and simple g-code generator based on commercially-available software, were developed and refined to support the design of MPDSMs under fracture conditions. The refined design method and rules were experimentally validated using a series of case studies (involving both design and physical testing of the designs) at the end of the dissertation. Finally, a simple design guide for practicing engineers who are not experts in advanced solid mechanics nor process-tailored materials was developed from the results of this project.U of I OnlyAuthor's request
Satellite Image Based Cross-view Localization for Autonomous Vehicle
Existing spatial localization techniques for autonomous vehicles mostly use a
pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle,
which is not only expensive but also laborious. This paper shows that by using
an off-the-shelf high-definition satellite image as a ready-to-use map, we are
able to achieve cross-view vehicle localization up to a satisfactory accuracy,
providing a cheaper and more practical way for localization. While the
utilization of satellite imagery for cross-view localization is an established
concept, the conventional methodology focuses primarily on image retrieval.
This paper introduces a novel approach to cross-view localization that departs
from the conventional image retrieval method. Specifically, our method develops
(1) a Geometric-align Feature Extractor (GaFE) that leverages measured 3D
points to bridge the geometric gap between ground and overhead views, (2) a
Pose Aware Branch (PAB) adopting a triplet loss to encourage pose-aware feature
extraction, and (3) a Recursive Pose Refine Branch (RPRB) using the
Levenberg-Marquardt (LM) algorithm to align the initial pose towards the true
vehicle pose iteratively. Our method is validated on KITTI and Ford Multi-AV
Seasonal datasets as ground view and Google Maps as the satellite view. The
results demonstrate the superiority of our method in cross-view localization
with median spatial and angular errors within meter and ,
respectively.Comment: Accepted by ICRA202
Security and Privacy Problems in Voice Assistant Applications: A Survey
Voice assistant applications have become omniscient nowadays. Two models that
provide the two most important functions for real-life applications (i.e.,
Google Home, Amazon Alexa, Siri, etc.) are Automatic Speech Recognition (ASR)
models and Speaker Identification (SI) models. According to recent studies,
security and privacy threats have also emerged with the rapid development of
the Internet of Things (IoT). The security issues researched include attack
techniques toward machine learning models and other hardware components widely
used in voice assistant applications. The privacy issues include technical-wise
information stealing and policy-wise privacy breaches. The voice assistant
application takes a steadily growing market share every year, but their privacy
and security issues never stopped causing huge economic losses and endangering
users' personal sensitive information. Thus, it is important to have a
comprehensive survey to outline the categorization of the current research
regarding the security and privacy problems of voice assistant applications.
This paper concludes and assesses five kinds of security attacks and three
types of privacy threats in the papers published in the top-tier conferences of
cyber security and voice domain.Comment: 5 figure
Conditional Adapters: Parameter-efficient Transfer Learning with Fast Inference
We propose Conditional Adapter (CoDA), a parameter-efficient transfer
learning method that also improves inference efficiency. CoDA generalizes
beyond standard adapter approaches to enable a new way of balancing speed and
accuracy using conditional computation. Starting with an existing dense
pretrained model, CoDA adds sparse activation together with a small number of
new parameters and a light-weight training phase. Our experiments demonstrate
that the CoDA approach provides an unexpectedly efficient way to transfer
knowledge. Across a variety of language, vision, and speech tasks, CoDA
achieves a 2x to 8x inference speed-up compared to the state-of-the-art Adapter
approach with moderate to no accuracy loss and the same parameter efficiency
NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping
LiDAR Mapping has been a long-standing problem in robotics. Recent progress
in neural implicit representation has brought new opportunities to robotic
mapping. In this paper, we propose the multi-volume neural feature fields,
called NF-Atlas, which bridge the neural feature volumes with pose graph
optimization. By regarding the neural feature volume as pose graph nodes and
the relative pose between volumes as pose graph edges, the entire neural
feature field becomes both locally rigid and globally elastic. Locally, the
neural feature volume employs a sparse feature Octree and a small MLP to encode
the submap SDF with an option of semantics. Learning the map using this
structure allows for end-to-end solving of maximum a posteriori (MAP) based
probabilistic mapping. Globally, the map is built volume by volume
independently, avoiding catastrophic forgetting when mapping incrementally.
Furthermore, when a loop closure occurs, with the elastic pose graph based
representation, only updating the origin of neural volumes is required without
remapping. Finally, these functionalities of NF-Atlas are validated. Thanks to
the sparsity and the optimization based formulation, NF-Atlas shows competitive
performance in terms of accuracy, efficiency and memory usage on both
simulation and real-world datasets
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
PrivLava: Synthesizing Relational Data with Foreign Keys under Differential Privacy
Answering database queries while preserving privacy is an important problem
that has attracted considerable research attention in recent years. A canonical
approach to this problem is to use synthetic data. That is, we replace the
input database R with a synthetic database R* that preserves the
characteristics of R, and use R* to answer queries. Existing solutions for
relational data synthesis, however, either fail to provide strong privacy
protection, or assume that R contains a single relation. In addition, it is
challenging to extend the existing single-relation solutions to the case of
multiple relations, because they are unable to model the complex correlations
induced by the foreign keys. Therefore, multi-relational data synthesis with
strong privacy guarantees is an open problem. In this paper, we address the
above open problem by proposing PrivLava, the first solution for synthesizing
relational data with foreign keys under differential privacy, a rigorous
privacy framework widely adopted in both academia and industry. The key idea of
PrivLava is to model the data distribution in R using graphical models, with
latent variables included to capture the inter-relational correlations caused
by foreign keys. We show that PrivLava supports arbitrary foreign key
references that form a directed acyclic graph, and is able to tackle the common
case when R contains a mixture of public and private relations. Extensive
experiments on census data sets and the TPC-H benchmark demonstrate that
PrivLava significantly outperforms its competitors in terms of the accuracy of
aggregate queries processed on the synthetic data.Comment: This is an extended version of a SIGMOD 2023 pape
Self-Supervised Learning to Prove Equivalence Between Straight-Line Programs via Rewrite Rules
We target the problem of automatically synthesizing proofs of semantic
equivalence between two programs made of sequences of statements. We represent
programs using abstract syntax trees (AST), where a given set of
semantics-preserving rewrite rules can be applied on a specific AST pattern to
generate a transformed and semantically equivalent program. In our system, two
programs are equivalent if there exists a sequence of application of these
rewrite rules that leads to rewriting one program into the other. We propose a
neural network architecture based on a transformer model to generate proofs of
equivalence between program pairs. The system outputs a sequence of rewrites,
and the validity of the sequence is simply checked by verifying it can be
applied. If no valid sequence is produced by the neural network, the system
reports the programs as non-equivalent, ensuring by design no programs may be
incorrectly reported as equivalent. Our system is fully implemented for a given
grammar which can represent straight-line programs with function calls and
multiple types. To efficiently train the system to generate such sequences, we
develop an original incremental training technique, named self-supervised
sample selection. We extensively study the effectiveness of this novel training
approach on proofs of increasing complexity and length. Our system, S4Eq,
achieves 97% proof success on a curated dataset of 10,000 pairs of equivalent
programsComment: 30 pages including appendi
Advancing Model Pruning via Bi-level Optimization
The deployment constraints in practical applications necessitate the pruning
of large-scale deep learning models, i.e., promoting their weight sparsity. As
illustrated by the Lottery Ticket Hypothesis (LTH), pruning also has the
potential of improving their generalization ability. At the core of LTH,
iterative magnitude pruning (IMP) is the predominant pruning method to
successfully find 'winning tickets'. Yet, the computation cost of IMP grows
prohibitively as the targeted pruning ratio increases. To reduce the
computation overhead, various efficient 'one-shot' pruning methods have been
developed, but these schemes are usually unable to find winning tickets as good
as IMP. This raises the question of how to close the gap between pruning
accuracy and pruning efficiency? To tackle it, we pursue the algorithmic
advancement of model pruning. Specifically, we formulate the pruning problem
from a fresh and novel viewpoint, bi-level optimization (BLO). We show that the
BLO interpretation provides a technically-grounded optimization base for an
efficient implementation of the pruning-retraining learning paradigm used in
IMP. We also show that the proposed bi-level optimization-oriented pruning
method (termed BiP) is a special class of BLO problems with a bi-linear problem
structure. By leveraging such bi-linearity, we theoretically show that BiP can
be solved as easily as first-order optimization, thus inheriting the
computation efficiency. Through extensive experiments on both structured and
unstructured pruning with 5 model architectures and 4 data sets, we demonstrate
that BiP can find better winning tickets than IMP in most cases, and is
computationally as efficient as the one-shot pruning schemes, demonstrating 2-7
times speedup over IMP for the same level of model accuracy and sparsity.Comment: Thirty-sixth Conference on Neural Information Processing Systems
(NeurIPS 2022
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