Incorporating ancestors' influence in genetic algorithms

A new criterion of fitness evaluation for Genetic Algorithms is introduced where the fitness value of an individual is determined by considering its own fitness as well as those of its ancestors. Some guidelines for selecting the weighting coefficients for quantifying the importance to be given to the fitness of the individual and its ancestors are provided. This is done both heuristically and automatically under fixed and adaptive frameworks. The Schema Theorem corresponding to the proposed concept is derived. The effectiveness of this new methodology is demonstrated extensively on the problems of optimizing complex functions including a noisy one and selecting optimal neural network parameters

SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior

CFD Analysis of Turbo Expander for Cryogenic Refrigeration and Liquefaction Cycles

AbstractComputational Fluid Dynamics analysis has emerged as a necessary tool for designing of turbomachinery. It helps to understand the various sources of inefficiency through investigation of flow physics of the turbine. In this paper, 3D turbulent flow analysis of a cryogenic turboexpander for small scale air separation was performed using Ansys CFX®. The turboexpander has been designed following assumptions based on meanlineblade generation procedure provided in open literature and good engineering judgement. Through analysis of flow field, modifications and further analysis required to evolve a more robust design procedure, have been suggested

SLICER: Learning universal audio representations using low-resource self-supervised pre-training

We present a new Self-Supervised Learning (SSL) approach to pre-train encoders on unlabeled audio data that reduces the need for large amounts of labeled data for audio and speech classification. Our primary aim is to learn audio representations that can generalize across a large variety of speech and non-speech tasks in a low-resource un-labeled audio pre-training setting. Inspired by the recent success of clustering and contrasting learning paradigms for SSL-based speech representation learning, we propose SLICER (Symmetrical Learning of Instance and Cluster-level Efficient Representations), which brings together the best of both clustering and contrasting learning paradigms. We use a symmetric loss between latent representations from student and teacher encoders and simultaneously solve instance and cluster-level contrastive learning tasks. We obtain cluster representations online by just projecting the input spectrogram into an output subspace with dimensions equal to the number of clusters. In addition, we propose a novel mel-spectrogram augmentation procedure, k-mix, based on mixup, which does not require labels and aids unsupervised representation learning for audio. Overall, SLICER achieves state-of-the-art results on the LAPE Benchmark \cite{9868132}, significantly outperforming DeLoRes-M and other prior approaches, which are pre-trained on $10\times$ larger of unsupervised data. We will make all our codes available on GitHub.Comment: Submitted to ICASSP 202

UNFUSED: UNsupervised Finetuning Using SElf supervised Distillation

In this paper, we introduce UnFuSeD, a novel approach to leverage self-supervised learning and reduce the need for large amounts of labeled data for audio classification. Unlike prior works, which directly fine-tune a self-supervised pre-trained encoder on a target dataset, we use the encoder to generate pseudo-labels for unsupervised fine-tuning before the actual fine-tuning step. We first train an encoder using a novel self-supervised learning algorithm (SSL) on an unlabeled audio dataset. Then, we use that encoder to generate pseudo-labels on our target task dataset via clustering the extracted representations. These pseudo-labels are then used to guide self-distillation on a randomly initialized model, which we call unsupervised fine-tuning. Finally, the resultant encoder is then fine-tuned on our target task dataset. Through UnFuSeD, we propose the first system that moves away from generic SSL paradigms in literature, which pre-train and fine-tune the same encoder, and present a novel self-distillation-based system to leverage SSL pre-training for low-resource audio classification. In practice, UnFuSeD achieves state-of-the-art results on the LAPE Benchmark, significantly outperforming all our baselines. Additionally, UnFuSeD allows us to achieve this at a 40% reduction in the number of parameters over the previous state-of-the-art system. We make all our codes publicly available.Comment: Under review at ICASSP 2023 SASB Worksho

MAST: Multiscale Audio Spectrogram Transformers

We present Multiscale Audio Spectrogram Transformer (MAST) for audio classification, which brings the concept of multiscale feature hierarchies to the Audio Spectrogram Transformer (AST). Given an input audio spectrogram we first patchify and project it into an initial temporal resolution and embedding dimension, post which the multiple stages in MAST progressively expand the embedding dimension while reducing the temporal resolution of the input. We use a pyramid structure that allows early layers of MAST operating at a high temporal resolution but low embedding space to model simple low-level acoustic information and deeper temporally coarse layers to model high-level acoustic information with high-dimensional embeddings. We also extend our approach to present a new Self-Supervised Learning (SSL) method called SS-MAST, which calculates a symmetric contrastive loss between latent representations from a student and a teacher encoder. In practice, MAST significantly outperforms AST by an average accuracy of 3.4% across 8 speech and non-speech tasks from the LAPE Benchmark. Moreover, SS-MAST achieves an absolute average improvement of 2.6% over SSAST for both AST and MAST encoders. We make all our codes available on GitHub at the time of publication.Comment: Submitted ICASSP 202