Towards real-time interest point detection and description for mobile and robotic devices

Convolutional Neural Networks (CNNs) have been successfully adopted by state-of-the-art feature point detection and description networks for the past number of years. The focus of these systems has been predominately on the accuracy of the system, rather than on its efficiency or ability to be implemented in real-time on embedded robotic devices. This paper demonstrates how techniques, developed for other CNN use cases, can be integrated into interest point detection and description systems to compress their network size and reduce the computational complexity; this reduces the barrier to their uptake in computationally challenged environments. This paper documents the integration of these techniques into the popular Reliable Detector and Descriptor (R2D2) network. Along with the integration details, a comprehensive Key Performance Indicator (KPI) framework is developed to test all aspects of the networks. As a result, this paper presents a lightweight variant of the R2D2 network that significantly reduces parameters and computational complexity while crucially maintaining an acceptable level of accuracy. Consequently, this new compressed network is more appropriate for use in real world systems and advances the efforts to implement such CNN based system for mobile devices

Vec2Dynamics: A Temporal Word Embedding Approach to Exploring the Dynamics of Scientific Keywords—Machine Learning as a Case Study

The study of the dynamics or the progress of science has been widely explored with descriptive and statistical analyses. Also this study has attracted several computational approaches that are labelled together as the Computational History of Science, especially with the rise of data science and the development of increasingly powerful computers. Among these approaches, some works have studied dynamism in scientific literature by employing text analysis techniques that rely on topic models to study the dynamics of research topics. Unlike topic models that do not delve deeper into the content of scientific publications, for the first time, this paper uses temporal word embeddings to automatically track the dynamics of scientific keywords over time. To this end, we propose Vec2Dynamics, a neural-based computational history approach that reports stability of k-nearest neighbors of scientific keywords over time; the stability indicates whether the keywords are taking new neighborhood due to evolution of scientific literature. To evaluate how Vec2Dynamics models such relationships in the domain of Machine Learning (ML), we constructed scientific corpora from the papers published in the Neural Information Processing Systems (NIPS; actually abbreviated NeurIPS) conference between 1987 and 2016. The descriptive analysis that we performed in this paper verify the efficacy of our proposed approach. In fact, we found a generally strong consistency between the obtained results and the Machine Learning timeline

Local Search is Underused in Genetic Programming

Trujillo, L., Z-Flores, E., Juárez-Smith, P. S., Legrand, P., Silva, S., Castelli, M., ... Muñoz, L. (2018). Local Search is Underused in Genetic Programming. In R. Riolo, B. Worzel, B. Goldman, & B. Tozier (Eds.), Genetic Programming Theory and Practice XIV (pp. 119-137). [8] (Genetic and Evolutionary Computation). Springer. https://doi.org/10.1007/978-3-319-97088-2_8There are two important limitations of standard tree-based genetic programming (GP). First, GP tends to evolve unnecessarily large programs, what is referred to as bloat. Second, GP uses inefficient search operators that focus on modifying program syntax. The first problem has been studied extensively, with many works proposing bloat control methods. Regarding the second problem, one approach is to use alternative search operators, for instance geometric semantic operators, to improve convergence. In this work, our goal is to experimentally show that both problems can be effectively addressed by incorporating a local search optimizer as an additional search operator. Using real-world problems, we show that this rather simple strategy can improve the convergence and performance of tree-based GP, while also reducing program size. Given these results, a question arises: Why are local search strategies so uncommon in GP? A small survey of popular GP libraries suggests to us that local search is underused in GP systems. We conclude by outlining plausible answers for this question and highlighting future work.authorsversionpublishe

A Position Independent Representation For Evolutionary Automatic . . .

We describe a new position independent encoding system, Chorus, for grammar based Evolutionary Algorithms. This scheme is coarsely based on the manner in nature in which genes produce proteins that regulate the metabolic pathways of the cell. The phenotype is the behavior of the cells metabolism, which corresponds to the development of the computer program in our case. In this procedure, the actual protein encoded by a gene is the same regardless of the position of the gene within the genome. We show tha

A simple approach to lifetime learning for Genetic Programming based Symbolic Regression

Genetic programming (GP) coarsely models natural evolution to evolve computer programs. Unlike in nature, where individuals can often improve their fitness through lifetime experience, the fitness of GP individuals generally does not change during their lifetime, and there is usually no opportunity to pass on acquired knowledge. This paper introduces the Chameleon system to address this discrepancy and augment GP with lifetime learning by adding a simple local search that operates by tuning the internal nodes of individuals. Although not the first attempt to combine local search with GP, its simplicity means that it is easy to understand and cheap to implement. A simple cache is added which leverages the local search to reduce the tuning cost to a small fraction of the expected cost, and we provide a theoretical upper limit on the maximum tuning expense given the average tree size of the population and show that this limit grows very conservatively as the average tree size of the population increases. We show that Chameleon uses available genetic material more efficiently by exploring more actively than with standard GP, and demonstrate that not only does Chameleon outperform standard GP (on both training and test data) over a number of symbolic regression type problems, it does so by producing smaller individuals and it works harmoniously with two other well-known extensions to GP, namely, linear scaling and a diversity-promoting tournament selection method

Global mortality associated with 33 bacterial pathogens in 2019: a systematic analysis for the Global Burden of Disease Study 2019

Summary Background Reducing the burden of death due to infection is an urgent global public health priority. Previous studies have estimated the number of deaths associated with drug-resistant infections and sepsis and found that infections remain a leading cause of death globally. Understanding the global burden of common bacterial pathogens (both susceptible and resistant to antimicrobials) is essential to identify the greatest threats to public health. To our knowledge, this is the first study to present global comprehensive estimates of deaths associated with 33 bacterial pathogens across 11 major infectious syndromes. Methods We estimated deaths associated with 33 bacterial genera or species across 11 infectious syndromes in 2019 using methods from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2019, in addition to a subset of the input data described in the Global Burden of Antimicrobial Resistance 2019 study. This study included 343 million individual records or isolates covering 11 361 study-location-years. We used three modelling steps to estimate the number of deaths associated with each pathogen: deaths in which infection had a role, the fraction of deaths due to infection that are attributable to a given infectious syndrome, and the fraction of deaths due to an infectious syndrome that are attributable to a given pathogen. Estimates were produced for all ages and for males and females across 204 countries and territories in 2019. 95% uncertainty intervals (UIs) were calculated for final estimates of deaths and infections associated with the 33 bacterial pathogens following standard GBD methods by taking the 2·5th and 97·5th percentiles across 1000 posterior draws for each quantity of interest. Findings From an estimated 13·7 million (95% UI 10·9–17·1) infection-related deaths in 2019, there were 7·7 million deaths (5·7–10·2) associated with the 33 bacterial pathogens (both resistant and susceptible to antimicrobials) across the 11 infectious syndromes estimated in this study. We estimated deaths associated with the 33 bacterial pathogens to comprise 13·6% (10·2–18·1) of all global deaths and 56·2% (52·1–60·1) of all sepsis-related deaths in 2019. Five leading pathogens—Staphylococcus aureus, Escherichia coli, Streptococcus pneumoniae, Klebsiella pneumoniae, and Pseudomonas aeruginosa—were responsible for 54·9% (52·9–56·9) of deaths among the investigated bacteria. The deadliest infectious syndromes and pathogens varied by location and age. The age-standardised mortality rate associated with these bacterial pathogens was highest in the sub-Saharan Africa super-region, with 230 deaths (185–285) per 100 000 population, and lowest in the high-income super-region, with 52·2 deaths (37·4–71·5) per 100 000 population. S aureus was the leading bacterial cause of death in 135 countries and was also associated with the most deaths in individuals older than 15 years, globally. Among children younger than 5 years, S pneumoniae was the pathogen associated with the most deaths. In 2019, more than 6 million deaths occurred as a result of three bacterial infectious syndromes, with lower respiratory infections and bloodstream infections each causing more than 2 million deaths and peritoneal and intra-abdominal infections causing more than 1 million deaths. Interpretation The 33 bacterial pathogens that we investigated in this study are a substantial source of health loss globally, with considerable variation in their distribution across infectious syndromes and locations. Compared with GBD Level 3 underlying causes of death, deaths associated with these bacteria would rank as the second leading cause of death globally in 2019; hence, they should be considered an urgent priority for intervention within the global health community. Strategies to address the burden of bacterial infections include infection prevention, optimised use of antibiotics, improved capacity for microbiological analysis, vaccine development, and improved and more pervasive use of available vaccines. These estimates can be used to help set priorities for vaccine need, demand, and development

Adolescent transport and unintentional injuries: a systematic analysis using the Global Burden of Disease Study 2019

Background Globally, transport and unintentional injuries persist as leading preventable causes of mortality and morbidity for adolescents. We sought to report comprehensive trends in injury-related mortality and morbidity for adolescents aged 10-24 years during the past three decades. Methods Using the Global Burden of Disease, Injuries, and Risk Factors 2019 Study, we analysed mortality and disability-adjusted life-years (DALYs) attributed to transport and unintentional injuries for adolescents in 204 countries. Burden is reported in absolute numbers and age-standardised rates per 100 000 population by sex, age group (10-14, 15-19, and 20-24 years), and sociodemographic index (SDI) with 95% uncertainty intervals (UIs). We report percentage changes in deaths and DALYs between 1990 and 2019. Findings In 2019, 369 061 deaths (of which 214337 [58%] were transport related) and 31.1 million DALYs (of which 16.2 million [52%] were transport related) among adolescents aged 10-24 years were caused by transport and unintentional injuries combined. If compared with other causes, transport and unintentional injuries combined accounted for 25% of deaths and 14% of DALYs in 2019, and showed little improvement from 1990 when such injuries accounted for 26% of adolescent deaths and 17% of adolescent DALYs. Throughout adolescence, transport and unintentional injury fatality rates increased by age group. The unintentional injury burden was higher among males than females for all injury types, except for injuries related to fire, heat, and hot substances, or to adverse effects of medical treatment. From 1990 to 2019, global mortality rates declined by 34.4% (from 17.5 to 11.5 per 100 000) for transport injuries, and by 47.7% (from 15.9 to 8.3 per 100000) for unintentional injuries. However, in low-SDI nations the absolute number of deaths increased (by 80.5% to 42 774 for transport injuries and by 39.4% to 31 961 for unintentional injuries). In the high-SDI quintile in 2010-19, the rate per 100 000 of transport injury DALYs was reduced by 16.7%, from 838 in 2010 to 699 in 2019. This was a substantially slower pace of reduction compared with the 48.5% reduction between 1990 and 2010, from 1626 per 100 000 in 1990 to 838 per 100 000 in 2010. Between 2010 and 2019, the rate of unintentional injury DALYs per 100 000 also remained largely unchanged in high-SDI countries (555 in 2010 vs 554 in 2019; 0.2% reduction). The number and rate of adolescent deaths and DALYs owing to environmental heat and cold exposure increased for the high-SDI quintile during 2010-19. Interpretation As other causes of mortality are addressed, inadequate progress in reducing transport and unintentional injury mortality as a proportion of adolescent deaths becomes apparent. The relative shift in the burden of injury from high-SDI countries to low and low-middle-SDI countries necessitates focused action, including global donor, government, and industry investment in injury prevention. The persisting burden of DALYs related to transport and unintentional injuries indicates a need to prioritise innovative measures for the primary prevention of adolescent injury