Toward Robust Sensing for Autonomous Vehicles: An Adversarial Perspective

Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS, LiDAR and camera signals~\cite{Khan2018}. It is of primary importance that the resulting decisions are robust to perturbations, which can take the form of different types of nuisances and data transformations, and can even be adversarial perturbations (APs). Adversarial perturbations are purposefully crafted alterations of the environment or of the sensory measurements, with the objective of attacking and defeating the autonomous systems. A careful evaluation of the vulnerabilities of their sensing system(s) is necessary in order to build and deploy safer systems in the fast-evolving domain of AVs. To this end, we survey the emerging field of sensing in adversarial settings: after reviewing adversarial attacks on sensing modalities for autonomous systems, we discuss countermeasures and present future research directions

3D Face Recognition with Sparse Spherical Representations

This paper addresses the problem of 3D face recognition using simultaneous sparse approximations on the sphere. The 3D face point clouds are first aligned with a novel and fully automated registration process. They are then represented as signals on the 2D sphere in order to preserve depth and geometry information. Next, we implement a dimensionality reduction process with simultaneous sparse approximations and subspace projection. It permits to represent each 3D face by only a few spherical functions that are able to capture the salient facial characteristics, and hence to preserve the discriminant facial information. We eventually perform recognition by effective matching in the reduced space, where Linear Discriminant Analysis can be further activated for improved recognition performance. The 3D face recognition algorithm is evaluated on the FRGC v.1.0 data set, where it is shown to outperform classical state-of-the-art solutions that work with depth images

Glomus intraradices dominates arbuscular mycorrhizal communities in a heavy textured agricultural soil

Arbuscular mycorrhizal fungal (AMF) spore communities were surveyed in a long-term field fertilization experiment in Switzerland, where different amounts of phosphorus (P) were applied to soil. Plots receiving no P as well as plots systematically fertilized in excess to plant needs for 31 years were used to test the hypothesis that application of P fertilizer changes the composition and diversity of AMF communities. AMF spores were isolated from the field soil, identified, and counted so as to quantify the effect of P fertilization on AMF spore density, composition, and diversity. Trap cultures were established from field soil with four host plants (sunflower, leek, maize, and Crotalaria grahamiana), and the spore communities were then analyzed in substrate samples from the pots. Altogether, nine AMF species were detected in the soil. No evidence has been acquired for effect of P fertilization on spore density, composition, and diversity of AMF in both the field soil and in trap cultures. On the other hand, we observed strong effect of crop plant species on spore densities in the soil, the values being lowest under rapeseed and highest under Phacelia tanacetifolia covercrop. The identity of plant species in trap pots also significantly affected composition and diversity of associated AMF communities, probably due to preferential establishment of symbiosis between certain plant and AMF species. AMF spore communities under mycorrhizal host plants (wheat and Phacelia in the fields and four host plant species in trap pots) were dominated by a single AMF species, Glomus intraradices. This resulted in exceptionally low AMF spore diversity that seems to be linked to high clay content of the soi

Effect of Heavy Metal Contaminated Shooting Range Soils on Mycorrhizal Colonization of Roots and Metal Uptake by Leek

We grew leek (Allium porrum) in soils of two shooting ranges heavily contaminated with heavy metals in the towns of Zuchwil and Oberuzwil in Switzerland as a bioassay to test theactivity of arbuscular mycorrhizal (AM) fungi in these soils.Soil samples were taken from (1) front of the shooting house(HOUSE), (2) the area between house and target (FIELD) and (3) the berm (BACKSTOP). Samples of Ribwort plantain (Plantagolanceolata) growing naturally within the shooting ranges werealso collected and the colonization of its roots by mycorrhizalfungi was measured. The number of AM spores in the soils wassignificantly reduced concomitant with the increase in thedegree of soil contamination with metals. In Zuchwil,mycorrhizal fungi equally colonized roots of Ribwort plantainsampled from BACKSTOP and HOUSE. In Oberuzwil, however, plantsfrom BACKSTOP had lower colonization when compared with thosesampled from HOUSE. Colonization of leek was strongly reducedin the BACKSTOP soil of Zuchwil and slightly reduced in theBACKSTOP soil of Oberuzwil when compared with plants grown inrespective HOUSE soil. Concentrations of Cd, Cr, Cu, Ni, Pb andZn in the leaves of leek grown in the BACKSTOP soil was withinthe range considered toxic for human consumption. This pointsto the high degree of bio-availability of these metal in thesesoils. Significant decrease in the number of mycorrhizal sporesin the BACKSTOP soils in Zuchwil and the low colonization ofleek roots grown in these soils point to possible changes inthe species diversity of mycorrhizal fungi in these soil

Long-term organic matter application reduces cadmium but not zinc concentrations in wheat

Wheat is a staple food crop and a major source of both the essential micronutrient zinc (Zn) and the toxic heavy metal cadmium (Cd) for humans. Since Zn and Cd are chemically similar, increasing Zn concentrations in wheat grains (biofortification), while preventing Cd accumulation, is an agronomic challenge. We used two Swiss agricultural long-term field trials, the “Dynamic-Organic-Conventional System Comparison Trial” (DOK) and the “Zurich Organic Fertilization Experiment” (ZOFE), to investigate the impact of long-term organic, mineral and combined fertilizer inputs on total and phytoavailable concentrations of soil Zn and Cd and their accumulation in winter wheat ( L.). “Diffusive gradients in thin films” (DGT) and diethylene-triaminepentaacetic acid (DTPA) extraction were used as proxies for plant available soil metals. Compared to unfertilized controls, long-term organic fertilization with composted manure or green waste compost led to higher soil organic carbon, cation exchange capacity and pH, while DGT-available Zn and Cd concentrations were reduced. The DGT method was a strong predictor of shoot and grain Cd, but not Zn concentrations. Shoot and grain Zn concentrations correlated with DTPA-extractable and total soil Zn concentrations in the ZOFE, but not the DOK trial. Long-term compost fertilization led to lower accumulation of Cd in wheat grains, but did not affect grain Zn. Therefore, Zn/Cd ratios in the grains increased. High Zn and Cd inputs with organic fertilizers and high Cd inputs with phosphate fertilizers led to positive Zn and Cd mass balances when taking into account atmospheric deposition and fertilizer inputs. On the other hand, mineral fertilization led to the depletion of soil Zn due to higher yields and thus higher Zn exports than under organic management. The study supports the use of organic fertilizers for reducing Cd concentrations of wheat grains in the long-term, given that the quality of the fertilizers is guaranteed

Graph-Based Detection of Seams In 360-Degree Images

In this paper, we propose an algorithm to detect a specific kind of distortions, referred to as seams, which commonly oc- cur when a 360-degree image is represented in planar domain by projecting the sphere to a polyhedron, e.g, via the Cube Map (CM) projection, and undergoes lossy compression. The proposed algorithm exploits a graph-based representation to account for the actual sampling density of the 360-degree sig- nal in the native spherical domain. The CM image is con- sidered as a signal lying on a graph defined on the spherical surface. The spectra of the processed and the original sig- nals, computed by applying the Graph Fourier Transform, are compared to detect the seams. To test our method a dataset of compressed CM 360-degree images, annotated by experts, has been created. The performance of the proposed algorithm is compared to those achieved by baseline metrics, as well as to the same approach based on spectral comparison but ignor- ing the spherical nature of the signal. The experimental results show that the proposed method has the best performance and can successfully detect up to approximately 90% of visible seams on our dataset

Dynamic input to determine hip joint moments, power and work on the prosthetic limb of transfemoral amputees: ground reactions vs knee reactions

Study Design: Comparative analysis\ud Background: Calculations of lower limbs kinetics are limited by floor-mounted force-plates.\ud Objectives: Comparison of hip joint moments, power and mechanical work on the prosthetic limb of a transfemoral amputee calculated by inverse dynamics using either the ground reactions (force-plates) or knee reactions (transducer).\ud Methods: Kinematics, ground reactions and knee reactions were collected using a motion analysis system, two force-plates and a multi-axial transducer mounted below the socket, respectively.\ud Results: The inverse dynamics using ground reactions under-estimated the peaks of hip energy generation and absorption occurring at 63 % and 76 % of the gait cycle (GC) by 28 % and 54 %, respectively. This method over-estimated a phase of negative work at the hip (from 37 %GC to 56 %GC) by 24%. It under-estimated the phases of positive (from 57 %GC to 72 %GC) and negative (from 73 %GC to 98 %GC) work at the hip by 11 % and 58%, respectively.\ud Conclusions: A transducer mounted within the prosthesis has the capacity to provide more realistic kinetics of the prosthetic limb because it enables assessment of multiple consecutive steps and a wide range of activities without issues of foot placement on force-plates

The molecular size continuum of soil organic phosphorus and its chemical associations

The chemical nature of most organic P (Porg) in soil remains ‘unresolved’ but is accounted for by a broad signal in the phosphomonoester region of solution 31P nuclear magnetic resonance (NMR) spectra. The molecular size range of this broad NMR signal and its molecular structure remain unclear. The aim of this study was to elucidate the chemical nature of Porg with increasing molecular size in soil extracts combining size exclusion chromatography (SEC) with solution 31P NMR spectroscopy. Gel-filtration SEC was carried out on NaOH-EDTA extracts of four soils (range 238-1135 mg Porg/kgsoil) to collect fractions with molecular sizes of 70 kDa. These were then analysed by NMR spectroscopy. Organic P was detected across the entire molecular size continuum from 70 kDa. Concentrations of Porg in the >10kDa fraction ranged from 107 to 427 mg P/kgsoil and exhibited on average three to four broad signals in the phosphomonoester region of NMR spectra. These broad signals were most prominent in the 10-20 and 20-50 kDa fractions, accounting for on average 77 % and 74 % of total phosphomonoesters, respectively. Our study demonstrates that the broad signal is present in all investigated molecular size fractions and comprises on average three to four components of varying NMR peak line width (20 to 250 Hz). The stereoisomers myo- and scyllo-inositol hexakisphosphates (IP6) were also present across multiple molecular size ranges but were predominant in the 5-10 kDa fraction. The proportion of IP associated with large molecular size fractions >10 kDa was on average 23 % (SD=39 %) of total IP across all soils. These findings suggest that stabilisation of IP in soil includes processes associated with the organic phase

Green manure and long-term fertilization effects on available soil zinc and cadmium and their accumulation by wheat (Triticum aestivum L.)

Zinc (Zn) deficiency in humans due to imbalanced diets is a global nutritional problem. It is especially widespread in populations of low-income countries depending on cereals as staple food. Grain Zn concentrations are particularly low in cereals grown on soils with low phytoavailable Zn concentrations. . Plant Zn uptake depends on soil properties such as pH, calcium carbonate, iron and manganese oxides, total Zn and organic matter content (OM). Soil pH, total Zn and OM can be influenced on farms with limited access to mineral fertilizers through organic matter management practises. In this study, we investigated to what extent green manure application could increase soil Zn availability and wheat grain Zn concentrations (biofortification) on soil with different long-term fertilizer management