See What the Robot Can't See: Learning Cooperative Perception for Visual Navigation

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use first-person-view images. In order to overcome the need for positioning, we train the sensors to encode and communicate relevant viewpoint information to the mobile robot, whose objective it is to use this information to navigate as efficiently as possible to the target. We overcome the challenge of enabling all the sensors (even those that cannot directly see the target) to predict the direction along the shortest path to the target by implementing a neighborhood-based feature aggregation module using a Graph Neural Network (GNN) architecture. In our experiments, we first demonstrate generalizability to previously unseen environments with various sensor layouts. Our results show that by using communication between the sensors and the robot, we achieve up to 2.0x improvement in SPL (Success weighted by Path Length) when compared to a communication-free baseline. This is done without requiring a global map, positioning data, nor pre-calibration of the sensor network. Second, we perform a zero-shot transfer of our model from simulation to the real world. Laboratory experiments demonstrate the feasibility of our approach in various cluttered environments. Finally, we showcase examples of successful navigation to the target while the sensor network layout is dynamically reconfigured.Comment: Reformatting for IROS with updated result

Contrastive Diffusion Model with Auxiliary Guidance for Coarse-to-Fine PET Reconstruction

To obtain high-quality positron emission tomography (PET) scans while reducing radiation exposure to the human body, various approaches have been proposed to reconstruct standard-dose PET (SPET) images from low-dose PET (LPET) images. One widely adopted technique is the generative adversarial networks (GANs), yet recently, diffusion probabilistic models (DPMs) have emerged as a compelling alternative due to their improved sample quality and higher log-likelihood scores compared to GANs. Despite this, DPMs suffer from two major drawbacks in real clinical settings, i.e., the computationally expensive sampling process and the insufficient preservation of correspondence between the conditioning LPET image and the reconstructed PET (RPET) image. To address the above limitations, this paper presents a coarse-to-fine PET reconstruction framework that consists of a coarse prediction module (CPM) and an iterative refinement module (IRM). The CPM generates a coarse PET image via a deterministic process, and the IRM samples the residual iteratively. By delegating most of the computational overhead to the CPM, the overall sampling speed of our method can be significantly improved. Furthermore, two additional strategies, i.e., an auxiliary guidance strategy and a contrastive diffusion strategy, are proposed and integrated into the reconstruction process, which can enhance the correspondence between the LPET image and the RPET image, further improving clinical reliability. Extensive experiments on two human brain PET datasets demonstrate that our method outperforms the state-of-the-art PET reconstruction methods. The source code is available at \url{https://github.com/Show-han/PET-Reconstruction}.Comment: Accepted and presented in MICCAI 2023. To be published in Proceeding

Automated Triple Pulse Testbed (ATPT) 1.0 – Large-Signal Hardware-in-the-loop Characterization Platform for Power Magnetics

Designing and characterizing magnetic components such as filter inductors are increasingly important for achieving optimized power converters. Due to the complicated material excitation response mechanisms, in-situ characterization is proven to be more reliable than utilizing the core loss data acquired from the traditional empirical model. Current research also indicates that core loss characterizing based on material is shown to be less accurate than measurement at the component level. Moreover, there are few core loss measurement methods that could perform a large-signal characterization that meets the industrial requirement without a complicated set-up or sophisticated procedure. To overcome these challenges, an automated magnetic characterizing platform based on a refined discontinuous test procedure called the Triple Pulse Test (TPT) is proposed. The testbed is used to characterize magnetic components with large-signal rectangular excitations and dc-bias current in a low-cost manner with reduced requirements of hardware. An automated version of this method, referred as the Automated Triple Pulse Testbed (ATPT), alongside the design considerations at both hardware and software levels are presented in the paper. The specific limitations of the large-signal testing condition such as the analysis of saturated current and the influence of demagnetizing effect are introduced. Measurement results generated from ATPT are verified against the open-source MagNet database

A smart wireless inertial measurement unit system: simplifying & encouraging usage of WIMU technology

Wireless Inertial Measurement Units (WIMUs) combine motion sensing, processing & communications functionsin a single device. Data gathered using these sensors has the potential to be converted into high quality motion data. By outfitting a subject with multiple WIMUs full motion data can begathered. With a potential cost of ownership several orders of magnitude less than traditional camera based motion capture, WIMU systems have potential to be crucially important in supplementing or replacing traditional motion capture and opening up entirely new application areas and potential markets particularly in the rehabilitative, sports & at-home healthcarespaces. Currently WIMUs are underutilized in these areas. A major barrier to adoption is perceived complexity. Sample rates, sensor types & dynamic sensor ranges may need to be adjusted on multiple axes for each device depending on the scenario. As such we present an advanced WIMU in conjunction with a Smart WIMU system to simplify this aspect with 3 usage modes: Manual, Intelligent and Autonomous. Attendees will be able to compare the 3 different modes and see the effects of good andbad set-ups on the quality of data gathered in real time

Vetting undesirable behaviors in android apps with permission use analysis

Android platform adopts permissions to protect sensitive resources from untrusted apps. However, after permissions are granted by users at install time, apps could use these permissions (sensitive resources) with no further restrictions. Thus, recent years have witnessed the explosion of undesirable behaviors in Android apps. An important part in the defense is the accurate analysis of Android apps. However, traditional syscall-based analysis techniques are not well-suited for Android, because they could not capture critical interactions between the application and the Android system. This paper presents VetDroid, a dynamic analysis platform for reconstructing sensitive behaviors in Android apps from a novel permission use perspective. VetDroid features a systematic frame-work to effectively construct permission use behaviors, i.e., how applications use permissions to access (sensitive) system resources, and how these acquired permission-sensitive resources are further utilized by the application. With permission use behaviors, security analysts can easily examine the internal sensitive behaviors of an app. Using real-world Android malware, we show that VetDroid can clearly reconstruct fine-grained malicious behaviors to ease malware analysis. We further apply VetDroid to 1,249 top free apps in Google Play. VetDroid can assist in finding more information leaks than TaintDroid [24], a state-of-the-art technique. In addition, we show howwe can use VetDroid to analyze fine-grained causes of information leaks that TaintDroid cannot reveal. Finally, we show that VetDroid can help identify subtle vulnerabilities in some (top free) applications otherwise hard to detect