Tracking Using Continuous Shape Model Learning in the Presence of Occlusion

This paper presents a Bayesian framework for a new model-based learning method, which is able to track nonrigid objects in the presence of occlusions, based on a dynamic shape description in terms of a set of corners. Tracking is done by estimating the new position of the target in a multimodal voting space. However, occlusion events and clutter may affect the model learning, leading to a distraction in the estimation of the new position of the target as well as incorrect updating of the shape model. This method takes advantage of automatic decisions regarding how to learn the model in different environments, by estimating the possible presence of distracters and regulating corner updating on the basis of these estimations. Moreover, by introducing the corner feature vector classification, the method is able to continue learning the model dynamically, even in such situations. Experimental results show a successful tracking along with a more precise estimation of shape and motion during occlusion events

A fast cardiac electromechanics model coupling the Eikonal and the nonlinear mechanics equations

We present a new model of human cardiac electromechanics for the left ventricle where electrophysiology is described by a Reaction-Eikonal model and which enables an off-line resolution of the reaction model, thus entailing a big saving of computational time. Subcellular dynamics is coupled with a model of tissue mechanics, which is in turn coupled with a Windkessel model for blood circulation. Our numerical results show that the proposed model is able to provide a physiological response to changes in certain variables (end-diastolic volume, total peripheral resistance, contractility). We also show that our model is able to reproduce with high accuracy and with a considerably lower computational time the results that we would obtain if the monodomain model should be used in place of the Eikonal model

Abnormality detection using graph matching for multi-task dynamics of autonomous systems

Self-learning abilities in autonomous systems are essential to improve their situational awareness and detection of normal/abnormal situations. In this work, we propose a graph matching technique for activity detection in autonomous agents by using the Gromov-Wasserstein framework. A clustering approach is used to discretise continuous agents' states related to a specific task into a set of nodes with similar objectives. Additionally, a probabilistic transition matrix between nodes is used as edges weights to build a graph. In this paper, we extract an abnormal area based on a sub-graph that encodes the differences between coupled of activities. Such sub-graph is obtained by applying a threshold on the optimal transport matrix, which is obtained through the graph matching procedure. The obtained results are evaluated through experiments performed by a robot in a simulated environment and by a real autonomous vehicle moving within a University Campus

Incremental learning of abnormalities in autonomous systems

In autonomous systems, self-awareness capabilities are useful to allow artificial agents to detect abnormal situations based on previous experiences. This paper presents a method that facilitates the incremental learning of new models by an agent. Available learned models can dynamically generate probabilistic predictions as well as evaluate their mismatch from current observations. Observed mismatches are grouped through an unsupervised learning strategy into different classes, each of them corresponding to a dynamic model in a given region of the state space. Such clusters define switching Dynamic Bayesian Networks (DBNs) employed for predicting future instances and detect anomalies. Inferences generated by several DBNs that use different sensorial data are compared quantitatively. For testing the proposed approach, it is considered the multi-sensorial data generated by a robot performing various tasks in a controlled environment and a real autonomous vehicle moving at a University Campus

A Novel Resource Allocation for Anti-jamming in Cognitive-UAVs: an Active Inference Approach

This work proposes a novel resource allocation strategy for anti-jamming in Cognitive Radio using Active Inference (AIn), and a cognitive-UAV is employed as a case study. An Active Generalized Dynamic Bayesian Network (Active-GDBN) is proposed to represent the external environment that jointly encodes the physical signal dynamics and the dynamic interaction between UAV and jammer in the spectrum. We cast the action and planning as a Bayesian inference problem that can be solved by avoiding surprising states (minimizing abnormality) during online learning. Simulation results verify the effectiveness of the proposed AIn approach in minimizing abnormalities (maximizing rewards) and has a high convergence speed by comparing it with the conventional Frequency Hopping and Q-learnin

Misure ambientali in mare aperto: sviluppo di tecnologie per l'acquisizione e l'analisi di dati meteo-mareografici misurati da una boa oceanografica in Mar Ligure

Obiettivo del presente lavoro è lo sviluppo di un metodo di analisi in grado di stimare i parametri fondamentali del moto ondoso, a partire dai dati acquisiti da tre altimetri acustici installati a bordo di una boa meteo-oceanografica operante in mare aperto. Il metodo di analisi sviluppato compie opportune operazioni di filtraggio sulle sequenze temporali delle misure effettuate dai tre altimetri, quindi, elaborando tali sequenze, fornisce le stime di alcuni parametri caratteristici del moto ondoso (tra cui l’altezza e la direzione di propagazione). I diversi tipi di filtraggio ed il metodo di stima sviluppati si basano sul calcolo di alcuni parametri statistici (tra cui media, mediana e deviazione standard) delle serie temporali di dati acquisiti, sulla conoscenza delle loro densità spettrali di potenza (calcolate mediante FFT), e sul calcolo delle funzioni di crosscorrelazione delle sequenze di dati prese a due a due. Il procedimento di stima realizzato è stato sperimentato su una notevole quantità di dati reali acquisiti in Mar Ligure tramite l’utilizzo della stazione di misura fissa su cui sono montati gli altimetri acustici, ed ha fornito risultati soddisfacenti per quanto riguarda affidabilità e precisione. Nell’ambito della valutazione delle prestazioni del sistema di acquisizione dati e del metodo di stima, i risultati ottenuti sono stati confrontati con misure provenienti da altri sensori a bordo della stazione e con stime analoghe effettuate a partire dai dati acquisiti da un’altra stazione di misura, operante anch’essa in Mar Ligure, ma dotata di strumentazione di altro tipo

Jammer detection in M-QAM-OFDM by learning a dynamic Bayesian model for the cognitive radio

Communication and information field has witnessed recent developments in wireless technologies. Among such emerging technologies, the Internet of Things (IoT) is gaining a lot of popularity and attention in almost every field. IoT devices have to be equipped with cognitive capabilities to enhance spectrum utilization by sensing and learning the surrounding environment. IoT network is susceptible to the various jamming attacks which interrupt users communication. In this paper, two systems (Single and Bank-Parallel) have been proposed to implement a Dynamic Bayesian Network (DBN) Model to detect jammer in Orthogonal Frequency Division Multiplexing (OFDM) sub-carriers modulated with different M-QAM. The comparison of the two systems has been evaluated by simulation results after analyzing the effect of self-organizing map's (SOM) size on the performance of the proposed systems in relation to M-QAM modulation

TaintHLS: High-Level Synthesis For Dynamic Information Flow Tracking

Dynamic Information Flow Tracking (DIFT) is a technique to track potential security vulnerabilities in software and hardware systems at run time. Untrusted data are marked with tags (tainted), which are propagated through the system and their potential for unsafe use is analyzed to prevent them. DIFT is not supported in heterogeneous systems especially hardware accelerators. Currently, DIFT is manually generated and integrated into the accelerators. This process is error-prone, potentially hurting the process of identifying security violations in heterogeneous systems. We present TAINTHLS, to automatically generate a micro-architecture to support baseline operations and a shadow microarchitecture for intrinsic DIFT support in hardware accelerators while providing variable granularity of taint tags. TaintHLS offers a companion high-level synthesis (HLS) methodology to automatically generate such DIFT-enabled accelerators from a high-level specification. We extended a state-of-the-art HLS tool to generate DIFT-enhanced accelerators and demonstrated the approach on numerous benchmarks. The DIFT-enabled accelerators have negligible performance and no more than 30% hardware overhead