Perceiving obstacles and avoiding collisions is fundamental to the safe operation of a robot system, particularly when the robot must operate in highly dynamic human environments. Proximity detection using on-robot sensors can be used to avoid or mitigate impending collisions. However, existing proximity sensing methods are orientation and placement dependent, resulting in blind spots even with large numbers of sensors. In this paper, we introduce the phenomenon of the Leaky Surface Wave (LSW), a novel sensing modality, and present AuraSense, a proximity detection system using the LSW. AuraSense is the first system to realize no-dead-spot proximity sensing for robot arms. It requires only a single pair of piezoelectric transducers, and can easily be applied to off-the-shelf robots with minimal modifications. We further introduce a set of signal processing techniques and a lightweight neural network to address the unique challenges in using the LSW for proximity sensing. Finally, we demonstrate a prototype system consisting of a single piezoelectric element pair on a robot manipulator, which validates our design. We conducted several micro benchmark experiments and performed more than 2000 on-robot proximity detection trials with various potential robot arm materials, colliding objects, approach patterns, and robot movement patterns. AuraSense achieves 100% and 95.3% true positive proximity detection rates when the arm approaches static and mobile obstacles respectively, with a true negative rate over 99%, showing the real-world viability of this system.

Although the fairness community has recognized the importance of data, researchers in the area primarily rely on UCI Adult when it comes to tabular data. Derived from a 1994 US Census survey, this dataset has appeared in hundreds of research papers where it served as the basis for the development and comparison of many algorithmic fairness interventions. We reconstruct a superset of the UCI Adult data from available US Census sources and reveal idiosyncrasies of the UCI Adult dataset that limit its external validity. Our primary contribution is a suite of new datasets derived from US Census surveys that extend the existing data ecosystem for research on fair machine learning. We create prediction tasks relating to income, employment, health, transportation, and housing. The data span multiple years and all states of the United States, allowing researchers to study temporal shift and geographic variation. We highlight a broad initial sweep of new empirical insights relating to trade-offs between fairness criteria, performance of algorithmic interventions, and the role of distribution shift based on our new datasets. Our findings inform ongoing debates, challenge some existing narratives, and point to future research directions. Our datasets are available at https://github.com/zykls/folktables.

Vision-and-language(V&L) models take image and text as input and learn to capture the associations between them. Prior studies show that pre-trained V&L models can significantly improve the model performance for downstream tasks such as Visual Question Answering (VQA). However, V&L models are less effective when applied in the medical domain (e.g., on X-ray images and clinical notes) due to the domain gap. In this paper, we investigate the challenges of applying pre-trained V&L models in medical applications. In particular, we identify that the visual representation in general V&L models is not suitable for processing medical data. To overcome this limitation, we propose BERTHop, a transformer-based model based on PixelHop++ and VisualBERT, for better capturing the associations between the two modalities. Experiments on the OpenI dataset, a commonly used thoracic disease diagnosis benchmark, show that BERTHop achieves an average Area Under the Curve (AUC) of 98.12% which is 1.62% higher than state-of-the-art (SOTA) while it is trained on a 9 times smaller dataset.

The identification of Alzheimer's disease (AD) and its early stages using structural magnetic resonance imaging (MRI) has been attracting the attention of researchers. Various data-driven approaches have been introduced to capture subtle and local morphological changes of the brain accompanied by the disease progression. One of the typical approaches for capturing subtle changes is patch-level feature representation. However, the predetermined regions to extract patches can limit classification performance by interrupting the exploration of potential biomarkers. In addition, the existing patch-level analyses have difficulty explaining their decision-making. To address these problems, we propose the BrainBagNet with a position-based gate (PG-BrainBagNet), a framework for jointly learning pathological region localization and AD diagnosis in an end-to-end manner. In advance, as all scans are aligned to a template in image processing, the position of brain images can be represented through the 3D Cartesian space shared by the overall MRI scans. The proposed method represents the patch-level response from whole-brain MRI scans and discriminative brain-region from position information. Based on the outcomes, the patch-level class evidence is calculated, and then the image-level prediction is inferred by a transparent aggregation. The proposed models were evaluated on the ADNI datasets. In five-fold cross-validation, the classification performance of the proposed method outperformed that of the state-of-the-art methods in both AD diagnosis (AD vs. normal control) and mild cognitive impairment (MCI) conversion prediction (progressive MCI vs. stable MCI) tasks. In addition, changes in the identified discriminant regions and patch-level class evidence according to the patch size used for model training are presented and analyzed.

While machine learning techniques are being applied to various fields for their exceptional ability to find complex relations in large datasets, the strengthening of regulations on data ownership and privacy is causing increasing difficulty in its application to medical data. In light of this, Federated Learning has recently been proposed as a solution to train on private data without breach of confidentiality. This conservation of privacy is particularly appealing in the field of healthcare, where patient data is highly confidential. However, many studies have shown that its assumption of Independent and Identically Distributed data is unrealistic for medical data. In this paper, we propose Personalized Federated Cluster Models, a hierarchical clustering-based FL process, to predict Major Depressive Disorder severity from Heart Rate Variability. By allowing clients to receive more personalized model, we address problems caused by non-IID data, showing an accuracy increase in severity prediction. This increase in performance may be sufficient to use Personalized Federated Cluster Models in many existing Federated Learning scenarios.

It is bar far the easiest way to find the accuracy of your model. It can be used for both binary and multi-class problems. Calculating a confusion matrix can give you a better idea of what your classification model is getting right and what types of errors it is making. The Confusion matrix in itself is not a performance measure as such, but almost all of the performance metrics are based on Confusion Matrix and the numbers inside it. Let's dive deep into the confusion matrix.

To mitigate the inspector's workload and improve the quality of the product, computer vision-based anomaly detection (AD) techniques are gradually deployed in real-world industrial scenarios. Recent anomaly analysis benchmarks progress to generative models. The aim is to model the defect-free distribution so that anomalies can be classified as out-of-distribution samples. Nevertheless, there are two disturbing factors that need researchers and deployers to prioritize: (i) the simplistic prior latent distribution inducing limited expressive capability; (ii) the collapsed mutual-dependent features resulting in poor generalization. In this paper, we propose a novel Patch-wise Wasserstein AutoEncoder (P-WAE) architecture to alleviate those challenges. In particular, a patch-wise variational inference model coupled with solving the jigsaw puzzle is designed, which is a simple yet effective way to increase the expressiveness and complexity of the latent manifold. This alleviates the blurry reconstruction problem. In addition, the Hilbert-Schmidt Independence Criterion (HSIC) bottleneck is introduced to constrain the over-regularization representation. Comprehensive experiments, conducted on the MVTec AD dataset, demonstrate the superior performance of our propo

With the rapid development of the Internet of Things (IoT), Indoor Positioning System (IPS) has attracted significant interest in academic research. Ultra-Wideband (UWB) is an emerging technology that can be employed for IPS as it offers centimetre-level accuracy. However, the UWB system still faces several technical challenges in practice, one of which is Non-Line-of-Sight (NLoS) signal propagation. Several machine learning approaches have been applied for the NLoS component identification. However, when the data contains a very small amount of NLoS components it becomes very difficult for existing algorithms to classify them. This paper focuses on employing an anomaly detection approach based on Gaussian Distribution (GD) and Generalized Gaussian Distribution (GGD) algorithms to detect and identify the NLoS components. The simulation results indicate that the proposed approach can provide a robust NLoS component identification which improves the NLoS signal classification accuracy which results in significant improvement in the UWB positioning system.

The term "Fraudulent News" was a unheard of and not prevalent a couple of decades ago but in this digital era of social media, it has surfaced as a huge monster. Shows the presence of missing values in the data set. The above are the necessary libraries which is required for text cleaning. The above is the code to extract only text from the dataset by eliminating all the extra special characters, numerical. By creating the empty list and appending the cleaned data into it.

The core network architecture of telecommunication systems has undergone a paradigm shift in the fifth-generation (5G)networks. 5G networks have transitioned to software-defined infrastructures, thereby reducing their dependence on hardware-based network functions. New technologies, like network function virtualization and software-defined networking, have been incorporated in the 5G core network (5GCN) architecture to enable this transition. This has resulted in significant improvements in efficiency, performance, and robustness of the networks. However, this has also made the core network more vulnerable, as software systems are generally easier to compromise than hardware systems. In this article, we present a comprehensive security analysis framework for the 5GCN. The novelty of this approach lies in the creation and analysis of attack graphs of the software-defined and virtualized 5GCN through machine learning. This analysis points to 119 novel possible exploits in the 5GCN. We demonstrate that these possible exploits of 5GCN vulnerabilities generate five novel attacks on the 5G Authentication and Key Agreement protocol. We combine the attacks at the network, protocol, and the application layers to generate complex attack vectors. In a case study, we use these attack vectors to find four novel security loopholes in WhatsApp running on a 5G network.