Pre-training machine learning models on molecular properties has proven effective for generating robust and generalizable representations, which is critical for advancements in drug discovery and materials science. While recent work has primarily focused on data-driven approaches, the KANO model introduces a novel paradigm by incorporating knowledge-enhanced pre-training. In this work, we expand upon KANO by integrating the large-scale ChEBI knowledge graph, which includes 2,840 functional groups -- significantly more than the original 82 used in KANO. We explore two approaches, Replace and Integrate, to incorporate this extensive knowledge into the KANO framework. Our results demonstrate that including ChEBI leads to improved performance on 9 out of 14 molecular property prediction datasets. This highlights the importance of utilizing a larger and more diverse set of functional groups to enhance molecular representations for property predictions. Code: github.com/Yasir-Ghunaim/KANO-ChEBI

We introduce GENomic Encoding REpresentation with Language Model (GENEREL), a framework designed to bridge genetic and biomedical knowledge bases. What sets GENEREL apart is its ability to fine-tune language models to infuse biological knowledge behind clinical concepts such as diseases and medications. This fine-tuning enables the model to capture complex biomedical relationships more effectively, enriching the understanding of how genomic data connects to clinical outcomes. By constructing a unified embedding space for biomedical concepts and a wide range of common SNPs from sources such as patient-level data, biomedical knowledge graphs, and GWAS summaries, GENEREL aligns the embeddings of SNPs and clinical concepts through multi-task contrastive learning. This allows the model to adapt to diverse natural language representations of biomedical concepts while bypassing the limitations of traditional code mapping systems across different data sources. Our experiments demonstrate GENEREL's ability to effectively capture the nuanced relationships between SNPs and clinical concepts. GENEREL also emerges to discern the degree of relatedness, potentially allowing for a more refined identification of concepts. This pioneering approach in constructing a unified embedding system for both SNPs and biomedical concepts enhances the potential for data integration and discovery in biomedical research.

In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when measurements are intermittent, leading to rapid divergence in state estimations. To address this, we introduce SMART (Sensor Measurement Augmentation and Reacquisition Tracker), a novel approach that leverages high-frequency state estimates from the KF to guide the search for new measurements, maintaining tracking continuity even when direct measurements falter. This is crucial for dynamic environments where traditional methods struggle. Our contributions include: 1) Versatile Measurement Augmentation Using KF Feedback: We implement a versatile measurement augmentation system that serves as a backup when primary object detectors fail intermittently. This system is adaptable to various sensors, demonstrated using depth cameras where KF's 3D predictions are projected into 2D depth image coordinates, integrating nonlinear covariance propagation techniques simplified to first-order approximations. 2) Open-source ROS2 Implementation: We provide an open-source ROS2 implementation of the SMART-TRACK framework, validated in a realistic simulation environment using Gazebo and ROS2, fostering broader adaptation and further research. Our results showcase significant enhancements in tracking stability, with estimation RMSE as low as 0.04 m during measurement disruptions, advancing the robustness of UAV tracking and expanding the potential for reliable autonomous UAV operations in complex scenarios. The implementation is available at https://github.com/mzahana/SMART-TRACK.

This study proposes a novel artificial intelligence (AI) driven flight computer, integrating an online free-retraining-prediction model, a swarm control, and an obstacle avoidance strategy, to track dynamic targets using a distributed drone swarm for military applications. To enable dynamic target tracking the swarm requires a trajectory prediction capability to achieve intercept allowing for the tracking of rapid maneuvers and movements while maintaining efficient path planning. Traditional predicative methods such as curve fitting or Long ShortTerm Memory (LSTM) have low robustness and struggle with dynamic target tracking in the short term due to slow convergence of single agent-based trajectory prediction and often require extensive offline training or tuning to be effective. Consequently, this paper introduces a novel robust adaptive bidirectional fuzzy brain emotional learning prediction (BFBEL-P) methodology to address these challenges. The controller integrates a fuzzy interface, a neural network enabling rapid adaption, predictive capability and multi-agent solving enabling multiple solutions to be aggregated to achieve rapid convergence times and high accuracy in both the short and long term. This was verified through the use of numerical simulations seeing complex trajectory being predicted and tracked by a swarm of drones. These simulations show improved adaptability and accuracy to state of the art methods in the short term and strong results over long time domains, enabling accurate swarm target tracking and predictive capability.

Background and aims: Colonoscopy screening is an effective method to find and remove colon polyps before they can develop into colorectal cancer (CRC). Current follow-up recommendations, as outlined by the U.S. Multi-Society Task Force for individuals found to have polyps, primarily rely on histopathological characteristics, neglecting other significant CRC risk factors. Moreover, the considerable variability in colorectal polyp characterization among pathologists poses challenges in effective colonoscopy follow-up or surveillance. The evolution of digital pathology and recent advancements in deep learning provide a unique opportunity to investigate the added benefits of including the additional medical record information and automatic processing of pathology slides using computer vision techniques in the calculation of future CRC risk. Methods: Leveraging the New Hampshire Colonoscopy Registry's extensive dataset, many with longitudinal colonoscopy follow-up information, we adapted our recently developed transformerbased model for histopathology image analysis in 5-year CRC risk prediction. Additionally, we investigated various multimodal fusion techniques, combining medical record information with deep learning derived risk estimates. Results: Our findings reveal that training a transformer model to predict intermediate clinical variables contributes to enhancing 5-year CRC risk prediction performance, with an AUC of 0.630 comparing to direct prediction (AUC = 0.615, p = 0.013). Furthermore, the fusion of imaging and nonimaging features, while not requiring manual inspection of microscopy images, demonstrates improved predictive capabilities (AUC = 0.674) for 5-year CRC risk comparing to variables extracted from colonoscopy procedure and microscopy findings (AUC = 0.655, p = 0.001). Conclusion: This study signifies the potential of integrating diverse data sources and advanced computational techniques in transforming the accuracy and effectiveness of future CRC risk assessments.

The paper evaluates the USV's autonomy through open-water

High-throughput molecular profiling technologies have produced high-dimensional multi-omics data, enabling systematic understanding of living systems at the genome scale. Studying molecular interactions across different data types helps reveal signal transduction mechanisms across different classes of molecules. In this paper, we develop a novel Bayesian representation learning method that infers the relational interactions across multi-omics data types. Our method, Bayesian Relational Learning (BayReL) for multi-omics data integration, takes advantage of a priori known relationships among the same class of molecules, modeled as a graph at each corresponding view, to learn view-specific latent variables as well as a multi-partite graph that encodes the interactions across views. Our experiments on several real-world datasets demonstrate enhanced performance of BayReL in inferring meaningful interactions compared to existing baselines.

The Kalman filter (KF) is one of the most widely used tools for data assimilation and sequential estimation. In this work, we show that the state estimates from the KF in a standard linear dynamical system setting are equivalent to those given by the KF in a transformed system, with infinite process noise (i.e., a flat prior'') and an augmented measurement space. This reformulation---which we refer to as augmented measurement sensor fusion (SF)---is conceptually interesting, because the transformed system here is seemingly static (as there is effectively no process model), but we can still capture the state dynamics inherent to the KF by folding the process model into the measurement space. Further, this reformulation of the KF turns out to be useful in settings in which past states are observed eventually (at some lag). Here, when the measurement noise covariance is estimated by the empirical covariance, we show that the state predictions from SF are equivalent to those from a regression of past states on past measurements, subject to particular linear constraints (reflecting the relationships encoded in the measurement map). This allows us to port standard ideas (say, regularization methods) in regression over to dynamical systems.

Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness against faulty or noisy inputs, which is indispensable for safety-critical applications like self-driving cars. We investigate learning fusion algorithms that are robust against noise added to a single source. We first demonstrate that robustness against single source noise is not guaranteed in a linear fusion model. Motivated by this discovery, two possible approaches are proposed to increase robustness: a carefully designed loss with corresponding training algorithms for deep fusion models, and a simple convolutional fusion layer that has a structural advantage in dealing with noise.

Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying scenarios. To obtain clean magnetic measurements reflecting the Earth's magnetic field, the magnetic sensor must be isolated from other electronic devices, creating a significant localization challenge. We propose a visual cooperative localization solution. The solution incorporates a visual processing module and an improved manifold-based sensor fusion algorithm, delivering reliable and accurate positioning information. Real flight experiments validate the approach, demonstrating single-axis centimeter-level accuracy and decimeter-level overall 3D positioning accuracy.