Neural Information Processing Systems http://nips.cc/

Time series classification using deep neural networks, such as convolutional neural networks (CNN), operate on the spectral decomposition of the time series computed using a preprocessing step.

Knowledge of the force time history of a structure is essential to assess its behaviour, ensure safety and maintain reliability. However, direct measurement of external forces is often challenging due to sensor limitations, unknown force characteristics, or inaccessible load points. This paper presents an efficient dynamic load reconstruction method using physics-informed Gaussian processes (GP) based on frequency-sparse Fourier basis functions. The GP's covariance matrices are built using the description of the system dynamics, and the model is trained using structural response measurements. This provides support and interpretability to the machine learning model, in contrast to purely data-driven methods. In addition, the model filters out irrelevant components in the Fourier basis function by leveraging the sparsity of structural responses in the frequency domain, thereby reducing computational complexity during optimization. The trained model for structural responses is then integrated with the differential equation for a harmonic oscillator, creating a probabilistic dynamic load model that predicts load patterns without requiring force data during training. The model's effectiveness is validated through two case studies: a numerical model of a wind-excited 76-story building and an experiment using a physical scale model of the Lilleb{\ae}lt Bridge in Denmark, excited by a servo motor. For both cases, validation of the reconstructed forces is provided using comparison metrics for several signal properties. The developed model holds potential for applications in structural health monitoring, damage prognosis, and load model validation.

State-of-the-art methods for explaining predictions based on time series are built on learning an instance-wise saliency mask for each time step. However, for many types of time series, the salient information is found in the frequency domain. Adopting existing methods to the frequency domain involves naively zeroing out frequency content in the signals, which goes against established signal processing theory. Therefore, we propose a new method entitled FLEXtime, that uses a filterbank to split the time series into frequency bands and learns the optimal combinations of these bands. FLEXtime avoids the drawbacks of zeroing out frequency bins and is more stable and easier to train compared to the naive method. Our extensive evaluation shows that FLEXtime on average outperforms state-of-the-art explainability methods across a range of datasets. FLEXtime fills an important gap in the time series explainability literature and can provide a valuable tool for a wide range of time series like EEG and audio.

Non-linear activation functions are crucial in Convolutional Neural Networks. However, until now they have not been well described in the frequency domain. In this work, we study the spectral behavior of ReLU, a popular activation function. We use the ReLU's Taylor expansion to derive its frequency domain behavior. We demonstrate that ReLU introduces higher frequency oscillations in the signal and a constant DC component. Furthermore, we investigate the importance of this DC component, where we demonstrate that it helps the model extract meaningful features related to the input frequency content. We accompany our theoretical derivations with experiments and real-world examples. First, we numerically validate our frequency response model. Then we observe ReLU's spectral behavior on two example models and a real-world one. Finally, we experimentally investigate the role of the DC component introduced by ReLU in the CNN's representations. Our results indicate that the DC helps to converge to a weight configuration that is close to the initial random weights.

This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptive controller is obtained by including a static nonlinearity in the adaptive loop, updated by the retrospective cost adaptive control algorithm. It is shown in simulation and physical test experiments that the adaptive autopilot with proposed modifications can continually improve the fixed-gain autopilot as well as prevent the drift of the adaptive parameters, thus improving the robustness of the adaptive autopilot.

Signal denoising is a key preprocessing step for many applications, as the performance of a learning task is closely related to the quality of the input data. In this paper, we apply a signal processing based deep neural network architecture, a learnable extension of the wavelet packet transform. As main advantages, this model has few parameters, an intuitive initialization and strong learning capabilities. Moreover, we show that it is possible to easily modify the parameters of the model after the training step to tailor to different noise intensities. Two case studies are conducted to compare this model with the state of the art and commonly used denoising procedures. The first experiment uses standard signals to study denoising properties of the algorithms. The second experiment is a real application with the objective to remove audio background noises. We show that the learnable wavelet packet transform has the learning capabilities of deep learning methods while maintaining the robustness of standard signal processing approaches. More specifically, we demonstrate that our approach maintains excellent denoising performances on signal classes separate from those used during the training step. Moreover, the learnable wavelet packet transform was found to be robust when different noise intensities, noise varieties and artifacts are considered.

While active attacks can be deadly to the Connected teleoperated robotic systems play a key role in ensuring operating environment and subject(s) involved, passive attacks can operational workflows are carried out with high levels of accuracy result in huge losses that stem from stealthy, unintentional information and low margins of error. In recent years, a variety of attacks have leakage. For example, if an attacker is able to identify what been proposed that actively target the robot itself from the cyber workflows a robot is carrying out, such as the movement of packages domain. However, little attention has been paid to the capabilities of in a warehouse between belts, they could use this information a passive attacker. In this work, we investigate whether an insider to sell on to competitors that can understand how competing warehousing adversary can accurately fingerprint robot movements and operational facilities operate and use this information to a malicious warehousing workflows via the radio frequency side channel advantage [21, 27]. in a stealthy manner. Using an SVM for classification, we found In this work we seek to explore other mechanisms to passively that an adversary can fingerprint individual robot movements with learn about robotic workflows. Side channels have previously been at least 96% accuracy, increasing to near perfect accuracy when used in different technological domains as a means to learn sensitive reconstructing entire warehousing workflows.