序数模式的统计分析的最终目的是表征它们诱导的特征的分布。特别是，了解大类时间序列模型的对熵统计复杂性的联合分布将允许迄今无法获得的统计测试。在这个方向上工作，我们表征了Shannon经验的渐进分布，用于任何模型，在此模型中，真正的归一化熵既不为零也不为零。我们从中心极限定理（假设大时间序列），多元增量方法和其平均值的三阶校正获得了渐近分布。我们讨论了其他结果（精确，一阶和二阶校正）有关其准确性和数值稳定性的适用性。在建立有关香农熵的测试统计数据的一般框架内，我们提出了双边测试，该测试验证是否有足够的证据拒绝以下假设，即两个信号产生了具有相同Shannon熵的顺序模式。我们将此双边测试应用于来自三个城市（都柏林，爱丁堡和迈阿密）的每日最高温度时间序列，并获得了明智的结果。

我们研究了数据驱动的深度学习方法的潜力，即从观察它们的混合物中分离两个通信信号。特别是，我们假设一个信号之一的生成过程（称为感兴趣的信号（SOI）），并且对第二个信号的生成过程不了解，称为干扰。单通道源分离问题的这种形式也称为干扰拒绝。我们表明，捕获高分辨率的时间结构（非平稳性），可以准确地同步与SOI和干扰，从而带来了可观的性能增长。有了这个关键的见解，我们提出了一种域信息神经网络（NN）设计，该设计能够改善“现成” NNS和经典检测和干扰拒绝方法，如我们的模拟中所示。我们的发现突出了特定于交流领域知识的关键作用在开发数据驱动的方法方面发挥了作用，这些方法具有前所未有的收益的希望。

我们研究了单通道源分离（SCSS）的问题，并专注于环化信号，这些信号特别适用于各种应用领域。与经典的SCSS方法不同，我们考虑了一个仅可用源的示例而不是模型的设置，从而激发了数据驱动的方法。对于具有基本环化高斯成分的源模型，我们为任何基于模型或数据驱动的分离方法建立了可达到的均方误差（MSE）的下限。我们的分析进一步揭示了最佳分离和相关实施挑战的操作。作为一种计算吸引力的替代方案，我们建议使用U-NET体系结构进行深度学习方法，该方法与最低MSE估计器具有竞争力。我们在模拟中证明，有了合适的域信息架构选择，我们的U-NET方法可以通过大幅减少的计算负担来达到最佳性能。

Modelling and forecasting real-life human behaviour using online social media is an active endeavour of interest in politics, government, academia, and industry. Since its creation in 2006, Twitter has been proposed as a potential laboratory that could be used to gauge and predict social behaviour. During the last decade, the user base of Twitter has been growing and becoming more representative of the general population. Here we analyse this user base in the context of the 2021 Mexican Legislative Election. To do so, we use a dataset of 15 million election-related tweets in the six months preceding election day. We explore different election models that assign political preference to either the ruling parties or the opposition. We find that models using data with geographical attributes determine the results of the election with better precision and accuracy than conventional polling methods. These results demonstrate that analysis of public online data can outperform conventional polling methods, and that political analysis and general forecasting would likely benefit from incorporating such data in the immediate future. Moreover, the same Twitter dataset with geographical attributes is positively correlated with results from official census data on population and internet usage in Mexico. These findings suggest that we have reached a period in time when online activity, appropriately curated, can provide an accurate representation of offline behaviour.

There are multiple scales of abstraction from which we can describe the same image, depending on whether we are focusing on fine-grained details or a more global attribute of the image. In brain mapping, learning to automatically parse images to build representations of both small-scale features (e.g., the presence of cells or blood vessels) and global properties of an image (e.g., which brain region the image comes from) is a crucial and open challenge. However, most existing datasets and benchmarks for neuroanatomy consider only a single downstream task at a time. To bridge this gap, we introduce a new dataset, annotations, and multiple downstream tasks that provide diverse ways to readout information about brain structure and architecture from the same image. Our multi-task neuroimaging benchmark (MTNeuro) is built on volumetric, micrometer-resolution X-ray microtomography images spanning a large thalamocortical section of mouse brain, encompassing multiple cortical and subcortical regions. We generated a number of different prediction challenges and evaluated several supervised and self-supervised models for brain-region prediction and pixel-level semantic segmentation of microstructures. Our experiments not only highlight the rich heterogeneity of this dataset, but also provide insights into how self-supervised approaches can be used to learn representations that capture multiple attributes of a single image and perform well on a variety of downstream tasks. Datasets, code, and pre-trained baseline models are provided at: https://mtneuro.github.io/ .

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

In this work, we address the problem of unsupervised moving object segmentation (MOS) in 4D LiDAR data recorded from a stationary sensor, where no ground truth annotations are involved. Deep learning-based state-of-the-art methods for LiDAR MOS strongly depend on annotated ground truth data, which is expensive to obtain and scarce in existence. To close this gap in the stationary setting, we propose a novel 4D LiDAR representation based on multivariate time series that relaxes the problem of unsupervised MOS to a time series clustering problem. More specifically, we propose modeling the change in occupancy of a voxel by a multivariate occupancy time series (MOTS), which captures spatio-temporal occupancy changes on the voxel level and its surrounding neighborhood. To perform unsupervised MOS, we train a neural network in a self-supervised manner to encode MOTS into voxel-level feature representations, which can be partitioned by a clustering algorithm into moving or stationary. Experiments on stationary scenes from the Raw KITTI dataset show that our fully unsupervised approach achieves performance that is comparable to that of supervised state-of-the-art approaches.

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

The previous fine-grained datasets mainly focus on classification and are often captured in a controlled setup, with the camera focusing on the objects. We introduce the first Fine-Grained Vehicle Detection (FGVD) dataset in the wild, captured from a moving camera mounted on a car. It contains 5502 scene images with 210 unique fine-grained labels of multiple vehicle types organized in a three-level hierarchy. While previous classification datasets also include makes for different kinds of cars, the FGVD dataset introduces new class labels for categorizing two-wheelers, autorickshaws, and trucks. The FGVD dataset is challenging as it has vehicles in complex traffic scenarios with intra-class and inter-class variations in types, scale, pose, occlusion, and lighting conditions. The current object detectors like yolov5 and faster RCNN perform poorly on our dataset due to a lack of hierarchical modeling. Along with providing baseline results for existing object detectors on FGVD Dataset, we also present the results of a combination of an existing detector and the recent Hierarchical Residual Network (HRN) classifier for the FGVD task. Finally, we show that FGVD vehicle images are the most challenging to classify among the fine-grained datasets.

The task of reconstructing 3D human motion has wideranging applications. The gold standard Motion capture (MoCap) systems are accurate but inaccessible to the general public due to their cost, hardware and space constraints. In contrast, monocular human mesh recovery (HMR) methods are much more accessible than MoCap as they take single-view videos as inputs. Replacing the multi-view Mo- Cap systems with a monocular HMR method would break the current barriers to collecting accurate 3D motion thus making exciting applications like motion analysis and motiondriven animation accessible to the general public. However, performance of existing HMR methods degrade when the video contains challenging and dynamic motion that is not in existing MoCap datasets used for training. This reduces its appeal as dynamic motion is frequently the target in 3D motion recovery in the aforementioned applications. Our study aims to bridge the gap between monocular HMR and multi-view MoCap systems by leveraging information shared across multiple video instances of the same action. We introduce the Neural Motion (NeMo) field. It is optimized to represent the underlying 3D motions across a set of videos of the same action. Empirically, we show that NeMo can recover 3D motion in sports using videos from the Penn Action dataset, where NeMo outperforms existing HMR methods in terms of 2D keypoint detection. To further validate NeMo using 3D metrics, we collected a small MoCap dataset mimicking actions in Penn Action,and show that NeMo achieves better 3D reconstruction compared to various baselines.