基于学习的导航系统广泛用于自主应用，例如机器人，无人驾驶车辆和无人机。已经提出了专门的硬件加速器，以实现这种导航任务的高性能和能效。然而，硬件系统中的瞬态和永久性故障正在增加，并且可以灾难性地违反任务安全。同时，传统的基于冗余的保护方法挑战，用于部署资源受限的边缘应用。在本文中，我们通过从RL训练和推理的算法，对算法，故障模型和数据类型进行了实验评估导航系统的恢复性。我们进一步提出了两种有效的故障缓解技术，实现了基于学习的导航系统的2倍成功率和39％的飞行质量改进。

The number of international benchmarking competitions is steadily increasing in various fields of machine learning (ML) research and practice. So far, however, little is known about the common practice as well as bottlenecks faced by the community in tackling the research questions posed. To shed light on the status quo of algorithm development in the specific field of biomedical imaging analysis, we designed an international survey that was issued to all participants of challenges conducted in conjunction with the IEEE ISBI 2021 and MICCAI 2021 conferences (80 competitions in total). The survey covered participants' expertise and working environments, their chosen strategies, as well as algorithm characteristics. A median of 72% challenge participants took part in the survey. According to our results, knowledge exchange was the primary incentive (70%) for participation, while the reception of prize money played only a minor role (16%). While a median of 80 working hours was spent on method development, a large portion of participants stated that they did not have enough time for method development (32%). 25% perceived the infrastructure to be a bottleneck. Overall, 94% of all solutions were deep learning-based. Of these, 84% were based on standard architectures. 43% of the respondents reported that the data samples (e.g., images) were too large to be processed at once. This was most commonly addressed by patch-based training (69%), downsampling (37%), and solving 3D analysis tasks as a series of 2D tasks. K-fold cross-validation on the training set was performed by only 37% of the participants and only 50% of the participants performed ensembling based on multiple identical models (61%) or heterogeneous models (39%). 48% of the respondents applied postprocessing steps.

Driven by the global decarbonization effort, the rapid integration of renewable energy into the conventional electricity grid presents new challenges and opportunities for the battery energy storage system (BESS) participating in the energy market. Energy arbitrage can be a significant source of revenue for the BESS due to the increasing price volatility in the spot market caused by the mismatch between renewable generation and electricity demand. In addition, the Frequency Control Ancillary Services (FCAS) markets established to stabilize the grid can offer higher returns for the BESS due to their capability to respond within milliseconds. Therefore, it is crucial for the BESS to carefully decide how much capacity to assign to each market to maximize the total profit under uncertain market conditions. This paper formulates the bidding problem of the BESS as a Markov Decision Process, which enables the BESS to participate in both the spot market and the FCAS market to maximize profit. Then, Proximal Policy Optimization, a model-free deep reinforcement learning algorithm, is employed to learn the optimal bidding strategy from the dynamic environment of the energy market under a continuous bidding scale. The proposed model is trained and validated using real-world historical data of the Australian National Electricity Market. The results demonstrate that our developed joint bidding strategy in both markets is significantly profitable compared to individual markets.

Point cloud analysis is receiving increasing attention, however, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper mainly discusses point cloud analysis under open-set settings, where we train the model without data from unknown classes and identify them in the inference stage. Basically, we propose to solve open-set point cloud analysis using a novel Point Cut-and-Mix mechanism consisting of Unknown-Point Simulator and Unknown-Point Estimator modules. Specifically, we use the Unknown-Point Simulator to simulate unknown data in the training stage by manipulating the geometric context of partial known data. Based on this, the Unknown-Point Estimator module learns to exploit the point cloud's feature context for discriminating the known and unknown data. Extensive experiments show the plausibility of open-set point cloud analysis and the effectiveness of our proposed solutions. Our code is available at \url{https://github.com/ShiQiu0419/pointcam}.

Split Learning (SL) and Federated Learning (FL) are two prominent distributed collaborative learning techniques that maintain data privacy by allowing clients to never share their private data with other clients and servers, and fined extensive IoT applications in smart healthcare, smart cities, and smart industry. Prior work has extensively explored the security vulnerabilities of FL in the form of poisoning attacks. To mitigate the effect of these attacks, several defenses have also been proposed. Recently, a hybrid of both learning techniques has emerged (commonly known as SplitFed) that capitalizes on their advantages (fast training) and eliminates their intrinsic disadvantages (centralized model updates). In this paper, we perform the first ever empirical analysis of SplitFed's robustness to strong model poisoning attacks. We observe that the model updates in SplitFed have significantly smaller dimensionality as compared to FL that is known to have the curse of dimensionality. We show that large models that have higher dimensionality are more susceptible to privacy and security attacks, whereas the clients in SplitFed do not have the complete model and have lower dimensionality, making them more robust to existing model poisoning attacks. Our results show that the accuracy reduction due to the model poisoning attack is 5x lower for SplitFed compared to FL.

Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and system issues for the time-based physics-based ROS simulator, event-based network-based wireless simulator, and complex dynamics of mobile and heterogeneous IoT devices deployed in actual environments. Simulating a heterogeneous multi-robot system before deployment is difficult due to synchronizing physics (robotics) and network simulators. Due to its master-based architecture, most TCP/IP-based synchronization middlewares use ROS1. A real-time ROS2 architecture with masterless packet discovery synchronizes robotics and wireless network simulations. A velocity-aware Transmission Control Protocol (TCP) technique for ground and aerial robots using Data Distribution Service (DDS) publish-subscribe transport minimizes packet loss, synchronization, transmission, and communication jitters. Gazebo and NS-3 simulate and test. Simulator-agnostic middleware. LOS/NLOS and TCP/UDP protocols tested our ROS2-based synchronization middleware for packet loss probability and average latency. A thorough ablation research replaced NS-3 with EMANE, a real-time wireless network simulator, and masterless ROS2 with master-based ROS1. Finally, we tested network synchronization and jitter using one aerial drone (Duckiedrone) and two ground vehicles (TurtleBot3 Burger) on different terrains in masterless (ROS2) and master-enabled (ROS1) clusters. Our middleware shows that a large-scale IoT infrastructure with a diverse set of stationary and robotic devices can achieve low-latency communications (12% and 11% reduction in simulation and real) while meeting mission-critical application reliability (10% and 15% packet loss reduction) and high-fidelity requirements.

智能仪表测量值虽然对于准确的需求预测至关重要，但仍面临一些缺点，包括消费者的隐私，数据泄露问题，仅举几例。最近的文献探索了联合学习（FL）作为一种有前途的隐私机器学习替代方案，该替代方案可以协作学习模型，而无需将私人原始数据暴露于短期负载预测中。尽管有着美德，但标准FL仍然容易受到棘手的网络威胁，称为拜占庭式攻击，这是由错误和/或恶意客户进行的。因此，为了提高联邦联邦短期负载预测对拜占庭威胁的鲁棒性，我们开发了一个最先进的基于私人安全的FL框架，以确保单个智能电表的数据的隐私，同时保护FL的安全性模型和架构。我们提出的框架利用了通过符号随机梯度下降（SignsGD）算法的梯度量化的想法，在本地模型培训后，客户仅将梯度的“符号”传输到控制中心。当我们通过涉及一组拜占庭攻击模型的基准神经网络的实验突出显示时，我们提出的方法会非常有效地减轻此类威胁，从而优于常规的FED-SGD模型。

在为医疗保健领域开发监督的机器学习解决方案时，具有高质量地面真实标签的大规模数据的可用性是一个挑战。尽管临床工作流程中的数字数据量正在增加，但大多数数据都分布在临床站点上并受到保护以确保患者隐私。放射学读数和处理大型临床数据给可用资源带来了重大负担，这是机器学习和人工智能发挥关键作用的地方。用于肌肉骨骼（MSK）诊断的磁共振成像（MRI）是一个例子，其中扫描具有大量信息，但需要大量时间阅读和标记。自我监督的学习（SSL）可以是处理缺乏地面真相标签的解决方案，但通常需要在训练阶段进行大量培训数据。本文中，我们提出了一个基于切片的自制深度学习框架（SB-SSL），这是一种基于切片的新型范式，用于使用膝盖MRI扫描对异常进行分类。我们表明，在有限数量的情况下（<1000），我们提出的框架能够以89.17％的精度识别前交叉韧带撕裂，而AUC为0.954，不超过最先进的情况，而无需使用外部数据。在训练期间。这表明我们提出的框架适用于有限的数据制度中的SSL。

SARS-COV-2是一种积极的单链RNA基于大分子，自2022年6月以来，已导致超过630万人死亡。此外，通过封锁扰乱了全球供应链，该病毒对全球经济造成了毁灭性的破坏。为该病毒及其各种变体设计和开发药物至关重要。在本文中，我们使用了一个内部研究框架来重新利用现有的治疗剂，以找到可以治愈COVID-19的药物样生物活性分子。我们使用了从Chembl数据库中检索到的分子的Lipinski规则，以发现针对SARS冠状病毒3Cl蛋白酶的133种吸毒生物活性分子。在标准IC50的基础上，数据集分为三类活动性，无效和中间体。我们的比较分析表明，提出的额外树回收剂（ETR）集成模型改善了结果，同时相对于其他最先进的机器学习模型，可以预测化学化合物的准确生物活性。使用ADMET分析，我们确定了13个具有化学ID的新型生物活性分子187460，190743，222234，222628，222735，222769，222840，222840，222893，2255515，358279，358279，33535，363535，363535，365134 and 422688.88.88.88.88.88.88.88.88.88。 SARS-COV-2 3Cl蛋白酶。这些候选分子进一步研究了结合亲和力。为此，我们进行了分子对接和简短列出的六个具有Chembl IDS 187460、222769、225515、358279、363535和36513的生物活性分子。这些分子可以是SARS-COV-2-2。预计药物学家社区可能会使用这些有希望的化合物进行进一步的体外分析。

我们开发了数据驱动的模型，以预测机器人在社交就餐场景中何时应进食。能够与朋友和家人独立饮食被认为是具有行动不便的人的最令人难忘，最重要的活动之一。机器人可以潜在地帮助这项活动，但是由机器人辅助的喂养是一个多方面的问题，在咬合，咬合时机和咬合转移方面面临挑战。特别是在社交就餐场景中，特别是由于在社交用餐场景中变得唯一挑战性，因为可能会中断社交人类机器人群体的互动。我们的关键见解是，考虑到社交线索的微妙平衡的咬合时序策略可能会导致在社交用餐场景中在机器人辅助喂养过程中进行无缝互动。我们通过收集一个包含30组三人共同饮食的多模式人类尊贵数据集（HHCD）来解决这个问题。我们使用此数据集分析人类人类的赋形行为，并在社交用餐场景中开发咬合时正时预测模型。我们还将这些模型转移到人类机器人的态度方案中。我们的用户研究表明，当我们的算法使用食客之间的多模式社交信号线索来建模时，预测会有所改善。 HHCD数据集，用户研究的视频和代码将在接受后公开发布。