在本文中，我们提出了针对无人接地车辆（UGV）的新的控制屏障功能（CBF），该功能有助于避免与运动学（非零速度）障碍物发生冲突。尽管当前的CBF形式已经成功地保证了与静态障碍物的安全/碰撞避免安全性，但动态案例的扩展已获得有限的成功。此外，借助UGV模型，例如Unicycle或自行车，现有CBF的应用在控制方面是保守的，即在某些情况下不可能进行转向/推力控制。从经典的碰撞锥中汲取灵感来避免轨迹规划，我们介绍了其新颖的CBF配方，并具有对独轮车和自行车模型的安全性保证。主要思想是确保障碍物的速度W.R.T.车辆总是指向车辆。因此，我们构建了一个约束，该约束确保速度向量始终避开指向车辆的向量锥。这种新控制方法的功效在哥白尼移动机器人上进行了实验验证。我们将其进一步扩展到以自行车模型的形式扩展到自动驾驶汽车，并在Carla模拟器中的各种情况下证明了避免碰撞。

Three main points: 1. Data Science (DS) will be increasingly important to heliophysics; 2. Methods of heliophysics science discovery will continually evolve, requiring the use of learning technologies [e.g., machine learning (ML)] that are applied rigorously and that are capable of supporting discovery; and 3. To grow with the pace of data, technology, and workforce changes, heliophysics requires a new approach to the representation of knowledge.

In the Earth's magnetosphere, there are fewer than a dozen dedicated probes beyond low-Earth orbit making in-situ observations at any given time. As a result, we poorly understand its global structure and evolution, the mechanisms of its main activity processes, magnetic storms, and substorms. New Artificial Intelligence (AI) methods, including machine learning, data mining, and data assimilation, as well as new AI-enabled missions will need to be developed to meet this Sparse Data challenge.

The goal of this paper is to detect objects by exploiting their interrelationships. Rather than relying on predefined and labeled graph structures, we infer a graph prior from object co-occurrence statistics. The key idea of our paper is to model object relations as a function of initial class predictions and co-occurrence priors to generate a graph representation of an image for improved classification and bounding box regression. We additionally learn the object-relation joint distribution via energy based modeling. Sampling from this distribution generates a refined graph representation of the image which in turn produces improved detection performance. Experiments on the Visual Genome and MS-COCO datasets demonstrate our method is detector agnostic, end-to-end trainable, and especially beneficial for rare object classes. What is more, we establish a consistent improvement over object detectors like DETR and Faster-RCNN, as well as state-of-the-art methods modeling object interrelationships.

We describe a Physics-Informed Neural Network (PINN) that simulates the flow induced by the astronomical tide in a synthetic port channel, with dimensions based on the Santos - S\~ao Vicente - Bertioga Estuarine System. PINN models aim to combine the knowledge of physical systems and data-driven machine learning models. This is done by training a neural network to minimize the residuals of the governing equations in sample points. In this work, our flow is governed by the Navier-Stokes equations with some approximations. There are two main novelties in this paper. First, we design our model to assume that the flow is periodic in time, which is not feasible in conventional simulation methods. Second, we evaluate the benefit of resampling the function evaluation points during training, which has a near zero computational cost and has been verified to improve the final model, especially for small batch sizes. Finally, we discuss some limitations of the approximations used in the Navier-Stokes equations regarding the modeling of turbulence and how it interacts with PINNs.

Early recognition of clinical deterioration (CD) has vital importance in patients' survival from exacerbation or death. Electronic health records (EHRs) data have been widely employed in Early Warning Scores (EWS) to measure CD risk in hospitalized patients. Recently, EHRs data have been utilized in Machine Learning (ML) models to predict mortality and CD. The ML models have shown superior performance in CD prediction compared to EWS. Since EHRs data are structured and tabular, conventional ML models are generally applied to them, and less effort is put into evaluating the artificial neural network's performance on EHRs data. Thus, in this article, an extremely boosted neural network (XBNet) is used to predict CD, and its performance is compared to eXtreme Gradient Boosting (XGBoost) and random forest (RF) models. For this purpose, 103,105 samples from thirteen Brazilian hospitals are used to generate the models. Moreover, the principal component analysis (PCA) is employed to verify whether it can improve the adopted models' performance. The performance of ML models and Modified Early Warning Score (MEWS), an EWS candidate, are evaluated in CD prediction regarding the accuracy, precision, recall, F1-score, and geometric mean (G-mean) metrics in a 10-fold cross-validation approach. According to the experiments, the XGBoost model obtained the best results in predicting CD among Brazilian hospitals' data.

The recent work by (Rieger et al 2021) is concerned with the problem of extracting features from spatio-temporal geophysical signals. The authors introduce the complex rotated MCA (xMCA) to deal with lagged effects and non-orthogonality of the feature representation. This method essentially (1) transforms the signals to a complex plane with the Hilbert transform; (2) applies an oblique (Varimax and Promax) rotation to remove the orthogonality constraint; and (3) performs the eigendecomposition in this complex space (Horel et al, 1984). We argue that this method is essentially a particular case of the method called rotated complex kernel principal component analysis (ROCK-PCA) introduced in (Bueso et al., 2019, 2020), where we proposed the same approach: first transform the data to the complex plane with the Hilbert transform and then apply the varimax rotation, with the only difference that the eigendecomposition is performed in the dual (kernel) Hilbert space. The latter allows us to generalize the xMCA solution by extracting nonlinear (curvilinear) features when nonlinear kernel functions are used. Hence, the solution of xMCA boils down to ROCK-PCA when the inner product is computed in the input data space instead of in the high-dimensional (possibly infinite) kernel Hilbert space to which data has been mapped. In this short correspondence we show theoretical proof that xMCA is a special case of ROCK-PCA and provide quantitative evidence that more expressive and informative features can be extracted when working with kernels; results of the decomposition of global sea surface temperature (SST) fields are shown to illustrate the capabilities of ROCK-PCA to cope with nonlinear processes, unlike xMCA.

With water quality management processes, identifying and interpreting relationships between features, such as location and weather variable tuples, and water quality variables, such as levels of bacteria, is key to gaining insights and identifying areas where interventions should be made. There is a need for a search process to identify the locations and types of phenomena that are influencing water quality and a need to explain why the quality is being affected and which factors are most relevant. This paper addresses both of these issues through the development of a process for collecting data for features that represent a variety of variables over a spatial region, which are used for training and inference, and analysing the performance of the features using the model and Shapley values. Shapley values originated in cooperative game theory and can be used to aid in the interpretation of machine learning results. Evaluations are performed using several machine learning algorithms and water quality data from the Dublin Grand Canal basin.

State-of-the-art activity recognizers are effective during the day, but not trustworthy in the dark. The main causes are the distribution shift from the lower color contrast as well as the limited availability of labeled dark videos. Our goal is to recognize activities in the dark as well as in the day. To compensate for the lack of labeled dark videos, we introduce a pseudo-supervised learning scheme, which utilizes task-irrelevant unlabeled dark videos to train an activity recognizer. Our proposed activity recognizer makes use of audio which is invariant to illumination. However, the usefulness of audio and visual features differs according to the illumination. Thus we propose to make our audio-visual recognizer `darkness-aware'. Experiments on EPIC-Kitchens, Kinetics-Sound, and Charades demonstrate that our proposals enable effective activity recognition in the dark and can even improve robustness to occlusions.

We provide a brief, and inevitably incomplete overview of the use of Machine Learning (ML) and other AI methods in astronomy, astrophysics, and cosmology. Astronomy entered the big data era with the first digital sky surveys in the early 1990s and the resulting Terascale data sets, which required automating of many data processing and analysis tasks, for example the star-galaxy separation, with billions of feature vectors in hundreds of dimensions. The exponential data growth continued, with the rise of synoptic sky surveys and the Time Domain Astronomy, with the resulting Petascale data streams and the need for a real-time processing, classification, and decision making. A broad variety of classification and clustering methods have been applied for these tasks, and this remains a very active area of research. Over the past decade we have seen an exponential growth of the astronomical literature involving a variety of ML/AI applications of an ever increasing complexity and sophistication. ML and AI are now a standard part of the astronomical toolkit. As the data complexity continues to increase, we anticipate further advances leading towards a collaborative human-AI discovery.