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METRICS AND METHODS FOR ROBUSTNESS EVALUATION OF NEURAL NETWORKS WITH GENERATIVE MODELS

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arXiv 2020年

作者： Buzhinsky, Igor Nerinovsky, Arseny Tripakis, Stavros Computer Technologies Laboratory ITMO University St. Petersburg Russia Department of Electrical Engineering and Automation Aalto University Espoo Finland Computer Technologies Laboratory ITMO University St. Petersburg Russia Northeastern University BostonMA United States

Recent studies have shown that modern deep neural network classifiers are easy to fool, assuming that an adversary is able to slightly modify their inputs. Many papers have proposed adversarial attacks, defenses and methods to measure robustness to such adversarial perturbations. However, most commonly considered adversarial examples are based on `p-bounded perturbations in the input space of the neural network, which are unlikely to arise naturally. Recently, especially in computer vision, researchers discovered "natural" or "semantic" perturbations, such as rotations, changes of brightness, or more high-level changes, but these perturbations have not yet been systematically utilized to measure the performance of classifiers. In this paper, we propose several metrics to measure robustness of classifiers to natural adversarial examples, and methods to evaluate them. These metrics, called latent space performance metrics, are based on the ability of generative models to capture probability distributions, and are defined in their latent spaces. On three image classification case studies, we evaluate the proposed metrics for several classifiers, including ones trained in conventional and robust ways. We find that the latent counterparts of adversarial robustness are associated with the accuracy of the classifier rather than its conventional adversarial robustness, but the latter is still reflected on the properties of found latent perturbations. In addition, our novel method of finding latent adversarial perturbations demonstrates that these perturbations are often perceptually small. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep neural networks

Nonlinear mpc for collision avoidance and control of uavs with dynamic obstacles

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arXiv 2020年

作者： Lindqvist, Björn Mansouri, Sina Sharif Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George Robotics and AI Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA91109 United States

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this article we apply a classification scheme to differentiate between different kinds of trajectories to predict future obstacle positions. The trajectory calculation is done from an initial condition, and fed to the NMPC as an additional input. The solver used is the nonlinear, non-convex solver Proximal Averaged Newton for Optimal Control (PANOC) and its associated software OpEn (Optimization Engine), in which we apply a penalty method to properly consider the obstacles and other constraints during navigation. The proposed NMPC scheme allows for real-time solutions using a sampling time of 50 ms and a two second prediction of both the obstacle trajectory and the NMPC problem, which implies that the scheme can be considered as a local path-planner. This paper will present the NMPC cost function and constraint formulation, as well as the methodology of dealing with the dynamic obstacles. We include multiple laboratory experiments to demonstrate the efficacy of the proposed control architecture, and to show that the proposed method delivers fast and computationally stable solutions to the dynamic obstacle avoidance scenarios. Copyright © 2020, The Authors. All rights reserved.

关键词： Collision avoidance

Performance Evaluation of Faults in a Photovoltaic Array Based on V-I and V-P Characteristic Curve

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Performance Evaluation of Faults in a Photovoltaic Array Bas...

International Conference on Measuring Technology and Mechatronics automation, ICMTMA

作者： Ehtisham Lodhi Wang Lina Yang Pu M. Yaqoob Javed Zeeshan Lodhi Jiao Zhijie Usman Javed School of Automation Science and Electrical Engineering Beihang University Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering COMSATS University Islamabad Lahore Pakistan Department of Electrical and Computer Engineering COMSATS University Islamabad Abbottabad Pakistan The Guo China-US photonics Lab Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun China

ISBN: (数字)9781728170817

ISBN: (纸本)9781728170824

The prediction and forecasting of faults occurring in photovoltaic (PV) system is one of the important aspect to escalate the reliability, output power generation, proficiency, lifetime and effectiveness of overall system. In this article, the behavior of PV array is studied under various faulty circumstances and new approach has offered for the better performance assessment of PV array. This approach is established on the analysis of peculiarities displayed by voltage power (V-P) and voltage-current (V-I) characteristics curves of PV array under different faulty conditions. The proposed technique can be used to identify and classify the five common faults in PV system. These progressive faults (includes open circuit, line-to-line, partial shading, degradation and bridging faults) have been occurred at the basic components of PV cell and at the connection point between PV modules. The characteristic curves under normal and faulty conditions have been compared by utilizing Matlab/Simulink environment. Hence, the suggested method can be utilized to determine the important fact about the health PV array.

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Collaborative Perception Datasets for Autonomous Driving: A Review

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arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

Multi-Class Segmentation of Aortic Branches and Zones in Computed Tomography Angiography: The AortaSeg24 Challenge

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arXiv 2025年

作者： Imran, Muhammad Krebs, Jonathan R. Sivaraman, Vishal Balaji Zhang, Teng Kumar, Amarjeet Ueland, Walker R. Fassler, Michael J. Huang, Jinlong Sun, Xiao Wang, Lisheng Shi, Pengcheng Rokuss, Maximilian Baumgartner, Michael Kirchhof, Yannick Maier-Hein, Klaus H. Isensee, Fabian Liu, Shuolin Han, Bing Nguyen, Bong Thanh Shin, Dong-Jin Ji-Woo, Park Choi, Mathew Uhm, Kwang-Hyun Ko, Sung-Jea Lee, Chanwoong Chun, Jaehee Kim, Jin Sung Zhang, Minghui Zhang, Hanxiao You, Xin Gu, Yun Pan, Zhaohong Liu, Xuan Liang, Xiaokun Tiefenthaler, Markus Almar-Munoz, Enrique Schwab, Matthias Kotyushev, Mikhail Epifanov, Rostislav Wodzinski, Marek Müller, Henning Qayyum, Abdul Mazher, Moona Niederer, Steven A. Wang, Zhiwei Yang, Kaixiang Ren, Jintao Korreman, Stine Sofia Gao, Yuchong Zeng, Hongye Zheng, Haoyu Zheng, Rui Yue, Jinghua Zhou, Fugen Liu, Bo Cosman, Alexander Liang, Muxuan Zhao, Chang Upchurch, Gilbert R. Ma, Jun Zhou, Yuyin Cooper, Michol A. Shao, Wei Department of Medicine University of Florida GainesvilleFL32611 United States Department of Surgery University of Florida GainesvilleFL32611 United States Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Information Science and Engineering University of Florida GainesvilleFL32611 United States Shanghai Jiao Tong University Shanghai China Electronic & Information Engineering School Harbin Institute of Technology [Shenzhen Shenzhen China Division of Medical Image Computing German Cancer Research Center [DKFZ Heidelberg Germany CO. LTD Beijing China MedAI Seoul Korea Republic of Korea University Seoul Korea Republic of Department of Radiation Oncology Yonsei Cancer Center Heavy Ion Therapy Research Institute Yonsei University College of Medicine Seoul Korea Republic of Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Medical University of Innsbruck Innsbruck Austria Novosibirsk State University Novosibirsk Russia AGH University of Krakow Krakow Poland Sierre Switzerland University of Geneva Geneva Switzerland The Sense Innovation and Research Center Sion Switzerland National Heart and Lung Institute Faculty of Medicine Imperial College London London United Kingdom Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Hubei Wuhan China Aarhus University Department of Clinical Medicine Nordre Palle Juul-Jensens Blvd. 11 Aarhus8200 Denmark Shanghaitech University Pudong Shanghai China Image Processing Center Beihang University Beijing China Department of Computer Science and Engineering University of California Santa CruzCA95064 United States Department of Biostatistics University of Florida GainesvilleFL32611 United States University Health Network ON Canada Agronomy Department University of F

Multi-class segmentation of the aorta in computed tomography angiography (CTA) scans is essential for diagnosing and planning complex endovascular treatments for patients with aortic dissections. However, existing methods reduce aortic segmentation to a binary problem, limiting their ability to measure diameters across different branches and zones. Furthermore, no open-source dataset is currently available to support the development of multi-class aortic segmentation methods. To address this gap, we organized the AortaSeg24 MICCAI Challenge, introducing the first dataset of 100 CTA volumes annotated for 23 clinically relevant aortic branches and zones. This dataset was designed to facilitate both model development and validation. The challenge attracted 121 teams worldwide, with participants leveraging state-of-the-art frameworks such as nnU-Net and exploring novel techniques, including cascaded models, data augmentation strategies, and custom loss functions. We evaluated the submitted algorithms using the Dice Similarity Coefficient (DSC) and Normalized Surface Distance (NSD), highlighting the approaches adopted by the top five performing teams. This paper presents the challenge design, dataset details, evaluation metrics, and an in-depth analysis of the top-performing algorithms. The annotated dataset, evaluation code, and implementations of the leading methods are publicly available to support further research. All resources can be accessed at https://***. © 2025, CC BY-NC-SA.

关键词： computerized tomography

Learning data-adaptive non-parametric kernels

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The Journal of Machine Learning Research

The Journal of Machine Learning Research 2020年第1期21卷 8590-8628页

作者： Fanghui Liu Xiaolin Huang Chen Gong Jie Yang Li Li Department of Electrical Engineering ESAT-STADIUS KU Leuven Belgium Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China and Department of Computing Hong Kong Polytechnic University Hong Kong SAR China Department of Automation BNRist Tsinghua University China

In this paper, we propose a data-adaptive non-parametric kernel learning framework in margin based kernel methods. In model formulation, given an initial kernel matrix, a data-adaptive matrix with two constraints is imposed in an entry-wise scheme. Learning this data-adaptive matrix in a formulation-free strategy enlarges the margin between classes and thus improves the model flexibility. The introduced two constraints are imposed either exactly (on small data sets) or approximately (on large data sets) in our model, which provides a controllable trade-off between model flexibility and complexity with theoretical demonstration. In algorithm optimization, the objective function of our learning framework is proven to be gradient-Lipschitz continuous. Thereby, kernel and classifier/regressor learning can be efficiently optimized in a unified framework via Nesterov's acceleration. For the scalability issue, we study a decomposition-based approach to our model in the large sample case. The effectiveness of this approximation is illustrated by both empirical studies and theoretical guarantees. Experimental results on various classification and regression benchmark data sets demonstrate that our non-parametric kernel learning framework achieves good performance when compared with other representative kernel learning based algorithms.

关键词： support vector machines non-parametric kernel learning gradient-Lipschitz continuous

Impasse Surface of Differential-Algebraic Power System Models: An Interpretation Based on Admittance Matrices

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arXiv 2020年

作者： Song, Yue Hill, David J. Liu, Tao Zhang, Xinran The State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai China The Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong The Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia The School of Automation Science and Electrical Engineering Beihang University Beijing China

The impasse surface is an important concept in the differential-algebraic equation (DAE) model of power systems, which is associated with short-term voltage collapse. This paper establishes a necessary condition for a system trajectory hitting the impasse surface. The condition is in terms of admittance matrices regarding the power network, generators and loads, which specifies the pattern of interaction between those system components that can induce voltage collapse. It applies to generic DAE models featuring high-order synchronous generators, static loads, induction motor loads and lossy power networks. We also identify a class of static load parameters that prevent power systems from hitting the impasse surface;this proves a conjecture made by Hiskens that has been unsolved for decades. Moreover, the obtained results lead to an early indicator of voltage collapse and a novel viewpoint that inductive compensation to the power network has a positive effect on preventing short-term voltage collapse, which are verified via numerical simulations. Copyright © 2020, The Authors. All rights reserved.

关键词： Differential equations

Output containment control of discrete-time multi-agent systems with application to multiple ground vehicles

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arXiv 2020年

作者： Wang, Shimin Jiang, Simin Zhan, Zhi Wu, Yuanqing Zhong, Renxin Yat-Sen, Sun Department of Electrical and Computer Engineering University of Alberta AB Canada Guangdong Key Laboratory of Intelligent Transportation Systems School of Intelligent Systems Engineering University Guangzhou China School of Automation Guangdong University of Technology Guangzhou China

This paper investigates the output containment control problem for heterogeneous discrete-time multi-agent systems with multiple leaders. The objective is to develop a distributed control law such that the output of the followers can converge to the convex hull spanned by the output of the leaders exponentially. The convex hull formed by the output of the leaders and the system matrix of leaders are estimated via an adaptive distributed containment observer. Based on this observer, a distributed dynamic output feedback control protocol is first devised for heterogeneous discrete-time multi-agent systems using only neighboring relative output information. The proof is depicted by showing certain output containment errors converge to zero exponentially, which indicates the containment control objective is well achieved. A distributed dynamic state-feedback control law is deduced as a special case of the output feedback control. For the application to control multiple ground vehicles, a prescribed offset for maintaining the minimum safety gap between adjacent agents is considered. Finally, numerical simulations with application to ground vehicles validate the effectiveness and the computational feasibility of the proposed control protocols. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

Regret and Cumulative Constraint Violation Analysis for Distributed Online Constrained Convex Optimization

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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden The Digital Futures Stockholm10044 Sweden The Department of Control Science and Engineering College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore

This paper considers the distributed online convex optimization problem with time-varying constraints over a network of agents. This is a sequential decision making problem with two sequences of arbitrarily varying convex loss and constraint functions. At each round, each agent selects a decision from the decision set, and then only a portion of the loss function and a coordinate block of the constraint function at this round are privately revealed to this agent. The goal of the network is to minimize the network-wide loss accumulated over time. Two distributed online algorithms with full-information and bandit feedback are proposed. Both dynamic and static network regret bounds are analyzed for the proposed algorithms, and network cumulative constraint violation is used to measure constraint violation, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. In particular, we show that the proposed algorithms achieve O(T max{κ,1-κ}) static network regret and O(T 1-κ/2) network cumulative constraint violation, where T is the time horizon and κ ∈ (0, 1) is a user-defined trade-off parameter. Moreover, if the loss functions are strongly convex, then the static network regret bound can be reduced to O(T κ). Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Economic and social effects