We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
The work by @cite_67 uses a simple protocol that involves input and output surveys, a tutorial, and a challenge section. While they were focused on evaluating different methods of directing robot motion and attention, we used the same protocol structure for our own annotation tests.
@cite_67
2088147743
Graph-structured data arise naturally in many different application domains. By representing data as graphs, we can capture entities (i.e., nodes) as well as their relationships (i.e., edges) with each other. Many useful insights can be derived from graph-structured data as demonstrated by an ever-growing body of work focused on graph mining. However, in the real-world, graphs can be both large - with many complex patterns - and noisy which can pose a problem for effective graph mining. An effective way to deal with this issue is to incorporate "attention" into graph mining solutions. An attention mechanism allows a method to focus on task-relevant parts of the graph, helping it to make better decisions. In this work, we conduct a comprehensive and focused survey of the literature on the emerging field of graph attention models. We introduce three intuitive taxonomies to group existing work. These are based on problem setting (type of input and output), the type of attention mechanism used, and the task (e.g., graph classification, link prediction, etc.). We motivate our taxonomies through detailed examples and use each to survey competing approaches from a unique standpoint. Finally, we highlight several challenges in the area and discuss promising directions for future work. This survey focuses on intrusion detection systems (IDS) that leverage host-based data sources for detecting attacks on enterprise network. The host-based IDS (HIDS) literature is organized by the input data source, presenting targeted sub-surveys of HIDS research leveraging system logs, audit data, Windows Registry, file systems, and program analysis. While system calls are generally included in audit data, several publicly available system call datasets have spawned a flurry of IDS research on this topic, which merits a separate section. Similarly, a section surveying algorithmic developments that are applicable to HIDS but tested on network data sets is included, as this is a large and growing area of applicable literature. To accommodate current researchers, a supplementary section giving descriptions of publicly available datasets is included, outlining their characteristics and shortcomings when used for IDS evaluation. Related surveys are organized and described. All sections are accompanied by tables concisely organizing the literature and datasets discussed. Finally, challenges, trends, and broader observations are throughout the survey and in the conclusion along with future directions of IDS research. A method for automated selection of test sequences from a protocol specification given in Estelle for the purpose of testing both control and data flow aspects of a protocol implementation is discussed. First, a flowgraph modeling the flow of both control and data expressed in the given specification is constructed. In the flowgraph, definitions and uses of each context variable, as well as each input and output interaction parameter employed in the specification, are identified. Based on this information, associations between each output and those inputs that influence the output are established. Test sequences are selected to cover each such association at least once. The resulting test sequences are shown to provide the capability of checking whether a protocol implementation under test establishes the desired flow of both control and data expressed in the protocol specification. The proposed method is illustrated by using the class 0 transport protocol as an example. > Abstract Accurate and robust segmentation of abdominal organs on CT is essential for many clinical applications such as computer-aided diagnosis and computer-aided surgery. But this task is challenging due to the weak boundaries of organs, the complexity of the background, and the variable sizes of different organs. To address these challenges, we introduce a novel framework for multi-organ segmentation of abdominal regions by using organ-attention networks with reverse connections (OAN-RCs) which are applied to 2D views, of the 3D CT volume, and output estimates which are combined by statistical fusion exploiting structural similarity. More specifically, OAN is a two-stage deep convolutional network, where deep network features from the first stage are combined with the original image, in a second stage, to reduce the complex background and enhance the discriminative information for the target organs. Intuitively, OAN reduces the effect of the complex background by focusing attention so that each organ only needs to be discriminated from its local background. RCs are added to the first stage to give the lower layers more semantic information thereby enabling them to adapt to the sizes of different organs. Our networks are trained on 2D views (slices) enabling us to use holistic information and allowing efficient computation (compared to using 3D patches). To compensate for the limited cross-sectional information of the original 3D volumetric CT, e.g., the connectivity between neighbor slices, multi-sectional images are reconstructed from the three different 2D view directions. Then we combine the segmentation results from the different views using statistical fusion, with a novel term relating the structural similarity of the 2D views to the original 3D structure. To train the network and evaluate results, 13 structures were manually annotated by four human raters and confirmed by a senior expert on 236 normal cases. We tested our algorithm by 4-fold cross-validation and computed Dice–Sorensen similarity coefficients (DSC) and surface distances for evaluating our estimates of the 13 structures. Our experiments show that the proposed approach gives strong results and outperforms 2D- and 3D-patch based state-of-the-art methods in terms of DSC and mean surface distances. In flocking, a swarm of robots moves cohesively in a common direction. Traditionally, flocking is realized using two main control rules: proximal control, which controls the cohesion of the swarm using local range-and bearing information about neighboring robots; and alignment control, which allows the robots to align in a common direction and uses more elaborate sensing mechanisms to obtain the orientation of neighboring robots. So far, limited attention has been given to motion control, used to translate the output of these two control rules into robot motion. In this paper, we propose a novel motion control method: magnitude-dependent motion control (MDMC). Through simulations and real robot experiments, we show that, with MDMC, flocking in a random direction is possible without the need for alignment control and for robots having a preferred direction of travel. MDMC has the advantage to be implementable on very simple robots that lack the capability to detect the orientation of their neighbors. In addition, we introduce a small proportion of robots informed about a desired direction of travel. We compare MDMC with a motion control method used in previous robotics literature, which we call magnitude-independent motion control (MIMC), and we show that the swarms can travel longer distances in the desired direction when using MDMC instead of MIMC. Finally, we systematically study flocking under various conditions: with or without alignment control, with or without informed robots, with MDMC or with MIMC. In this survey, we argue that using structured vocabularies is capital to the success of image annotation. We analyze literature on image annotation uses and user needs, and we stress the need for automatic annotation. We briefly expose the difficulties posed to machines for this task and how it relates to controlled vocabularies. We survey contributions in the field showing how structures are introduced. First we present studies that use unstructured vocabulary, focusing on those introducing links between categories or between features. Then we review work using structured vocabularies as an input and analyze how the structure is exploited. Cloud computing is attracting increasing attention since it enables clients with limited computing resources to perform and complete large-scale computations. However, it also comes up with some security and privacy concerns and challenges, such as the input and output privacy of the client, and cheating behaviors of the cloud. Motivated by these issues and focused on engineering optimization tasks, we study secure outsourcing of large-scale nonlinear programming, which has not been investigated before. Specifically, a secure and efficient transformation scheme is employed to protect both input and output privacy of the client, and corresponding detailed proofs and analysis are also provided. We apply the reduced gradient method to solve the encrypted nonlinear programming problem in the cloud side. We conduct experiments to measure performance of the designed outsourcing protocol, and the results show the practicability of the proposed mechanism. This paper describes a distributed coordination scheme with local information exchange for multiple vehicle systems. We introduce second-order consensus protocols that take into account motions of the information states and their derivatives, extending first-order protocols from the literature. We also derive necessary and sufficient conditions under which consensus can be reached in the context of unidirectional information exchange topologies. This work takes into account the general case where information flow may be unidirectional due to sensors with limited fields of view or vehicles with directed, power-constrained communication links. Unlike the first-order case, we show that having a (directed) spanning tree is a necessary rather than a sufficient condition for consensus seeking with second-order dynamics. This work focuses on a formal analysis of information exchange topologies that permit second-order consensus. Given its importance to the stability of the coordinated system, an analysis of the consensus term control gains is also presented, specifically the strength of the information states relative to their derivatives. As an illustrative example, consensus protocols are applied to coordinate the movements of multiple mobile robots. Copyright © 2006 John Wiley & Sons, Ltd. As a new classification platform, deep learning has recently received increasing attention from researchers and has been successfully applied to many domains. In some domains, like bioinformatics and robotics, it is very difficult to construct a large-scale well-annotated dataset due to the expense of data acquisition and costly annotation, which limits its development. Transfer learning relaxes the hypothesis that the training data must be independent and identically distributed (i.i.d.) with the test data, which motivates us to use transfer learning to solve the problem of insufficient training data. This survey focuses on reviewing the current researches of transfer learning by using deep neural network and its applications. We defined deep transfer learning, category and review the recent research works based on the techniques used in deep transfer learning. Significant advances have been made towards building accurate automatic segmentation systems for a variety of biomedical applications using machine learning. However, the performance of these systems often degrades when they are applied on new data that differ from the training data, for example, due to variations in imaging protocols. Manually annotating new data for each test domain is not a feasible solution. In this work we investigate unsupervised domain adaptation using adversarial neural networks to train a segmentation method which is more robust to differences in the input data, and which does not require any annotations on the test domain. Specifically, we derive domain-invariant features by learning to counter an adversarial network, which attempts to classify the domain of the input data by observing the activations of the segmentation network. Furthermore, we propose a multi-connected domain discriminator for improved adversarial training. Our system is evaluated using two MR databases of subjects with traumatic brain injuries, acquired using different scanners and imaging protocols. Using our unsupervised approach, we obtain segmentation accuracies which are close to the upper bound of supervised domain adaptation. Video indexing and retrieval have a wide spectrum of promising applications, motivating the interest of researchers worldwide. This paper offers a tutorial and an overview of the landscape of general strategies in visual content-based video indexing and retrieval, focusing on methods for video structure analysis, including shot boundary detection, key frame extraction and scene segmentation, extraction of features including static key frame features, object features and motion features, video data mining, video annotation, video retrieval including query interfaces, similarity measure and relevance feedback, and video browsing. Finally, we analyze future research directions. We propose a survey of optical flow estimation focusing on recent developments.We adopt a classification approach organizing methods in a comprehensive framework.The paper is conceived as a tutorial introducing and explaining the main concepts. Optical flow estimation is one of the oldest and still most active research domains in computer vision. In 35years, many methodological concepts have been introduced and have progressively improved performances, while opening the way to new challenges. In the last decade, the growing interest in evaluation benchmarks has stimulated a great amount of work. In this paper, we propose a survey of optical flow estimation classifying the main principles elaborated during this evolution, with a particular concern given to recent developments. It is conceived as a tutorial organizing in a comprehensive framework current approaches and practices. We give insights on the motivations, interests and limitations of modeling and optimization techniques, and we highlight similarities between methods to allow for a clear understanding of their behavior. Abstract This paper describes the development of a remote handling control of an anthropomorphic robotic hand, the SCHUNK S5FH, using the human hand as master by measuring its motion with OptiTrack Technology. The goal of this work is to enhance manipulation studies on the human hand and to instantly transfer those studies on robotic hands. A preliminary study on methods and devices used for fingers tracking led to the choice of a simplified kinematic model of the human hand on the basis of the available motion tracking system. Using the same criteria, the analysis of protocols for markers allocation led to define the number and a method for their arrangement on the fingers and palm. In order to overcome the limitation of the Motion Capture System, a method for identification and labeling has been developed according to their anatomical arrangement. Afterwards, the tracking is performed using the constraints between marker positions on the kinematic chain of the hand and a dynamic labeling algorithm robust with respect to noise, outliers and loss of markers. The validation is performed using the right hand of different subjects and considering different tasks involving flexion extension and abduction adduction of fingers and thumb opposition. For testing and validation, preliminary studies on synergies for manipulation tasks such as screwing a cup, has been conducted on the human hand and transferred on the robotic hand. When delegating computation to a service provider, as in cloud computing, we seek some reassurance that the output is correct and complete. Yet recomputing the output as a check is inefficient and expensive, and it may not even be feasible to store all the data locally. We are therefore interested in proof systems which allow a service provider to prove the correctness of its output to a streaming (sublinear space) user, who cannot store the full input or perform the full computation herself. Our approach is two-fold. First, we describe a carefully chosen instantiation of one of the most efficient general-purpose constructions for arbitrary computations (streaming or otherwise), due to Goldwasser, Kalai, and Rothblum. This requires several new insights to make the methodology more practical. Our main contribution is in achieving a prover who runs in time O(S(n) log S(n)), where S(n) is the size of an arithmetic circuit computing the function of interest. Our experimental results demonstrate that a practical general-purpose protocol for verifiable computation may be significantly closer to reality than previously realized. Second, we describe techniques that achieve genuine scalability for protocols fine-tuned for specific important problems in streaming and database processing. Focusing in particular on non-interactive protocols for problems ranging from matrix-vector multiplication to bipartite perfect matching, we build on prior work to achieve a prover who runs in nearly linear-time, while obtaining optimal tradeoffs between communication cost and the user's working memory. Existing techniques required (substantially) superlinear time for the prover. We argue that even if general-purpose methods improve, fine-tuned protocols will remain valuable in real-world settings for key problems, and hence special attention to specific problems is warranted. In this paper we address issues with image retrieval benchmarking on standard and popular Oxford 5k and Paris 6k datasets. In particular, annotation errors, the size of the dataset, and the level of challenge are addressed: new annotation for both datasets is created with an extra attention to the reliability of the ground truth. Three new protocols of varying difficulty are introduced. The protocols allow fair comparison between different methods, including those using a dataset pre-processing stage. For each dataset, 15 new challenging queries are introduced. Finally, a new set of 1M hard, semi-automatically cleaned distractors is selected. An extensive1 comparison of the state-of-the-art methods is performed on the new benchmark. Different types of methods are evaluated, ranging from local-feature-based to modern CNN based methods. The best results are achieved by taking the best of the two worlds. Most importantly, image retrieval appears far from being solved. Network protocols must work. The effects of protocol specification or implementation errors range from reduced performance, to security breaches, to bringing down entire networks. However, network protocols are difficult to test due to the exponential size of the state space they define. Ideally, a protocol implementation must be validated against all possible events (packet arrivals, packet losses, timeouts, etc.) in all possible protocol states. Conventional means of testing can explore only a minute fraction of these possible combinations. This paper focuses on how to effectively find errors in large network protocol implementations using model checking, a formal verification technique. Model checking involves a systematic exploration of the possible states of a system, and is well-suited to finding intricate errors lurking deep in exponential state spaces. Its primary limitation has been the effort needed to use it on software. The primary contribution of this paper are novel techniques that allow us to model check complex, real-world, well-tested protocol implementations with reasonable effort. We have implemented these techniques in CMC, a C model checker [30] and applied the result to the Linux TCP IP implementation, finding four errors in the protocol implementation. With the widespread use of encrypted data transport, network traffic encryption is becoming a standard nowadays. This presents a challenge for traffic measurement, especially for analysis and anomaly detection methods, which are dependent on the type of network traffic. In this paper, we survey existing approaches for classification and analysis of encrypted traffic. First, we describe the most widespread encryption protocols used throughout the Internet. We show that the initiation of an encrypted connection and the protocol structure give away much information for encrypted traffic classification and analysis. Then, we survey payload and feature-based classification methods for encrypted traffic and categorize them using an established taxonomy. The advantage of some of described classification methods is the ability to recognize the encrypted application protocol in addition to the encryption protocol. Finally, we make a comprehensive comparison of the surveyed feature-based classification methods and present their weaknesses and strengths. Copyright © 2015 John Wiley & Sons, Ltd. To develop a parallel discrete-event simulation from scratch requires in-depth knowledge of the mapping process from the physical model to the simulation model, and also a substantial effort in coping with the numerous issues concerning the underlying synchronization protocols in use. Languages and libraries could reduce the devel opment effort significantly by providing the user with a pre-built parallel simulation kernel as well as application development tools. This pa per contains a survey of the existing languages and libraries for parallel discrete-event simula tion. It is divided into two major sections: one on the languages, the other on the libraries. The discussions are mainly focused on the following aspects: user model, programming framework and language features, library API, protocols, and system support and environment. The re ported performances of some packages are also summarized. We investigate avenues for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to transfer messages, enabling the use of distributed algorithms among robots. We propose one-to-one deterministic movement protocols that implement explicit communication among asynchronous robots. We first show how the movements of robots can provide implicit acknowledgment in asynchronous systems. We use this result to design one-to-one communication among a pair of robots. Then, we propose two one-to-one communication protocols for any system of n *** 2 robots. The former works for robots equipped with observable IDs that agree on a common direction (sense of direction). The latter enables one-to-one communication assuming robots devoid of any observable IDs or sense of direction. All three protocols (for either two or any number of robots) assume that no robot remains inactive forever. However, they cannot avoid that the robots move either away or closer of each others, by the way requiring robots with an infinite visibility. In this paper, we also present how to overcome these two disadvantages. These protocols enable the use of distributing algorithms based on message exchanges among swarms of Stigmergic robots. They also allow robots to be equipped with the means of communication to tolerate faults in their communication devices. This paper presents an overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency and throughput while lowering cost. We report on a 28-question survey posed to the teams to learn about each team’s background, mechanism design, perception apparatus, planning, and control approach. We identify trends in this data, correlate it with each team’s success in the competition, and discuss observations and lessons learned based on survey results and the authors’ personal experiences during the challenge. Note to Practitioners —Perception, motion planning, grasping, and robotic system engineering have reached a level of maturity that makes it possible to explore automating simple warehouse tasks in semistructured environments that involve high-mix, low-volume picking applications. This survey summarizes lessons learned from the first Amazon Picking Challenge, highlighting mechanism design, perception, and motion planning algorithms, as well as software engineering practices that were most successful in solving a simplified order fulfillment task. While the choice of mechanism mostly affects execution speed, the competition demonstrated the systems challenges of robotics and illustrated the importance of combining reactive control with deliberative planning.