Continuously Optimizing Radar Placement with Model Predictive Path Integrals

Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor measurement models or neglect dynamic constraints of mobile sensors. To address these challenges, we employ a range measurement model that incorporates radar parameters and radar-target distance, coupled with Model Predictive Path Integral (MPPI) control to manage complex environmental obstacles and dynamic constraints. We compare the proposed approach against stationary radars or simplified range measurement models based on the root mean squared error (RMSE) of the Cubature Kalman Filter (CKF) estimator for the targets' state. Additionally, we visualize the evolving geometry of radars and targets over time, highlighting areas of highest measurement information gain, demonstrating the strengths of the approach. The proposed strategy outperforms stationary radars and simplified range measurement models in target localization, achieving a 38-74% reduction in mean RMSE and a 33-79% reduction in the upper tail of the 90% Highest Density Interval (HDI) over 500 Monte Carl (MC) trials across all time steps. Code will be made publicly available upon acceptance.

Autonomous Robot for Disaster Mapping and Victim Localization

In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS) Noetic. Upon deployment in closed, initially unknown environments, the system aims to generate a comprehensive map and identify any present 'victims' using AprilTags as stand-ins. We discuss our solution for search and rescue missions, while additionally exploring more advanced algorithms to improve search and rescue functionalities. We introduce a Cubature Kalman Filter to help reduce the mean squared error [m] for AprilTag localization and an information-theoretic exploration algorithm to expedite exploration in unknown environments. Just like turtles, our system takes it slow and steady, but when it's time to save the day, it moves at ninja-like speed! Despite Donatello's shell, he's no slowpoke - he zips through obstacles with the agility of a teenage mutant ninja turtle. So, hang on tight to your shells and get ready for a whirlwind of reconnaissance! Full pipeline code https://github.com/rzhao5659/MRProject/tree/main Exploration code https://github.com/rzhao5659/MRProject/tree/main

Multistatic-Radar RCS-Signature Recognition of Aerial Vehicles: A Bayesian Fusion Approach

Radar Automated Target Recognition (RATR) for Unmanned Aerial Vehicles (UAVs) involves transmitting Electromagnetic Waves (EMWs) and performing target type recognition on the received radar echo, crucial for defense and aerospace applications. Previous studies highlighted the advantages of multistatic radar configurations over monostatic ones in RATR. However, fusion methods in multistatic radar configurations often suboptimally combine classification vectors from individual radars probabilistically. To address this, we propose a fully Bayesian RATR framework employing Optimal Bayesian Fusion (OBF) to aggregate classification probability vectors from multiple radars. OBF, based on expected 0-1 loss, updates a Recursive Bayesian Classification (RBC) posterior distribution for target UAV type, conditioned on historical observations across multiple time steps. We evaluate the approach using simulated random walk trajectories for seven drones, correlating target aspect angles to Radar Cross Section (RCS) measurements in an anechoic chamber. Comparing against single radar Automated Target Recognition (ATR) systems and suboptimal fusion methods, our empirical results demonstrate that the OBF method integrated with RBC significantly enhances classification accuracy compared to other fusion methods and single radar configurations.

Robust Survival Analysis with Adversarial Regularization

Survival Analysis (SA) is about modeling the time for an event of interest to occur, which has important applications in many fields, including medicine, defense, finance, and aerospace. Recent work has demonstrated the benefits of using Neural Networks (NNs) to capture complicated relationships in SA. However, the datasets used to train these models are often subject to uncertainty (e.g., noisy measurements, human error), which we show can substantially degrade the performance of existing techniques. To address this issue, this work leverages recent advances in NN verification to provide new algorithms for generating fully parametric survival models that are robust to such uncertainties. In particular, we introduce a robust loss function for training the models and use CROWN-IBP regularization to address the computational challenges with solving the resulting Min-Max problem. To evaluate the proposed approach, we apply relevant perturbations to publicly available datasets in the SurvSet repository and compare survival models against several baselines. We empirically show that Survival Analysis with Adversarial Regularization (SAWAR) method on average ranks best for dataset perturbations of varying magnitudes on metrics such as Negative Log Likelihood (NegLL), Integrated Brier Score (IBS), and Concordance Index (CI), concluding that adversarial regularization enhances performance in SA. Code: https://github.com/mlpotter/SAWAR

Do Bayesian Neural Networks Weapon System Improve Predictive Maintenance?

We implement a Bayesian inference process for Neural Networks to model the time to failure of highly reliable weapon systems with interval-censored data and time-varying covariates. We analyze and benchmark our approach, LaplaceNN, on synthetic and real datasets with standard classification metrics such as Receiver Operating Characteristic (ROC) Area Under Curve (AUC) Precision-Recall (PR) AUC, and reliability curve visualizations.

Bayesian Weapon System Reliability Modeling with Cox-Weibull Neural Network

We propose to integrate weapon system features (such as weapon system manufacturer, deployment time and location, storage time and location, etc.) into a parameterized Cox-Weibull [1] reliability model via a neural network, like DeepSurv [2], to improve predictive maintenance. In parallel, we develop an alternative Bayesian model by parameterizing the Weibull parameters with a neural network and employing dropout methods such as Monte-Carlo (MC)-dropout for comparative purposes. Due to data collection procedures in weapon system testing we employ a novel interval-censored log-likelihood which incorporates Monte-Carlo Markov Chain (MCMC) [3] sampling of the Weibull parameters during gradient descent optimization. We compare classification metrics such as receiver operator curve (ROC) area under the curve (AUC), precision-recall (PR) AUC, and F scores to show our model generally outperforms traditional powerful models such as XGBoost and the current standard conditional Weibull probability density estimation model.

Adversarial Focal Loss: Asking Your Discriminator for Hard Examples

Focal Loss has reached incredible popularity as it uses a simple technique to identify and utilize hard examples to achieve better performance on classification. However, this method does not easily generalize outside of classification tasks, such as in keypoint detection. In this paper, we propose a novel adaptation of Focal Loss for keypoint detection tasks, called Adversarial Focal Loss (AFL). AFL not only is semantically analogous to Focal loss, but also works as a plug-and-chug upgrade for arbitrary loss functions. While Focal Loss requires output from a classifier, AFL leverages a separate adversarial network to produce a difficulty score for each input. This difficulty score can then be used to dynamically prioritize learning on hard examples, even in absence of a classifier. In this work, we show AFL's effectiveness in enhancing existing methods in keypoint detection and verify its capability to re-weigh examples based on difficulty.

To Raise or Not To Raise: The Autonomous Learning Rate Question

There is a parameter ubiquitous throughout the deep learning world: learning rate. There is likewise a ubiquitous question: what should that learning rate be? The true answer to this question is often tedious and time consuming to obtain, and a great deal of arcane knowledge has accumulated in recent years over how to pick and modify learning rates to achieve optimal training performance. Moreover, the long hours spent carefully crafting the perfect learning rate can come to nothing the moment your network architecture, optimizer, dataset, or initial conditions change ever so slightly. But it need not be this way. We propose a new answer to the great learning rate question: the Autonomous Learning Rate Controller. Find it at https://github.com/fastestimator/ARC

Automating Augmentation Through Random Unidimensional Search

It is no secret amongst deep learning researchers that finding the right data augmentation strategy during training can mean the difference between a state-of-the-art result and a run-of-the-mill ranking. To that end, the community has seen many efforts to automate the process of finding the perfect augmentation procedure for any task at hand. Unfortunately, even recent cutting-edge methods bring massive computational overhead, requiring as many as 100 full model trainings to settle on an ideal configuration. We show how to achieve even better performance in just 7: with Random Unidimensional Augmentation. Source code is available at https://github.com/fastestimator/RUA

Low-light Environment Neural Surveillance

We design and implement an end-to-end system for real-time crime detection in low-light environments. Unlike Closed-Circuit Television, which performs reactively, the Low-Light Environment Neural Surveillance provides real time crime alerts. The system uses a low-light video feed processed in real-time by an optical-flow network, spatial and temporal networks, and a Support Vector Machine to identify shootings, assaults, and thefts. We create a low-light action-recognition dataset, LENS-4, which will be publicly available. An IoT infrastructure set up via Amazon Web Services interprets messages from the local board hosting the camera for action recognition and parses the results in the cloud to relay messages. The system achieves 71.5% accuracy at 20 FPS. The user interface is a mobile app which allows local authorities to receive notifications and to view a video of the crime scene. Citizens have a public app which enables law enforcement to push crime alerts based on user proximity.