The main objective of Prognostics and Health Management is to estimate the Remaining Useful Lifetime (RUL), namely, the time that a system or a piece of equipment is still in working order before starting to function incorrectly. In recent years, numerous machine learning algorithms have been proposed for RUL estimation, mainly focusing on providing more accurate RUL predictions. However, there are many sources of uncertainty in the problem, such as inherent randomness of systems failure, lack of knowledge regarding their future states, and inaccuracy of the underlying predictive models, making it infeasible to predict the RULs precisely. Hence, it is of utmost importance to quantify the uncertainty alongside the RUL predictions. In this work, we investigate the conformal prediction (CP) framework that represents uncertainty by predicting sets of possible values for the target variable (intervals in the case of RUL) instead of making point predictions. Under very mild technical assumptions, CP formally guarantees that the actual value (true RUL) is covered by the predicted set with a degree of certainty that can be prespecified. We study three CP algorithms to conformalize any single-point RUL predictor and turn it into a valid interval predictor. Finally, we conformalize two single-point RUL predictors, deep convolutional neural networks and gradient boosting, and illustrate their performance on the Commercial Modular Aero-Propulsion System Simulation (C-MAPSS) data sets.

With the advent of deep learning application on edge devices, researchers actively try to optimize their deployments on low-power and restricted memory devices. There are established compression method such as quantization, pruning, and architecture search that leverage commodity hardware. Apart from conventional compression algorithms, one may redesign the operations of deep learning models that lead to more efficient implementation. To this end, we propose EuclidNet, a compression method, designed to be implemented on hardware which replaces multiplication, $xw$, with Euclidean distance $(x-w)^2$. We show that EuclidNet is aligned with matrix multiplication and it can be used as a measure of similarity in case of convolutional layers. Furthermore, we show that under various transformations and noise scenarios, EuclidNet exhibits the same performance compared to the deep learning models designed with multiplication operations.

Performance metrics-driven context caching has a profound impact on throughput and response time in distributed context management systems for real-time context queries. This paper proposes a reinforcement learning based approach to adaptively cache context with the objective of minimizing the cost incurred by context management systems in responding to context queries. Our novel algorithms enable context queries and sub-queries to reuse and repurpose cached context in an efficient manner. This approach is distinctive to traditional data caching approaches by three main features. First, we make selective context cache admissions using no prior knowledge of the context, or the context query load. Secondly, we develop and incorporate innovative heuristic models to calculate expected performance of caching an item when making the decisions. Thirdly, our strategy defines a time-aware continuous cache action space. We present two reinforcement learning agents, a value function estimating actor-critic agent and a policy search agent using deep deterministic policy gradient method. The paper also proposes adaptive policies such as eviction and cache memory scaling to complement our objective. Our method is evaluated using a synthetically generated load of context sub-queries and a synthetic data set inspired from real world data and query samples. We further investigate optimal adaptive caching configurations under different settings. This paper presents, compares, and discusses our findings that the proposed selective caching methods reach short- and long-term cost- and performance-efficiency. The paper demonstrates that the proposed methods outperform other modes of context management such as redirector mode, and database mode, and cache all policy by up to 60% in cost efficiency.

We propose a framework in which multiple entities collaborate to build a machine learning model while preserving privacy of their data. The approach utilizes feature embeddings from shared/per-entity feature extractors transforming data into a feature space for cooperation between entities. We propose two specific methods and compare them with a baseline method. In Shared Feature Extractor (SFE) Learning, the entities use a shared feature extractor to compute feature embeddings of samples. In Locally Trained Feature Extractor (LTFE) Learning, each entity uses a separate feature extractor and models are trained using concatenated features from all entities. As a baseline, in Cooperatively Trained Feature Extractor (CTFE) Learning, the entities train models by sharing raw data. Secure multi-party algorithms are utilized to train models without revealing data or features in plain text. We investigate the trade-offs among SFE, LTFE, and CTFE in regard to performance, privacy leakage (using an off-the-shelf membership inference attack), and computational cost. LTFE provides the most privacy, followed by SFE, and then CTFE. Computational cost is lowest for SFE and the relative speed of CTFE and LTFE depends on network architecture. CTFE and LTFE provide the best accuracy. We use MNIST, a synthetic dataset, and a credit card fraud detection dataset for evaluations.

This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike mainstream flapping wing designs that are open-loop stable and have no pronounced morphing characteristics, the actuation, and closed-loop feedback design can pose significant challenges. We propose a framework based on integrating mechanical intelligence and control. In this design framework, small adjustments led by several tiny low-power actuators called primers can yield significant flight control roles owing to the robot's computational structures. Since they are incredibly lightweight, the system can host the primers in large numbers. In this work, we aim to show the feasibility of joint's motion regulation in Aerobat's untethered flights.

Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to manipulate their fluidic environment which is key to their agility and flight efficiency. This paper presents the theoretical and numerical analysis of the wake-structure-based gait design inspired by bat flight for flapping robots using the notion of reduced-order models and unsteady aerodynamic model incorporating Wagner function. The objective of this paper is to introduce the notion of gait design for flapping robots by systematically searching the design space in the context of optimization. The solution found using our gait design framework was used to design and test a flapping robot.

In this paper, we propose an end-to-end Retrieval-Augmented Visual Language Model (REVEAL) that learns to encode world knowledge into a large-scale memory, and to retrieve from it to answer knowledge-intensive queries. REVEAL consists of four key components: the memory, the encoder, the retriever and the generator. The large-scale memory encodes various sources of multimodal world knowledge (e.g. image-text pairs, question answering pairs, knowledge graph triplets, etc) via a unified encoder. The retriever finds the most relevant knowledge entries in the memory, and the generator fuses the retrieved knowledge with the input query to produce the output. A key novelty in our approach is that the memory, encoder, retriever and generator are all pre-trained end-to-end on a massive amount of data. Furthermore, our approach can use a diverse set of multimodal knowledge sources, which is shown to result in significant gains. We show that REVEAL achieves state-of-the-art results on visual question answering and image captioning.

In recent decades, several assistive technologies for visually impaired and blind (VIB) people have been developed to improve their ability to navigate independently and safely. At the same time, simultaneous localization and mapping (SLAM) techniques have become sufficiently robust and efficient to be adopted in the development of assistive technologies. In this paper, we first report the results of an anonymous survey conducted with VIB people to understand their experience and needs; we focus on digital assistive technologies that help them with indoor and outdoor navigation. Then, we present a literature review of assistive technologies based on SLAM. We discuss proposed approaches and indicate their pros and cons. We conclude by presenting future opportunities and challenges in this domain.

Cardiac resynchronization therapy (CRT) is a treatment that is used to compensate for irregularities in the heartbeat. Studies have shown that this treatment is more effective in heart patients with left bundle branch block (LBBB) arrhythmia. Therefore, identifying this arrhythmia is an important initial step in determining whether or not to use CRT. On the other hand, traditional methods for detecting LBBB on electrocardiograms (ECG) are often associated with errors. Thus, there is a need for an accurate method to diagnose this arrhythmia from ECG data. Machine learning, as a new field of study, has helped to increase human systems' performance. Deep learning, as a newer subfield of machine learning, has more power to analyze data and increase systems accuracy. This study presents a deep learning model for the detection of LBBB arrhythmia from 12-lead ECG data. This model consists of 1D dilated convolutional layers. Attention mechanism has also been used to identify important input data features and classify inputs more accurately. The proposed model is trained and validated on a database containing 10344 12-lead ECG samples using the 10-fold cross-validation method. The final results obtained by the model on the 12-lead ECG data are as follows. Accuracy: 98.80+-0.08%, specificity: 99.33+-0.11 %, F1 score: 73.97+-1.8%, and area under the receiver operating characteristics curve (AUC): 0.875+-0.0192. These results indicate that the proposed model in this study can effectively diagnose LBBB with good efficiency and, if used in medical centers, will greatly help diagnose this arrhythmia and early treatment.

The Longest Common Subsequence (LCS) is the problem of finding a subsequence among a set of strings that has two properties of being common to all and is the longest. The LCS has applications in computational biology and text editing, among many others. Due to the NP-hardness of the general longest common subsequence, numerous heuristic algorithms and solvers have been proposed to give the best possible solution for different sets of strings. None of them has the best performance for all types of sets. In addition, there is no method to specify the type of a given set of strings. Besides that, the available hyper-heuristic is not efficient and fast enough to solve this problem in real-world applications. This paper proposes a novel hyper-heuristic to solve the longest common subsequence problem using a novel criterion to classify a set of strings based on their similarity. To do this, we offer a general stochastic framework to identify the type of a given set of strings. Following that, we introduce the set similarity dichotomizer ($S^2D$) algorithm based on the framework that divides the type of sets into two. This algorithm is introduced for the first time in this paper and opens a new way to go beyond the current LCS solvers. Then, we present a novel hyper-heuristic that exploits the $S^2D$ and one of the internal properties of the set to choose the best matching heuristic among a set of heuristics. We compare the results on benchmark datasets with the best heuristics and hyper-heuristics. The results show a higher performance of our proposed hyper-heuristic in both quality of solutions and run time factors.