Publications
Fast decomposition of temporal logic specifications for heterogeneous teams
April 1, 2022
Journal Article
Published in:
IEEE Robot. Autom. Lett., Vol. 7, No. 2, April 2022, pp. 2297-2304.
Summary
We focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems' solutions must jointly satisfy the common global mission specification. The agents' missions are given as Capability Temporal Logic (CaTL) formulas, a fragment of Signal Temporal Logic (STL) that can express properties over tasks involving multiple agent capabilities (i.e., different combinations of sensors, effectors, and dynamics) under strict timing constraints. We jointly decompose both the temporal logic specification and the team of agents, using a satisfiability modulo theories (SMT) approach and heuristics for handling temporal operators. The output of the SMT is then distributed to subteams and leads to a significant speed up in planning time compared to planning for the entire team and specification. We include computational results to evaluate the efficiency of our solution, as well as the trade-offs introduced by the conservative nature of the SMT encoding and heuristics.
Summary
We focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems' solutions must jointly satisfy the common global mission specification. The agents' missions are given as Capability Temporal Logic (CaTL)...
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Quantifying bias in face verification system
April 1, 2022
Journal Article
Published in:
Comput. Sci. Math. Forum 2022, 3(1), 6
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Summary
Machine learning models perform face verification (FV) for a variety of highly consequential applications, such as biometric authentication, face identification, and surveillance. Many state-of-the-art FV systems suffer from unequal performance across demographic groups, which is commonly overlooked by evaluation measures that do not assess population-specific performance. Deployed systems with bias may result in serious harm against individuals or groups who experience underperformance. We explore several fairness definitions and metrics, attempting to quantify bias in Google’s FaceNet model. In addition to statistical fairness metrics, we analyze clustered face embeddings produced by the FV model. We link well-clustered embeddings (well-defined, dense clusters) for a demographic group to biased model performance against that group. We present the intuition that FV systems underperform on protected demographic groups because they are less sensitive to differences between features within those groups, as evidenced by clustered embeddings. We show how this performance discrepancy results from a combination of representation and aggregation bias.
Summary
Machine learning models perform face verification (FV) for a variety of highly consequential applications, such as biometric authentication, face identification, and surveillance. Many state-of-the-art FV systems suffer from unequal performance across demographic groups, which is commonly overlooked by evaluation measures that do not assess population-specific performance. Deployed systems with bias...
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Wearable technology in extreme environments
March 14, 2022
Book Chapter
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Chapter 2 in: Cibis, T., McGregor AM, C. (eds) Engineering and Medicine in Extreme Environments. Springer, Cham. https://doi.org/10.1007/978-3-030-96921-9_2
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Humans need to work in many types of extreme environments where there is a need to stay safe and even to improve performance. Examples include: medical providers treating infectious disease, people responding to other biological or chemical hazards, firefighters, astronauts, pilots, divers, and people working outdoors in extreme hot or cold temperatures. Wearable technology is ubiquitous in the consumer market but is still needed for extreme environments. For these applications, it is particularly challenging to meet requirements to be actionable, accurate, acceptable, integratable, and affordable. To provide insight into these needs and possible solutions and the technology trade-offs involved, several examples are provided. A physiological monitoring example is described for predicting and avoiding heat injury. A cognitive monitoring example is described for estimating cognitive workload, with broader applicability to a variety of conditions, such as cognitive fatigue and depression. Finally, eye tracking is considered as a promising wearable sensing modality with applications for both physiological and cognitive monitoring. Concluding thoughts are offered on the compelling need for wearable technology in the face of pandemics, wildfires, and climate change, but also for global projects that can uplift mankind, such as long-duration spaceflight and missions to Mars.
Summary
Humans need to work in many types of extreme environments where there is a need to stay safe and even to improve performance. Examples include: medical providers treating infectious disease, people responding to other biological or chemical hazards, firefighters, astronauts, pilots, divers, and people working outdoors in extreme hot or...
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Correlated Bayesian model of aircraft encounters in the terminal area given a straight takeoff or landing
March 12, 2022
Journal Article
Published in:
Aerospace, Vol. 9, No.2, 12 March 2022.
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Summary
The integration of new airspace entrants into terminal operations requires design and evaluation of Detect and Avoid systems that prevent loss of well clear from and collision with other aircraft. Prior to standardization or deployment, an analysis of the safety performance of those systems is required. This type of analysis has typically been conducted by Monte Carlo simulation with synthetic, statistically representative encounters between aircraft drawn from an appropriate encounter model. While existing encounter models include terminal airspace classes, none explicitly represents the structure expected while engaged in terminal operations, e.g., aircraft in a traffic pattern. The work described herein is an initial model of such operations where an aircraft landing or taking off via a straight trajectory encounters another aircraft landing or taking off, or transiting by any means. The model shares the Bayesian network foundation of other Massachusetts Institute of Technology Lincoln Laboratory encounter models but tailors those networks to address structured terminal operations, i.e., correlations between trajectories and the airfield and each other. This initial model release is intended to elicit feedback from the standards-writing community.
Summary
The integration of new airspace entrants into terminal operations requires design and evaluation of Detect and Avoid systems that prevent loss of well clear from and collision with other aircraft. Prior to standardization or deployment, an analysis of the safety performance of those systems is required. This type of analysis...
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Robust network protocols for large swarms of small UAVs
March 5, 2022
Conference Paper
Published in:
2022 IEEE Aeropsace Conf., AERO 2022, 18 p.
Summary
In this work, we detail a synchronized channel hopping network for autonomous swarms of small unmanned aerial vehicles (UAVs) conducting intelligence, surveillance, and reconnaissance (ISR) missions in the presence of interference and jamming. The core component of our design is Queue Length Informed Maximal Matching (QLIMM), a distributed transmission scheduling protocol that exchanges queue state information between nodes to assign subdivisions of the swarm to orthogonal hopping patterns in response to the network’s throughput demands. QLIMM efficiently allocates channel resources across large networks without relying on any centralized control or pre-planned traffic patterns, which is in the spirit of a swarming capability. However, given that the control messaging must scale up with the swarm’s size and the challenging interference environments we consider, fragility could be a concern. To observe under what conditions control fails, we test our protocol against both simulated partial-band noise jamming and background interference. For the latter, we use data collected from a small unmanned aircraft system to characterize the interference seen by a UAV in the 2.4 and 5 GHz bands in both urban and rural settings. These measurements show that the interference can be 15 dB higher at a 50-meter flight altitude when compared to observations on the ground. Using this data, we conduct extensive network simulations of QLIMM in Riverbed Modeler to show that, under moderate jamming and interference, it outperforms traditional channel access methods as well as other scheduling protocols that do not pass queue state information.
Summary
In this work, we detail a synchronized channel hopping network for autonomous swarms of small unmanned aerial vehicles (UAVs) conducting intelligence, surveillance, and reconnaissance (ISR) missions in the presence of interference and jamming. The core component of our design is Queue Length Informed Maximal Matching (QLIMM), a distributed transmission scheduling...
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Radar coverage analysis for the Terminal Precipitation on the Glass Program
March 4, 2022
Project Report
Published in:
MIT Lincoln Laboratory Report ATC-450
Summary
The Terminal Precipitation on the Glass (TPoG) program proposes to improve the STARS precipitation depiction by adding an alternative precipitation product based on a national weather-radar-based mosaic, i.e., the NextGen Weather System (aka NextGen Weather Processor [NWP] and Common Support Services Weather [CSS-Wx]). This report describes spatial and temporal domain analyses conducted over the 146 terminal radar approach control (TRACON) airspaces that are within scope of TPoG to identify and quantify future TPoG benefits, as well as potential operational issues.
Summary
The Terminal Precipitation on the Glass (TPoG) program proposes to improve the STARS precipitation depiction by adding an alternative precipitation product based on a national weather-radar-based mosaic, i.e., the NextGen Weather System (aka NextGen Weather Processor [NWP] and Common Support Services Weather [CSS-Wx]). This report describes spatial and temporal domain...
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Detection of COVID-19 using multimodal data from a wearable device: results from the first TemPredict Study
March 2, 2022
Journal Article
Published in:
Sci. Rep., Vol. 12, No. 1, 2 March 2022.
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Early detection of diseases such as COVID-19 could be a critical tool in reducing disease transmission by helping individuals recognize when they should self-isolate, seek testing, and obtain early medical intervention. Consumer wearable devices that continuously measure physiological metrics hold promise as tools for early illness detection. We gathered daily questionnaire data and physiological data using a consumer wearable (Oura Ring) from 63,153 participants, of whom 704 self-reported possible COVID-19 disease. We selected 73 of these 704 participants with reliable confirmation of COVID-19 by PCR testing and high-quality physiological data for algorithm training to identify onset of COVID-19 using machine learning classification. The algorithm identified COVID-19 an average of 2.75 days before participants sought diagnostic testing with a sensitivity of 82% and specificity of 63%. The receiving operating characteristic (ROC) area under the curve (AUC) was 0.819 (95% CI [0.809, 0.830]). Including continuous temperature yielded an AUC 4.9% higher than without this feature. For further validation, we obtained SARS CoV-2 antibody in a subset of participants and identified 10 additional participants who self-reported COVID-19 disease with antibody confirmation. The algorithm had an overall ROC AUC of 0.819 (95% CI [0.809, 0.830]), with a sensitivity of 90% and specificity of 80% in these additional participants. Finally, we observed substantial variation in accuracy based on age and biological sex. Findings highlight the importance of including temperature assessment, using continuous physiological features for alignment, and including diverse populations in algorithm development to optimize accuracy in COVID-19 detection from wearables.
Summary
Early detection of diseases such as COVID-19 could be a critical tool in reducing disease transmission by helping individuals recognize when they should self-isolate, seek testing, and obtain early medical intervention. Consumer wearable devices that continuously measure physiological metrics hold promise as tools for early illness detection. We gathered daily...
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Bayesian estimation of PLDA in the presence of noisy training labels, with applications to speaker verification
February 18, 2022
Journal Article
Published in:
IEEE/ACM Trans. Audio, Speech, Language Process., Vol. 30, 2022, pp. 414-28.
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This paper presents a Bayesian framework for estimating a Probabilistic Linear Discriminant Analysis (PLDA) model in the presence of noisy labels. True class labels are interpreted as latent random variables, which are transmitted through a noisy channel, and received as observed speaker labels. The labeling process is modeled as a Discrete Memoryless Channel (DMC). PLDA hyperparameters are interpreted as random variables, and their joint posterior distribution is derived using meanfield Variational Bayes, allowing maximum a posteriori (MAP) estimates of the PLDA model parameters to be determined. The proposed solution, referred to as VB-MAP, is presented as a general framework, but is studied in the context of speaker verification, and a variety of use cases are discussed. Specifically, VB-MAP can be used for PLDA estimation with unreliable labels, unsupervised PLDA estimation, and to infer the reliability of a PLDA training set. Experimental results show the proposed approach to provide significant performance improvements on a variety of NIST Speaker Recognition Evaluation (SRE) tasks, both for data sets with simulated mislabels, and for data sets with naturally occurring missing or unreliable labels.
Summary
This paper presents a Bayesian framework for estimating a Probabilistic Linear Discriminant Analysis (PLDA) model in the presence of noisy labels. True class labels are interpreted as latent random variables, which are transmitted through a noisy channel, and received as observed speaker labels. The labeling process is modeled as a...
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Artificial intelligence for detecting COVID-19 with the aid of human cough, breathing and speech signals: scoping review
February 14, 2022
Journal Article
Published in:
IEEE Open J. Eng. Med. Biol., 14 February 2022, pp. 235-41.
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Background: Official tests for COVID-19 are time consuming, costly, can produce high false negatives, use up vital chemicals and may violate social distancing laws. Therefore, a fast and reliable additional solution using recordings of cough, breathing and speech data forpreliminary screening may help alleviate these issues. Objective: This scoping review explores how Artificial Intelligence (AI) technology aims to detect COVID-19 disease by using cough, breathing and speech recordings, as reported in theliterature. Here, we describe and summarize attributes of the identified AI techniques and datasets used for their implementation. Methods: A scoping review was conducted following the guidelines of PRISMA-ScR (Preferred Reporting Items for Systematic Reviews and Meta-Analyses Extension for Scoping Reviews). Electronic databases (Google Scholar, Science Direct, and IEEE Xplore) were searched between 1st April 2020 and 15st August 2021. Terms were selected based on thetarget intervention (i.e., AI), the target disease (i.e., COVID-19) and acoustic correlates of thedisease (i.e., speech, breathing and cough). A narrative approach was used to summarize the extracted data. Results: 24 studies and 8 Apps out of the 86 retrieved studies met the inclusion criteria. Halfof the publications and Apps were from the USA. The most prominent AI architecture used was a convolutional neural network, followed by a recurrent neural network. AI models were mainly trained, tested and run-on websites and personal computers, rather than on phone apps. More than half of the included studies reported area-under-the-curve performance of greater than 0.90 on symptomatic and negative datasets while one study achieved 100% sensitivity in predicting asymptomatic COVID-19 for cough-, breathing- or speech-based acoustic features. Conclusions: The included studies show that AI has the potential to help detect COVID-19 using cough, breathing and speech samples. However, the proposed methods with some time and appropriate clinical testing would prove to be an effective method in detecting various diseases related to respiratory and neurophysiological changes in human body.
Summary
Background: Official tests for COVID-19 are time consuming, costly, can produce high false negatives, use up vital chemicals and may violate social distancing laws. Therefore, a fast and reliable additional solution using recordings of cough, breathing and speech data forpreliminary screening may help alleviate these issues. Objective: This scoping review...
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Speech as a biomarker: opportunities, interoperability, and challenges
February 11, 2022
Journal Article
Published in:
Perspectives of the ASHA Special Interest Groups, Vo. 7, February 2022, pp. 276-83.
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Purpose: Over the past decade, the signal processing and machine learning literature has demonstrated notable advancements in automated speech processing with the use of artificial intelligence for medical assessment and monitoring (e.g., depression, dementia, and Parkinson's disease, among others). Meanwhile, the clinical speech literature has identified several interpretable, theoretically motivated measures that are sensitive to abnormalities in the cognitive, linguistic, affective, motoric, and anatomical domains. Both fields have, thus, independently demonstrated the potential for speech to serve as an informative biomarker for detecting different psychiatric and physiological conditions. However, despite these parallel advancements, automated speech biomarkers have not been integrated into routine clinical practice to date. Conclusions: In this article, we present opportunities and challenges for adoption of speech as a biomarker in clinical practice and research. Toward clinical acceptance and adoption of speech-based digital biomarkers, we argue for the importance of several factors such as robustness, specificity, diversity, and physiological interpretability of speech analytics in clinical applications.
Summary
Purpose: Over the past decade, the signal processing and machine learning literature has demonstrated notable advancements in automated speech processing with the use of artificial intelligence for medical assessment and monitoring (e.g., depression, dementia, and Parkinson's disease, among others). Meanwhile, the clinical speech literature has identified several interpretable, theoretically motivated...
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