In this paper, we propose a general framework to learn a robust large-margin binary classifier when corrupt measurements, called anomalies, caused by sensor failure might be present in the training set. The goal is to minimize the generalization error of the classifier on non-corrupted measurements while controlling the false alarm rate associated with anomalous samples. By incorporating a non-parametric regularizer based on an empirical entropy estimator, we propose a Geometric-Entropy-Minimization regularized Maximum Entropy Discrimination (GEM-MED) method to learn to classify and detect anomalies in a joint manner. We demonstrate using simulated data and a real multimodal data set. Our GEM-MED method can yield improved performance over previous robust classification methods in terms of both classification accuracy and anomaly detection rate.
In a sensor network, in practice, the communication among sensors is subject to:(1) errors or failures at random times; (3) costs; and(2) constraints since sensors and networks operate under scarce resources, such as power, data rate, or communication. The signal-to-noise ratio (SNR) is usually a main factor in determining the probability of error (or of communication failure) in a link. These probabilities are then a proxy for the SNR under which the links operate. The paper studies the problem of designing the topology, i.e., assigning the probabilities of reliable communication among sensor…
Robert Bosch GmbH（罗伯特·博世有限公司）；LIACS, Leiden University（莱顿大学高级计算机科学研究所）；INESC TEC（葡萄牙工程与技术研究所）；Faculdade de Engenharia, Universidade do Porto（波尔图大学工程学院）
Predicting the health of components in complex dynamic systems such as an automobile poses numerous challenges. The primary aim of such predictive systems is to use the high-dimensional data acquired from different sensors and predict the state-of-health of a particular component, e.g., brake pad. The classical approach involves selecting a smaller set of relevant sensor signals using feature selection and using them to train a machine learning algorithm. However, this fails to address two prominent problems: (1) sensors are susceptible to failure when exposed to extreme conditions over a long…
Bayesian Joint Model of Multi-Sensor and Failure Event Data for Multi-Mode Failure Prediction
Department of Industrial and Systems Engineering, Texas A&M University（德克萨斯A&M大学工业与系统工程系）；University of Florida（佛罗里达大学）；School of Industrial Engineering and Management, Oklahoma State University（俄克拉荷马州立大学工业工程与管理学院）
Machine learning (ML) applications continue to revolutionize many domains. In recent years, there has been considerable research interest in building novel ML applications for a variety of Internet of Things (IoT) domains, such as precision agriculture, smart cities, and smart manufacturing. IoT domains are characterized by continuous streams of data originating from diverse, geographically distributed sensors, and they often require a real-time or semi-real-time response. IoT characteristics pose several fundamental challenges to designing and implementing effective ML applications. Sensor/ne…
A classification technique incorporating a novel feature derivation method is proposed for predicting failure of a system or device with multivariate time series sensor data. We treat the multivariate time series sensor data as images for both visualization and computation. Failure follows various patterns which are closely related to the root causes. Different predefined transformations are applied on the original sensors data to better characterize the failure patterns. In addition to feature derivation, ensemble method is used to further improve the performance. In addition, a general algor…
When considering the accuracy of sensors in an automated vehicle (AV), it is not sufficient to evaluate the performance of any given sensor in isolation. Rather, the performance of any individual sensor must be considered in the context of the overall system design. Techniques like redundancy and different sensing modalities can reduce the chances of a sensing failure. Additionally, the use of safety models is essential to understanding whether any particular sensing failure is relevant. Only when the entire system design is taken into account can one properly understand the meaning of safety-…
Texas A&M University（德克萨斯A&M大学）；University of Illinois at Chicago（伊利诺伊大学芝加哥分校）；UC Santa Barbara（加州大学圣塔芭芭拉分校）
Sensor fusion has wide applications in many domains including health care and autonomous systems. While the advent of deep learning has enabled promising multi-modal fusion of high-level features and end-to-end sensor fusion solutions, existing deep learning based sensor fusion techniques including deep gating architectures are not always resilient, leading to the issue of fusion weight inconsistency. We propose deep multi-modal sensor fusion architectures with enhanced robustness particularly under the presence of sensor failures. At the core of our gating architectures are fusion weight regu…
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
Multisensory polices are known to enhance both state estimation and target tracking. However, in the space of end-to-end sensorimotor control, this multi-sensor outlook has received limited attention. Moreover, systematic ways to make policies robust to partial sensor failure are not well explored. In this work, we propose a specific customization of Dropout, called \textit{Sensor Dropout}, to improve multisensory policy robustness and handle partial failure in the sensor-set. We also introduce an additional auxiliary loss on the policy network in order to reduce variance in the band of potent…
University of Trento（特伦托大学）；University of Twente（特温特大学）
Many industrial sectors have been collecting big sensor data. With recent technologies for processing big data, companies can exploit this for automatic failure detection and prevention. We propose the first completely automated method for failure analysis, machine-learning fault trees from raw observational data with continuous variables. Our method scales well and is tested on a real-world, five-year dataset of domestic heater operations in The Netherlands, with 31 million unique heater-day readings, each containing 27 sensor and 11 failure variables. Our method builds on two previous proced…
Universidad de Alcala（阿尔卡拉大学）；Università degli Studi di Milano-Bicocca（米兰比可卡大学）；University of Freiburg（弗莱堡大学）；Nanyang Technological University（南洋理工大学）
We present a probabilistic ego-lane estimation algorithm for highway-like scenarios that is designed to increase the accuracy of the ego-lane estimate, which can be obtained relying only on a noisy line detector and tracker. The contribution relies on a Hidden Markov Model (HMM) with a transient failure model. The proposed algorithm exploits the OpenStreetMap (or other cartographic services) road property lane number as the expected number of lanes and leverages consecutive, possibly incomplete, observations. The algorithm effectiveness is proven by employing different line detectors and showi…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Despite the rapid advancement of navigation algorithms, mobile robots often produce anomalous behaviors that can lead to navigation failures. The ability to detect such anomalous behaviors is a key component in modern robots to achieve high-levels of autonomy. Reactive anomaly detection methods identify anomalous task executions based on the current robot state and thus lack the ability to alert the robot before an actual failure occurs. Such an alert delay is undesirable due to the potential damage to both the robot and the surrounding objects. We propose a proactive anomaly detection network…
Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly, for a reasonably accurate perception system, encountering a rare failure trajectory may require running infeasibly many simulations. This paper combines perception error models -- surrogates for a sensor-based detection system -- with state-dependent adaptive importance sampling. This allows us to efficiently assess the rare failure probabilities for real-world perceptual control systems within simulation. Our exper…
University of Pennsylvania（宾夕法尼亚大学）；Massachusetts Institute of Technology（麻省理工学院）
Applications in machine learning, optimization, and control require the sequential selection of a few system elements, such as sensors, data, or actuators, to optimize the system performance across multiple time steps. However, in failure-prone and adversarial environments, sensors get attacked, data get deleted, and actuators fail. Thence, traditional sequential design paradigms become insufficient and, in contrast, resilient sequential designs that adapt against system-wide attacks, deletions, or failures become important. In general, resilient sequential design problems are computationally …
Smart manufacturing systems are being deployed at a growing rate because of their ability to interpret a wide variety of sensed information and act on the knowledge gleaned from system observations. In many cases, the principal goal of the smart manufacturing system is to rapidly detect (or anticipate) failures to reduce operational cost and eliminate downtime. This often boils down to detecting anomalies within the sensor date acquired from the system. The smart manufacturing application domain poses certain salient technical challenges. In particular, there are often multiple types of sensor…
Querying Labeled Time Series Data with Scenario Programs
University of California, Berkeley（加州大学伯克利分校）；Korea University（韩国大学）；Chalmers University of Technology（查尔姆斯理工大学）；University of Gothenburg（哥德堡大学）；University of California, Santa Cruz（加州大学圣克ruz分校）
Complex autonomous control systems are subjected to sensor failures, cyber-attacks, sensor noise, communication channel failures, etc. that introduce errors in the measurements. The corrupted information, if used for making decisions, can lead to degraded performance. We develop a framework for using adversarial deep reinforcement learning to design observer strategies that are robust to adversarial errors in information channels. We further show through simulation studies that the learned observation strategies perform remarkably well when the adversary's injected errors are bounded in some s…
In this work we propose a solution to the UbiComp 2021 Challenge by Stabilo in which handwritten mathematical terms are supposed to be automatically classified based on time series sensor data captured on the DigiPen. The input data set contains data of different writers, with label strings constructed from a total of 15 different possible characters. The label should first be split into separate characters to classify them one by one. This issue is solved by applying a data-dependant and rule-based information extraction algorithm to the labeled data. Using the resulting data, two classifiers…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals could provide more information for such anomaly detection tasks; however, the fusion of high-dimensional and heterogeneous sensor modalities remains a challenging problem. We propose a deep learning neural network: supervised variational autoencoder (SVAE), for failure identification in unstructured and uncertain environments. Our model leverages the representational power of VAE to extract robust features from high-d…
Rice University（莱斯大学）；Lawrence Berkeley National Laboratory（劳伦斯伯克利国家实验室）；Hyundai Electric & Energy Systems Co., Ltd.（现代电气能源系统有限公司）
To ensure reliability, power transformers are monitored for partial discharge (PD) events, which are symptoms of transformer failure. Since failures can have catastrophic cascading consequences, it is critical to preempt them as early as possible. Our goal is to classify PDs as corona, floating, particle, or void, to gain an understanding of the failure location. Using phase resolved PD signal data, we create a small set of features, which can be used to classify PDs with high accuracy. This set of features consists of the total magnitude, the maximum magnitude, and the length of the longest e…
