Traditional deformable registration methods have achieved impressive performances but are computationally time-consuming since they have to optimize an objective function for each new pair of images. Very recently some learning-based approaches have been proposed to enable fast registration by learning to estimate the spatial transformation parameters directly from the input images. Here we present a method for 3D fast pairwise registration of brain MR images. We model the deformation function with B-splines and learn the optimal control points using a U-Net like CNN architecture. An inverse-consistency loss has been used to enforce diffeomorphicity of the deformation. The proposed algorithm does not require supervised information such as segmented labels but some can be used to help the registration process. We also implemented several strategies to account for the multi-resolution nature of the problem. The method has been evaluated on MICCAI 2012 brain MRI datasets, and evaluated on both similarity and invertibility of the computed transformation.

<p>During recent years, the field of computer vision has evolved rapidly. Convolutional Neural Networks (CNNs) have become the chosen default for implementing computer vision tasks. The popularity is based on how the CNNs have successfully performed the wellknown</p> <p>computer vision tasks such as image annotation, instance segmentation, and others with promising outcomes. However, CNNs have their caveats and need further research to turn them into reliable machine learning algorithms. The disadvantages of CNNs become more evident as the approach to breaking down an input image becomes apparent. Convolutional neural networks group blobs of pixels to identify objects in a given image. Such a</p> <p>technique makes CNNs incapable of breaking down the input images into sub-parts, which could distinguish the orientation and transformation of objects and their parts. The functions in a CNN are competent at learning only the shift-invariant features of the object in an image. The discussed limitations provides researchers and developers a purpose for further enhancing an effective algorithm for computer vision.</p> <p>The opportunity to improve is explored by several distinct approaches, each tackling a unique set of issues in the convolutional neural network’s architecture. The Capsule Network (CapsNet) which brings an innovative approach to resolve issues pertaining to affine transformations</p> <p>by sharing transformation matrices between the different levels of capsules. While, the Residual Network (ResNet) introduced skip connections which allows deeper networks</p> <p>to be more powerful and solves vanishing gradient problem.</p> <p>The motivation of these fusion of these advantageous ideas of CapsNet and ResNet with Squeeze and Excite (SE) Block from Squeeze and Excite Network, this research work presents SE-Residual Capsule Network (SE-RCN), an efficient neural network model. The proposed model, replaces the traditional convolutional layer of CapsNet with skip connections and SE Block to lower the complexity of the CapsNet. The performance of the model is demonstrated on the well known datasets like MNIST and CIFAR-10 and a substantial reduction in the number of training parameters is observed in comparison to similar neural networks. The proposed SE-RCN produces 6.37 Million parameters with an accuracy of 99.71% on the MNIST dataset and on CIFAR-10 dataset it produces 10.55 Million parameters with 83.86% accuracy.</p>

The main objective of the research was the fabrication and characterization of MOS/MIS capacitors with ZnO as the insulating layer. Comparison with the already well known behavior of MOS/MIS capacitors with SiO2 as insulator was used to facilitate determination of the ZnO characteristics. Moreover, thermal annealing of the samples led to increased understanding of the role of defects on the dielectric properties of the ZnO layers in the MOS/MIS devices. Hall-effect transport measurements and x-ray diffraction (XRD) spectroscopy are used to analyze the structure and electronic surface characteristics of the ZnO insulator. Capacitance-voltage (C-V) measurements are used to understand the effect of surface interface charges and fixed oxide charges in the MOS/MIS (metal-oxide (insulator)-semiconductor) capacitor. The results of the Hall-effect measurement will reveal several things; the sheet resistance, carrier concentration, and mobility as well as confirm the type of silicon used. The optical spectrophotometry measurement confirmed the band gap of 3.2 eV for ZnO. The x-ray diffraction data confirmed a (002) orientation polycrystalline wurtzite ZnO structure. Initial capacitance-voltage measurement of SiO2 and ZnO revealed that the capacitance was larger for SiO2 than for ZnO. This study also explores the impact of thermal annealing on the performance of the ZnO capacitors. Hall-effect measurements are used to evaluate the influence of thermal annealing on the resistivity, carrier concentration and mobility as a function of annealing temperature. ZnO is an n-type semiconductor; this n-type conductivity is due to deviations from the stoichiometry as a result of oxygen vacancies and interstitial zinc. After ZnO samples were annealed at different temperatures, the Hall-effect measurements were performed. After thermal annealing, the mobility increased significantly by two orders of magnitude, but both the carrier concentration and the sheet density decreased. A threshold voltage (turn-on) of -1V was observed for the ZnO sample annealed at 980oC. ZnO is very versatile material with the potential for use in field effect transistors, solar cells, sensors, surface acoustic wave devices and photodiodes due to the high conductivity and high transmittance in the visible part of the spectrum. ZnO as an insulator works through analytical solutions, but not necessarily through this investigation. The difference in oxide thickness during rf magentron sputtering change the capacitance for ZnO making it lower. For n-type substrates it appears that the capacitance after annealing was higher than the capacitance before annealing. After annealing, a stretched out capacitance-voltage curve indicates the presence of trapped oxide charges and an unsmoothed surface. A high resistivity material could be used for some devices. However, typically low resistivity materials are used. After ZnO samples were annealed (unetched) at different temperatures, the Hall-effect were performed and the mobility increased significantly by two orders of magnitude, but the sheet density decreased along with the carrier concentration. The only sample that appears to come to a high frequency C-V in equilibrium is the ZnO sample annealed at 980oC. The depletion region was distinguishable and the transition point (threshold voltage) was found to be at -1 V.

In conventional signal processing approaches, researchers need to manually extract features from raw data that can better describe the underlying problem. Such a process requires strong domain knowledge about the given problems. On the contrary, deep learning-based signal processing algorithms can discover features and patterns that would not be apparent to humans by feeding a sufficient amount of training data. In the past decade, deep learning has proved to be efficient and effective at delivering high-quality results. Deep learning has demonstrated its great advantages in image processing and text mining. One of the most promising applications of deep learning-based signal processing techniques is autonomous driving. Today, many companies are developing and testing autonomous vehicles. High-level autonomous vehicles are expected to be commercialized in the near future. Besides, deep learning has demonstrated great potential in wireless communications applications. Researchers have addressed some of the most challenging problems such as transmitter classification and modulation recognition using deep learning. Despite these advantages, there exist a wide range of security and reliability issues when applying deep learning models to real-world applications. First, deep learning models could not generate reliable results for testing data if the training data size is insufficient. Since generating training data is time consuming and resource intensive, it is important to understand the relationship between model reliability and the size of training data. Second, deep learning models could generate highly unreliable results if the testing data are significantly different from the training data, which we refer to as ``out-of-distribution (OOD)'' data. Failing to detect OOD testing data may expose serious security risks. Third, deep learning algorithms can be easily fooled when the input data are falsified. Such vulnerabilities may cause severe risks in safety-critical applications such as autonomous driving. In this dissertation, we focus on the security and reliability issues in deep learning models in the following three aspects. (1) We systematically study how the model performance changes as more training data are provided in wireless communications applications. (2) We discuss how OOD data can impact the performance of deep learning-based classification models in wireless communications applications. We propose FOOD (Feature representation for OOD detection), a unified model that can detect OOD testing data effectively and perform classifications for regular testing data simultaneously. (3) We focus on the security issues of applying deep learning algorithms to autonomous driving. We discuss the impact of Perception Error Attacks (PEAs) on LIDAR and camera and propose a countermeasure called LIFE (LIDAR and Image data Fusion for detecting perception Errors). / Doctor of Philosophy / Deep learning has provided computers and mobile devices extraordinary powers to solve challenging signal processing problems. For example, current deep learning technologies are able to improve the quality of machine translation significantly, recognize speech as accurately as human beings, and even outperform human beings in face recognition. Although deep learning has demonstrated great advantages in signal processing, it can be insecure and unreliable if the model is not trained properly or is tested under adversarial scenarios. In this dissertation, we study the following three security and reliability issues in deep learning-based signal processing methods. First, we provide insights on how the deep learning model reliability is changed as the size of training data increases. Since generating training data requires a tremendous amount of labor and financial resources, our research work could help researchers and product developers to gain insights on balancing the tradeoff between model performance and training data size. Second, we propose a novel model to detect the abnormal testing data that are significantly different from the training data. In deep learning, there is no performance guarantee when the testing data are significantly different from the training data. Failing to detect such data may cause severe security risks. Finally, we design a system to detect sensor attacks targeting autonomous vehicles. Deep learning can be easily fooled when the input sensor data are falsified. Security and safety can be enhanced significantly if the autonomous driving systems are able to figure out the falsified sensor data before making driving decisions.

The integration of deep learning models and classical techniques in robotics is constantly creating solutions to problems once thought out of reach. The issues arising in most models that work involve the gap between experimentation and reality, with a need for strategies that assess the risk involved with different models when applied in real-world and safety-critical situations. This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup where an aerial robot acts as a "scout'' for a ground robot when the below area is unknown or dangerous, with applications in space exploration, military, or search-and-rescue. Images taken from the aerial view are used to provide a less obstructed map to guide the navigation of the robot on the ground. Experiments are conducted using a deep learning semantic image segmentation, followed by a path planner based on the resulting cost map, to provide an empirical analysis of the proposed method. The method is analyzed to assess the impact of variations in the uncertainty extraction, as well as the absence of an uncertainty metric, on the overall system with the use of a defined factor which measures surprise to the planner. The analysis is performed on multiple datasets, showing a similar trend of lower surprise when uncertainty information is incorporated in the planning, given threshold values of the hyperparameters in the uncertainty extraction have been met. / Master of Science / Deep learning (DL) is the phrase used to refer to the use of large hierarchical structures, often called neural networks, to approximate semantic information from data input of various forms. DL has shown superior performance at many tasks, such as several forms of image understanding, often referred to as computer vision problems. Deep learning techniques are trained using large amounts of data to map input data to output interpretation. The method should then perform correct input-output mappings on new data, different from the data it was trained on. Robots often carry various sensors from which it is possible to make interpretations about the environment. Inputs from a sensor can be high dimensional, such as pixels given by a camera, and processing these inputs can be quite tedious and inefficient given a human interpreter. Deep learning has recently been adopted by roboticists as a means of automatically interpreting and representing sensor inputs, like images. The issue that arises with the traditional use of deep learning is twofold: it forces an interpretation of the inputs even when an interpretation is not applicable, and it does not provide a measure of certainty with its outputs. Many techniques have been developed to address this issue with deep learning. These techniques aim to produce a measure of uncertainty associated with DL outputs, such that even when an incorrect or inapplicable output is produced, it is accompanied with a high level of uncertainty. To explore the efficacy and applicability of these uncertainty extraction techniques, this thesis looks at their use as applied to part of a robot planning system. Specifically, the input to the robot planner is an overhead image taken by an unmanned aerial vehicle (UAV) and the output is a path from a set start and goal position to be taken by an unmanned ground vehicle (UGV) below. The image is passed through a deep learning portion of the system that performs what is called semantic segmentation, mapping each pixel to a meaningful class, on the image. Based on the segmentation, each pixel is given a cost proportionate to the perceived level of safety associated with that class. A cost map is thus formed on the entire image, from which traditional robotics techniques are used to plan a path from start to goal. A comparison is performed between the risk-neutral case which uses the conventional DL method and the risk-aware case which uses uncertainty information accompanying the modified DL technique. The overall effects on the robot system are envisioned by observing a metric called the surprise factor, where a high surprise factor signifies a poor prediction of the actual cost associated with a path. The risk-neutral case is shown to have a higher surprise factor than the proposed risk-aware setup, both on average and in safety-critical case studies.

Yes

Diatom algae, abundantly found in the ocean, has hierarchical micro- and nanopores which inspired lots of metamaterial designs including dielectric metasurfaces. The conventional approach taken in the metamaterial design process is to generate the corresponding optical spectrum by utilizing physics-based simulation software. Although this approach provides high accuracy, the downside is that it is time-consuming and there are also constraints. By setting design parameters and the structure of the material, the optical response could be easily achieved. However, this approach is not able to deal with the inverse problem as simple as in the forward problem. In this study, a deep learning model that is capable of solving both the forward and the inverse problem of a diatom-inspired metamaterial design was developed and it was further verified experimentally. This method serves as an alternative way for the traditional metamaterial design process which greatly saves time and also presents functionality that simulation does not provide. To investigate the feasibility of this method, different input training datasets were examined, and several strategies were taken to improve the model performance. Though with the success in some cases, effort is still needed to employ the technique in a broader aspect. / 2024-01-15T00:00:00Z

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This master thesis focuses on developing a Reinforcement Learning (RL) controller to perform hydrobatic maneuvers on an Autonomous Underwater Vehicle (AUV) successfully. This work also aims to analyze the robustness of the RL controller, as well as provide a comparison between RL algorithms and Proportional Integral Derivative (PID) control. Training of the algorithms is initially conducted in a Numpy simulation in Python. We show how to model the Equations of Motion (EOM) of the AUV and how to use it to train the RL controllers. We use the stablebaselines3 RL framework and create a training environment with the OpenAI gym. The Twin-Delay Deep Deterministic Policy Gradient (TD3) algorithm offers good performance in the simulation. The following maneuvers are studied: trim control, waypoint following, and an inverted pendulum. We test the maneuvers both in the Numpy simulation and Stonefish simulator. Also, we test the robustness of the RL trim controller by simulating noise in the state feedback. Lastly, we run the RL trim controller on a real AUV hardware called SAM. We show that the RL algorithm trained in the Numpy simulator can achieve similar performance to the PID controller in the Stonefish simulator. We generate a policy that can perform the trim control and the Inverted Pendulum maneuver in the Numpy simulation. We show that we can generate a robust policy that executes other types of maneuvers by providing a parameterized cost function to the RL algorithm. We discuss the results of every maneuver we perform with the SAM AUV and provide a discussion about the advantages and disadvantages of this control method applied to underwater robotics. We conclude that RL can be used to create policies that perform hydrobatic maneuvers. This data-driven approach can be applied in the future to more complex problems in underwater robotics. / Denna masteruppsats fokuserar på att utveckla en Reinforcement Learning (RL) kontroller för att framgångsrikt utföra hydrobatiska manövrar på ett autonomt undervattensfordon (AUV). Detta arbete syftar också till att analysera robustheten hos RL-kontrollern, samt tillhandahålla en jämförelse mellan RL-algoritmer och Proportional Integral Derivative (PID) kontroll. Träning av algoritmerna utförs initialt i Numpy-simuleringen i Python. Vi visar hur man modellerar rörelseekvationerna (EOM) för AUV, och hur man använder den för att träna RL-kontrollerna. Vi använder ramverket stablebaselines3 RL och skapar en träningsmiljö med gymmet OpenAI. Algoritmen Twin-Delay Deep Deterministic Policy Gradient (TD3) erbjuder bra prestanda i simuleringen. Följande manövrar studeras: trimkontroll, waypointföljning och en inverterad pendel. Vi testar manövrarna både i Numpy-simulering och Stonefish-simulator. Vi testar också robustheten hos RL-trimkontrollern genom att simulera bruset i tillståndsåterkopplingen. Slutligen kör vi RL-trimkontrollern på den riktiga SAM AUV-hårdvaran. Vi visar att RL-algoritmen tränad i Numpy-simulatorn kan uppnå liknande prestanda som PID-regulatorn i Stonefish-simulatorn. Vi genererar en policy som kan utföra trimkontrollen och manövern med inverterad pendel i Numpy-simuleringen. Vi visar att vi kan generera en robust policy som utför andra typer av manövrar genom att tillhandahålla en parameteriserad kostnadsfunktion till RL-algoritmen. Vi diskuterar resultaten av varje manöver vi utför med SAM AUV och ger en diskussion om fördelarna och nackdelarna med denna kontrollmetod som tillämpas på undervattensrobotik. Vi drar slutsatsen att RL kan användas för att skapa policyer som utför hydrobatiska manövrar. Detta datadrivna tillvägagångssätt kan tillämpas i framtiden på mer komplexa problem inom undervattensrobotik.