Abstract

Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation. First, we recruited 227 patients to build a large dataset of 41,000 anesthesiologist annotated images from US videos of brachial plexus nerves and developed models to localize nerves in the US images. Generalizability of the best suited model was tested on the datasets constructed from separate US scanners. Using these nerve segmentation predictions, we define automated anesthesia needle targets by fitting an ellipse to the nerve contours. Next, we developed an image analysis tool to guide the needle toward their targets. For the segmentation of the needle, a natural RGB pre-trained neural network was first fine-tuned on a large US dataset for domain transfer and then adapted for the needle using a small dataset. The segmented needle’s trajectory angle is calculated using Radon transformation and the trajectory is extrapolated from the needle tip. The intersection of the extrapolated trajectory with the needle target guides the needle navigation for drug delivery. The needle trajectory’s average error was within acceptable range of 5 mm as per experienced anesthesiologists. The entire dataset has been released publicly for further study by the research community at https://github.com/Regional-US/

Abstract

We present CheXtriev, a graph-based, anatomy-aware frame- work for chest radiograph retrieval. Unlike prior methods focussed on global features, our method leverages graph transformers to extract in- formative features from specific anatomical regions. Furthermore, it cap- tures spatial context and the interplay between anatomical location and findings. This contextualization, grounded in evidence-based anatomy, results in a richer anatomy-aware representation and leads to more accu- rate, effective and efficient retrieval, particularly for less prevalent find- ings. CheXtriv outperforms state-of-the-art global and local approaches by 18% to 26% in retrieval accuracy and 11% to 23% in ranking quality. The code is available at https://github.com/cvit-mip/chextriev.

Abstract

Monitoring water flow helps to identify leaks and wastage, leading to better management of water resources and conservation of this precious resource. To address this challenge, there is a need for an efficient and sustainable water management system. This paper presents an Internet of Things (IoT) based solution that involves retrofitting existing analog water meters using readily available off-the-shelf electronic components. Real-time data collection and analysis are performed through edge computation, which locally processes water meter images captured by the camera and extracts water meter readings. These readings are transmitted to the cloud for storage and further analysis. Various strategies have been implemented to optimize supply-current usage, preserving charge-discharge cycles of solar-powered batteries even in adverse environmental conditions. To streamline the firmware update process for multiple connected devices, a broadcasting technique is employed, offering the benefits of reduced manual labor and time savings. To assess the reliability and performance of developed solution, field deployment is conducted over several months, enabling the characterization of water usage patterns across different locations. Integrating energy harvesting capabilities into system reduces maintenance costs and promotes eco-friendly energy practices. Overall, this solution offers an effective and comprehensive approach towards achieving efficient and sustainable water management.

Abstract

Particulate matter (PM) is considered the primary contributor to air pollution and has severe implications for general health. PM concentration has high spatial variability and thus needs to be monitored locally. Traditional PM monitoring setups are bulky, expensive, and cannot be scaled for dense deployments. This paper argues for a densely deployed network of IoT-enabled PM monitoring devices using low-cost sensors, specifically focusing on PM10 and PM2.5, the most health-impacting particulates. In this work, 49 devices were deployed in a region of the Indian metropolitan city of Hyderabad, of which 43 devices were developed as part of this work, and six devices were taken off the shelf. The low-cost sensors were calibrated for seasonal variations using a precise reference sensor and were particularly adjusted to accurately measure PM10 and PM2.5 levels. A thorough analysis of data collected for 7 months has been presented to establish the need for dense deployment of PM monitoring devices. Different analyses such as mean, variance, spatial interpolation, and correlation have been employed to generate interesting insights about temporal and seasonal variations of PM10 and PM2.5. In addition, event-driven spatio-temporal analysis is done for PM2.5 and PM10 values to understand the impact of the bursting of firecrackers on the evening of the Diwali festival. A web-based dashboard is designed for real-time data visualization.

Abstract

Autonomous Underwater Vehicles (AUVs) play a vital role in explor- ing and mapping underwater environments. However, the presence of nadir gaps, or blind zones, in commercial AUVs can lead to unex- plored areas during mission execution, limiting their effectiveness. Our work addresses the challenges of path planning in the presence of nadir gaps and presents scalable coverage strategies for AUVs minimizing either the mission completion time or the total number of turns performed while ensuring complete exploration, eliminating the risk of leaving critical areas unexplored. We provide provably complete strategies and perform extensive simulations on diverse input configurations based on real-world instances to demonstrate the efficacy of our strategies.

Abstract

Edge server-assisted computation offloading enables vehicles to leverage server compute resources to deliver connected services, overcoming the limitations of onboard resources. Understanding the compute workloads of edge servers is crucial for effective resource management and scheduling, yet this task is challenging due to the complex interplay of factors such as vehicle mobility and computation offloading patterns. To address this, we propose an empirical analysis framework that systematically characterizes the compute workloads of edge servers. We begin by formalizing the relationships among three key aspects: local load (generated by vehicles), composite load (imposed on edge servers), and traffic flow (vehicle mobility patterns). Our framework then uses models of the local load and traffic flow as inputs to generate the composite loads on edge servers. Experiments were conducted by injecting between 600 and 5,000 vehicles per hour in two distinct geographical areas, New York City and Tampa. We provide a quantitative analysis demonstrating how the composite loads on edge servers vary with changes in traffic flows, geographical areas, and offloading patterns.

Abstract

Around the world, there are a lot of unreinforced masonry (URM) buildings situated in seismically active areas. Additionally, the majority of these buildings were not built in accordance with seismic code requirements. Buildings made of URM are seismically unsafe and require strengthening, as demonstrated by previous earthquakes. Masonry material exhibits a great deal of variability in its behaviour, and the tensile or flexural capacity of the structural components is one of the key factors in the seismic susceptibility of masonry buildings. The flexural strength and deformability of URM walls can be increased using a variety of retrofitting methods. These can be loosely divided into two categories: “conventional” and “advanced”. The surface treatments (e.g., shotcrete, reinforced plaster, ferrocement overlays, polyurea spray technology), stitching and grout or epoxy injections, re-pointing, reinforced concrete confinement, and post-tensioning fall under the first category. The second category includes the use of seismic wallpaper (i.e., fiber-reinforced polymers—FRP such as epoxy-bonded strips or in situ impregnated fabrics), textile-reinforced mortar composites (mesh/fabric reinforcement in the form of fibre, wire, polypropylene bands, plastic bags, bamboo, etc.), and centre core. The present study reviews the state-of-the-art literature on several methods for reinforcing URM walls subject to lateral earthquake loading. The paper provides a complete overview of retrofitting techniques, including benefits, suitability, applicability, drawbacks, restrictions, sustainability, and consequences on rural communities. In addition, the effectiveness of retrofitting methods is compared using factors including weight, technology (i.e., level of skill required), cost, manpower, and disruption to occupants. The study’s findings will help the policymakers, archaeological survey of India (ASI), various government departments owning low-rise masonry buildings, planners, building owners, architects, structural engineers, consultants, and designers, select an appropriate retrofitting system. Further, the design methodology for retrofitting masonry walls using advanced composites like TRM and FRP is also described in detail, using an explanatory example for seismic in-plane and out-of-plane actions.

Abstract

Certain self-supervised approaches to train image encoders, like CLIP, align images with their text captions. However, these approaches do not have an a priori incentive to learn to associate text inside the image with the semantics of the text. Humans process text visually; our work studies the semantics of text rendered in images. We show that the semantic information captured by image representations can decisively classify the sentiment of sentences and is robust against visual attributes like font and not based on simple character frequency associations.

Abstract

We present a method to compress the final linear layer of language models, reducing memory usage by up to 3.4 x without significant performance loss. By grouping tokens based on Byte Pair Encoding (BPE) merges, we prevent materialisation of the memory-intensive logits tensor. Evaluations on the TinyStories dataset show that our method performs on par with GPT-Neo and GPT2 while significantly improving throughput by up to 3x, making it suitable for low-compute environments.

Abstract

Forensic sketch-to-mugshot matching is a challenging task in face recognition, primarily hindered by the scarcity of annotated forensic sketches and the modality gap between sketches and photographs. To address this, we propose CLIP4Sketch, a novel approach that leverages diffusion models to generate a large and diverse set of sketch images, which helps in enhancing the performance of face recognition systems in sketch-to-mugshot matching. Our method utilizes Denoising Diffusion Probabilistic Models (DDPMs) to generate sketches with explicit control over identity and style. We combine CLIP and Adaface embeddings of a reference mugshot, along with textual descriptions of style, as the conditions to the diffusion model. We demonstrate the efficacy of our approach by generating a comprehensive dataset of sketches corresponding to mugshots and training a face recognition model on our synthetic data. Our results show significant improvements in sketch-to-mugshot matching accuracy over training on an existing, limited amount of real face sketch data, validating the potential of diffusion models in enhancing the performance of face recognition systems across modalities. We also compare our dataset with datasets generated using GAN-based methods to show its superiority.