3,972 research outputs found

    Recalibrating machine learning for social biases: demonstrating a new methodology through a case study classifying gender biases in archival documentation

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    This thesis proposes a recalibration of Machine Learning for social biases to minimize harms from existing approaches and practices in the field. Prioritizing quality over quantity, accuracy over efficiency, representativeness over convenience, and situated thinking over universal thinking, the thesis demonstrates an alternative approach to creating Machine Learning models. Drawing on GLAM, the Humanities, the Social Sciences, and Design, the thesis focuses on understanding and communicating biases in a specific use case. 11,888 metadata descriptions from the University of Edinburgh Heritage Collections' Archives catalog were manually annotated for gender biases and text classification models were then trained on the resulting dataset of 55,260 annotations. Evaluations of the models' performance demonstrates that annotating gender biases can be automated; however, the subjectivity of bias as a concept complicates the generalizability of any one approach. The contributions are: (1) an interdisciplinary and participatory Bias-Aware Methodology, (2) a Taxonomy of Gendered and Gender Biased Language, (3) data annotated for gender biased language, (4) gender biased text classification models, and (5) a human-centered approach to model evaluation. The contributions have implications for Machine Learning, demonstrating how bias is inherent to all data and models; more specifically for Natural Language Processing, providing an annotation taxonomy, annotated datasets and classification models for analyzing gender biased language at scale; for the Gallery, Library, Archives, and Museum sector, offering guidance to institutions seeking to reconcile with histories of marginalizing communities through their documentation practices; and for historians, who utilize cultural heritage documentation to study and interpret the past. Through a real-world application of the Bias-Aware Methodology in a case study, the thesis illustrates the need to shift away from removing social biases and towards acknowledging them, creating data and models that surface the uncertainty and multiplicity characteristic of human societies

    Orientation-Aware 3D SLAM in Alternating Magnetic Field from Powerlines

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    Identifying new sensing modalities for indoor localization is an interest of research. This paper studies powerline-induced alternating magnetic field (AMF) that fills the indoor space for the orientation-aware three-dimensional (3D) simultaneous localization and mapping (SLAM). While an existing study has adopted a uniaxial AMF sensor for SLAM in a plane surface, the design falls short of addressing the vector field nature of AMF and is therefore susceptible to sensor orientation variations. Moreover, although the higher spatial variability of AMF in comparison with indoor geomagnetism promotes location sensing resolution, extra SLAM algorithm designs are needed to achieve robustness to trajectory deviations from the constructed map. To address the above issues, we design a new triaxial AMF sensor and a new SLAM algorithm that constructs a 3D AMF intensity map regularized and augmented by a Gaussian process. The triaxial sensor’s orientation estimation is free of the error accumulation problem faced by inertial sensing. From extensive evaluation in eight indoor environments, our AMF-based 3D SLAM achieves sub-1m to 3m median localization errors in spaces of up to 500 m2 , sub-2° mean error in orientation sensing, and outperforms the SLAM systems based on Wi-Fi, geomagnetism, and uniaxial AMF by more than 30%

    Teleoperation Methods for High-Risk, High-Latency Environments

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    In-Space Servicing, Assembly, and Manufacturing (ISAM) can enable larger-scale and longer-lived infrastructure projects in space, with interest ranging from commercial entities to the US government. Servicing, in particular, has the potential to vastly increase the usable lifetimes of satellites. However, the vast majority of spacecraft on low Earth orbit today were not designed to be serviced on-orbit. As such, several of the manipulations during servicing cannot easily be automated and instead require ground-based teleoperation. Ground-based teleoperation of on-orbit robots brings its own challenges of high latency communications, with telemetry delays of several seconds, and difficulties in visualizing the remote environment due to limited camera views. We explore teleoperation methods to alleviate these difficulties, increase task success, and reduce operator load. First, we investigate a model-based teleoperation interface intended to provide the benefits of direct teleoperation even in the presence of time delay. We evaluate the model-based teleoperation method using professional robot operators, then use feedback from that study to inform the design of a visual planning tool for this task, Interactive Planning and Supervised Execution (IPSE). We describe and evaluate the IPSE system and two interfaces, one 2D using a traditional mouse and keyboard and one 3D using an Intuitive Surgical da Vinci master console. We then describe and evaluate an alternative 3D interface using a Meta Quest head-mounted display. Finally, we describe an extension of IPSE to allow human-in-the-loop planning for a redundant robot. Overall, we find that IPSE improves task success rate and decreases operator workload compared to a conventional teleoperation interface

    Digitalization and Development

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    This book examines the diffusion of digitalization and Industry 4.0 technologies in Malaysia by focusing on the ecosystem critical for its expansion. The chapters examine the digital proliferation in major sectors of agriculture, manufacturing, e-commerce and services, as well as the intermediary organizations essential for the orderly performance of socioeconomic agents. The book incisively reviews policy instruments critical for the effective and orderly development of the embedding organizations, and the regulatory framework needed to quicken the appropriation of socioeconomic synergies from digitalization and Industry 4.0 technologies. It highlights the importance of collaboration between government, academic and industry partners, as well as makes key recommendations on how to encourage adoption of IR4.0 technologies in the short- and long-term. This book bridges the concepts and applications of digitalization and Industry 4.0 and will be a must-read for policy makers seeking to quicken the adoption of its technologies

    LIPIcs, Volume 251, ITCS 2023, Complete Volume

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    LIPIcs, Volume 251, ITCS 2023, Complete Volum

    Kinetic energy fluctuation-driven locomotor transitions on potential energy landscapes of beam obstacle traversal and self-righting

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    Despite contending with constraints imposed by the environment, morphology, and physiology, animals move well by physically interactingwith the environment to use and transition between modes such as running, climbing, and self-righting. By contrast, robots struggle to do so in real world. Understanding the principles of how locomotor transitions emerge from constrained physical interaction is necessary for robots to move robustly using similar strategies. Recent studies discovered that discoid cockroaches use and transition between diverse locomotor modes to traverse beams and self-right on ground. For both systems, animals probabilistically transitioned between modes via multiple pathways, while its self-propulsion created kinetic energy fluctuation. Here, we seek mechanistic explanations for these observations by adopting a physics-based approach that integrates biological and robotic studies. We discovered that animal and robot locomotor transitions during beam obstacle traversal and ground self-righting are barrier-crossing transitions on potential energy landscapes. Whereas animals and robot traversed stiff beams by rolling their body betweenbeam, they pushed across flimsy beams, suggesting a concept of terradynamic favorability where modes with easier physical interaction are more likely to occur. Robotic beam traversal revealed that, system state either remains in a favorable mode or transitions to one when energy fluctuation is comparable to the transition barrier. Robotic self-righting transitions occurred similarly and revealed that changing system parameters lowers barriers over which comparable fluctuation can induce transitions. Thetransitionsof animalsin both systems mostly occurred similarly, but sensory feedback may facilitate its beam traversal. Finally, we developed a method to measure animal movement across large spatiotemporal scales in a terrain treadmill.Comment: arXiv admin note: substantial text overlap with arXiv:2006.1271

    Computer Vision-Based Hand Tracking and 3D Reconstruction as a Human-Computer Input Modality with Clinical Application

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    The recent pandemic has impeded patients with hand injuries from connecting in person with their therapists. To address this challenge and improve hand telerehabilitation, we propose two computer vision-based technologies, photogrammetry and augmented reality as alternative and affordable solutions for visualization and remote monitoring of hand trauma without costly equipment. In this thesis, we extend the application of 3D rendering and virtual reality-based user interface to hand therapy. We compare the performance of four popular photogrammetry software in reconstructing a 3D model of a synthetic human hand from videos captured through a smartphone. The visual quality, reconstruction time and geometric accuracy of output model meshes are compared. Reality Capture produces the best result, with output mesh having the least error of 1mm and a total reconstruction time of 15 minutes. We developed an augmented reality app using MediaPipe algorithms that extract hand key points, finger joint coordinates and angles in real-time from hand images or live stream media. We conducted a study to investigate its input variability and validity as a reliable tool for remote assessment of finger range of motion. The intraclass correlation coefficient between DIGITS and in-person measurement obtained is 0.767- 0.81 for finger extension and 0.958–0.857 for finger flexion. Finally, we develop and surveyed the usability of a mobile application that collects patient data medical history, self-reported pain levels and hand 3D models and transfer them to therapists. These technologies can improve hand telerehabilitation, aid clinicians in monitoring hand conditions remotely and make decisions on appropriate therapy, medication, and hand orthoses

    Immune contexture monitoring in solid tumors focusing on Head and Neck Cancer

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    Forti evidenze dimostrano una stretta interazione tra il sistema immunitario e lo sviluppo biologico e la progressione clinica dei tumori solidi. L'effetto che il microambiente immunitario del tumore può avere sul comportamento clinico della malattia è indicato come "immunecontexture". Nonostante ciò, l'attuale gestione clinica dei pazienti affetti da cancro non tiene conto di alcuna caratteristica immunologica né per la stadiazione né per le scelte terapeutiche. Il tumore della testa e del collo (HNSCC) rappresenta il 7° tumore più comune al mondo ed è caratterizzato da una prognosi relativamente sfavorevole e dall'effetto negativo dei trattamenti sulla qualità della vita dei pazienti. Oltre alla chirurgia e alla radioterapia, sono disponibili pochi trattamenti sistemici, rappresentati principalmente dalla chemioterapia a base di platino-derivati o dal cetuximab. L'immunoterapia è una nuova strategia terapeutica ancora limitata al setting palliativo (malattia ricorrente non resecabile o metastatica). La ricerca di nuovi biomarcatori o possibili nuovi meccanismi target è molto rilevante quindi nel contesto clinico dell'HNSCC. In questa tesi ci si concentrerà sullo studio di tre possibili popolazioni immunitarie pro-tumorali studiate nell'HNSCC: i neutrofili tumore-associati (TAN), le cellule B intratumorali con fenotipo immunosoppressivo e i T-reg CD8+. Particolare attenzione è data all'applicazione di moderne tecniche biostatistiche e bioinformatiche per riassumere informazioni complesse derivate da variabili cliniche e immunologiche multiparametriche e per validare risultati derivati ​​in situ, attraverso dati di espressione genica derivati da dataset pubblici. Infine, la seconda parte della tesi prenderà in considerazione progetti di ricerca clinica rilevanti, volti a migliorare l'oncologia di precisione nell'HNSCC, sviluppando modelli predittivi di sopravvivenza, confrontando procedure oncologiche alternative, validando nuovi classificatori o testando l'uso di nuovi protocolli clinici come l'uso dell'immunonutrizione.Strong evidences demonstrate a close interplay between the immune system and the biological development and clinical progression of solid tumors. The effect that the tumor immune microenvironment can have on the clinical behavior of the disease is referred as the immuno contexture. Nevertheless, the current clinical management of patients affected by cancer does not take into account any immunological features either for the staging or for the treatment choices. Head and Neck Cancer (HNSCC) represents the 7th most common cancer worldwide and it is characterized by a relatively poor prognosis and detrimental effect of treatments on the quality of life of patients. Beyond surgery and radiotherapy, few systemic treatments are available, mainly represented by platinum-based chemotherapy or cetuximab. Immunotherapy is a new therapeutical strategy still limited to the palliative setting (recurrent not resectable or metastatic disease). The search for new biomarkers or possible new targetable mechanisms is meaningful especially in the clinical setting of HNSCC. In this thesis a focus will be given on the study of three possible pro-tumoral immune populations studied in HNSCC: the tumor associated neutrophils (TAN), intratumoral B-cells with a immunosuppressive phenotype and the CD8+ T-regs. Biostatistical and bioinformatical techniques are applied to summarize complex information derived from multiparametric clinical and immunological variables and to validate in-situ derived findings through gene expression data of public available datasets. Lastly, the second part of the thesis will take into account relevant clinical research projects, aimed at improving the precision oncology in HNSCC developing survival prediction models, comparing alternative oncological procedures, validating new classifiers or testing the use of novel clinical protocols as the use of immunnutrition

    Advances and Applications of DSmT for Information Fusion. Collected Works, Volume 5

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    This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well

    Characterisation and State Estimation of Magnetic Soft Continuum Robots

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    Minimally invasive surgery has become more popular as it leads to less bleeding, scarring, pain, and shorter recovery time. However, this has come with counter-intuitive devices and steep surgeon learning curves. Magnetically actuated Soft Continuum Robots (SCR) have the potential to replace these devices, providing high dexterity together with the ability to conform to complex environments and safe human interactions without the cognitive burden for the clinician. Despite considerable progress in the past decade in their development, several challenges still plague SCR hindering their full realisation. This thesis aims at improving magnetically actuated SCR by addressing some of these challenges, such as material characterisation and modelling, and sensing feedback and localisation. Material characterisation for SCR is essential for understanding their behaviour and designing effective modelling and simulation strategies. In this work, the material properties of commonly employed materials in magnetically actuated SCR, such as elastic modulus, hyper-elastic model parameters, and magnetic moment were determined. Additionally, the effect these parameters have on modelling and simulating these devices was investigated. Due to the nature of magnetic actuation, localisation is of utmost importance to ensure accurate control and delivery of functionality. As such, two localisation strategies for magnetically actuated SCR were developed, one capable of estimating the full 6 degrees of freedom (DOFs) pose without any prior pose information, and another capable of accurately tracking the full 6-DOFs in real-time with positional errors lower than 4~mm. These will contribute to the development of autonomous navigation and closed-loop control of magnetically actuated SCR
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