16,738 research outputs found
Key technologies for safe and autonomous drones
Drones/UAVs are able to perform air operations that are very difficult to be performed by manned aircrafts. In addition, drones' usage brings significant economic savings and environmental benefits, while reducing risks to human life. In this paper, we present key technologies that enable development of drone systems. The technologies are identified based on the usages of drones (driven by COMP4DRONES project use cases). These technologies are grouped into four categories: U-space capabilities, system functions, payloads, and tools. Also, we present the contributions of the COMP4DRONES project to improve existing technologies. These contributions aim to ease drones’ customization, and enable their safe operation.This project has received funding from the ECSEL Joint Undertaking (JU) under grant agreement No 826610. The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Spain, Austria, Belgium, Czech Republic, France, Italy, Latvia, Netherlands. The total project budget is 28,590,748.75 EUR (excluding ESIF partners), while the requested grant is 7,983,731.61 EUR to ECSEL JU, and 8,874,523.84 EUR of National and ESIF Funding. The project has been started on 1st October 2019
In-situ crack and keyhole pore detection in laser directed energy deposition through acoustic signal and deep learning
Cracks and keyhole pores are detrimental defects in alloys produced by laser
directed energy deposition (LDED). Laser-material interaction sound may hold
information about underlying complex physical events such as crack propagation
and pores formation. However, due to the noisy environment and intricate signal
content, acoustic-based monitoring in LDED has received little attention. This
paper proposes a novel acoustic-based in-situ defect detection strategy in
LDED. The key contribution of this study is to develop an in-situ acoustic
signal denoising, feature extraction, and sound classification pipeline that
incorporates convolutional neural networks (CNN) for online defect prediction.
Microscope images are used to identify locations of the cracks and keyhole
pores within a part. The defect locations are spatiotemporally registered with
acoustic signal. Various acoustic features corresponding to defect-free
regions, cracks, and keyhole pores are extracted and analysed in time-domain,
frequency-domain, and time-frequency representations. The CNN model is trained
to predict defect occurrences using the Mel-Frequency Cepstral Coefficients
(MFCCs) of the lasermaterial interaction sound. The CNN model is compared to
various classic machine learning models trained on the denoised acoustic
dataset and raw acoustic dataset. The validation results shows that the CNN
model trained on the denoised dataset outperforms others with the highest
overall accuracy (89%), keyhole pore prediction accuracy (93%), and AUC-ROC
score (98%). Furthermore, the trained CNN model can be deployed into an
in-house developed software platform for online quality monitoring. The
proposed strategy is the first study to use acoustic signals with deep learning
for insitu defect detection in LDED process.Comment: 36 Pages, 16 Figures, accepted at journal Additive Manufacturin
Audio-Visual Automatic Speech Recognition Towards Education for Disabilities
Education is a fundamental right that enriches everyone’s life. However, physically challenged people often debar from the general and advanced education system. Audio-Visual Automatic Speech Recognition (AV-ASR) based system is useful to improve the education of physically challenged people by providing hands-free computing. They can communicate to the learning system through AV-ASR. However, it is challenging to trace the lip correctly for visual modality. Thus, this paper addresses the appearance-based visual feature along with the co-occurrence statistical measure for visual speech recognition. Local Binary Pattern-Three Orthogonal Planes (LBP-TOP) and Grey-Level Co-occurrence Matrix (GLCM) is proposed for visual speech information. The experimental results show that the proposed system achieves 76.60 % accuracy for visual speech and 96.00 % accuracy for audio speech recognition
A real-time smart sensing system for automatic localization and recognition of vegetable plants for weed control
Tomato is a globally grown vegetable crop with high economic and nutritional values. Tomato production is being threatened by weeds. This effect is more pronounced in the early stages of tomato plant growth. Thus weed management in the early stages of tomato plant growth is very critical. The increasing labor cost of manual weeding and the negative impact on human health and the environment caused by the overuse of herbicides are driving the development of smart weeders. The core task that needs to be addressed in developing a smart weeder is to accurately distinguish vegetable crops from weeds in real time. In this study, a new approach is proposed to locate tomato and pakchoi plants in real time based on an integrated sensing system consisting of camera and color mark sensors. The selection scheme of reference, color, area, and category of plant labels for sensor identification was examined. The impact of the number of sensors and the size of the signal tolerance region on the system recognition accuracy was also evaluated. The experimental results demonstrated that the color mark sensor using the main stem of tomato as the reference exhibited higher performance than that of pakchoi in identifying the plant labels. The scheme of applying white topical markers on the lower main stem of the tomato plant is optimal. The effectiveness of the six sensors used by the system to detect plant labels was demonstrated. The computer vision algorithm proposed in this study was specially developed for the sensing system, yielding the highest overall accuracy of 95.19% for tomato and pakchoi localization. The proposed sensor-based system is highly accurate and reliable for automatic localization of vegetable plants for weed control in real time
Neuroanatomical and gene expression features of the rabbit accessory olfactory system. Implications of pheromone communication in reproductive behaviour and animal physiology
Mainly driven by the vomeronasal system (VNS), pheromone
communication is involved in many species-specific fundamental innate socio-sexual behaviors such as mating and
fighting, which are essential for animal reproduction and survival. Rabbits are a unique model for studying
chemocommunication due to the discovery of the rabbit mammary pheromone, but paradoxically there has been a
lack of knowledge regarding its VNS pathway. In this work, we aim at filling this gap by approaching the system
from an integrative point of view, providing extensive anatomical and genomic data of the rabbit VNS, as well as
pheromone-mediated reproductive and behavioural studies. Our results build strong foundation for further
translational studies which aim at implementing the use of pheromones to improve animal production and welfare
Linear to multi-linear algebra and systems using tensors
In past few decades, tensor algebra also known as multi-linear algebra has
been developed and customized as a tool to be used for various engineering
applications. In particular, with the help of a special form of tensor
contracted product, known as the Einstein Product and its properties, many of
the known concepts from Linear Algebra could be extended to a multi-linear
setting. This enables to define the notions of multi-linear system theory where
the input, output signals and the system are multi-domain in nature. This paper
provides an overview of tensor algebra tools which can be seen as an extension
of linear algebra, at the same time highlighting the difference and advantages
that the multi-linear setting brings forth. In particular, the notion of tensor
inversion, tensor singular value and tensor Eigenvalue decomposition using the
Einstein product is explained. In addition, this paper also introduces the
notion of contracted convolution in both discrete and continuous multi-linear
system tensors. Tensor Networks representation of various tensor operations is
also presented. Also, application of tensor tools in developing transceiver
schemes for multi-domain communication systems, with an example of MIMO CDMA
systems, is presented. Thus this paper acts as an entry point tutorial for
graduate students whose research involves multi-domain or multi-modal signals
and systems
Autonomous Navigation in Rows of Trees and High Crops with Deep Semantic Segmentation
Segmentation-based autonomous navigation has recently been proposed as a
promising methodology to guide robotic platforms through crop rows without
requiring precise GPS localization. However, existing methods are limited to
scenarios where the centre of the row can be identified thanks to the sharp
distinction between the plants and the sky. However, GPS signal obstruction
mainly occurs in the case of tall, dense vegetation, such as high tree rows and
orchards. In this work, we extend the segmentation-based robotic guidance to
those scenarios where canopies and branches occlude the sky and hinder the
usage of GPS and previous methods, increasing the overall robustness and
adaptability of the control algorithm. Extensive experimentation on several
realistic simulated tree fields and vineyards demonstrates the competitive
advantages of the proposed solution
Annals [...].
Pedometrics: innovation in tropics; Legacy data: how turn it useful?; Advances in soil sensing; Pedometric guidelines to systematic soil surveys.Evento online. Coordenado por: Waldir de Carvalho Junior, Helena Saraiva Koenow Pinheiro, Ricardo Simão Diniz Dalmolin
Interference mitigation in LiFi networks
Due to the increasing demand for wireless data, the radio frequency (RF) spectrum has
become a very limited resource. Alternative approaches are under investigation to support
the future growth in data traffic and next-generation high-speed wireless communication
systems. Techniques such as massive multiple-input multiple-output (MIMO), millimeter
wave (mmWave) communications and light-fidelity (LiFi) are being explored. Among
these technologies, LiFi is a novel bi-directional, high-speed and fully networked wireless
communication technology. However, inter-cell interference (ICI) can significantly restrict the
system performance of LiFi attocell networks. This thesis focuses on interference mitigation
in LiFi attocell networks.
The angle diversity receiver (ADR) is one solution to address the issue of ICI as well as
frequency reuse in LiFi attocell networks. With the property of high concentration gain and
narrow field of view (FOV), the ADR is very beneficial for interference mitigation. However,
the optimum structure of the ADR has not been investigated. This motivates us to propose the
optimum structures for the ADRs in order to fully exploit the performance gain. The impact
of random device orientation and diffuse link signal propagation are taken into consideration.
The performance comparison between the select best combining (SBC) and maximum ratio
combining (MRC) is carried out under different noise levels. In addition, the double source
(DS) system, where each LiFi access point (AP) consists of two sources transmitting the same
information signals but with opposite polarity, is proven to outperform the single source (SS)
system under certain conditions.
Then, to overcome issues around ICI, random device orientation and link blockage, hybrid
LiFi/WiFi networks (HLWNs) are considered. In this thesis, dynamic load balancing (LB)
considering handover in HLWNs is studied. The orientation-based random waypoint (ORWP)
mobility model is considered to provide a more realistic framework to evaluate the performance
of HLWNs. Based on the low-pass filtering effect of the LiFi channel, we firstly propose
an orthogonal frequency division multiple access (OFDMA)-based resource allocation (RA)
method in LiFi systems. Also, an enhanced evolutionary game theory (EGT)-based LB scheme
with handover in HLWNs is proposed.
Finally, due to the characteristic of high directivity and narrow beams, a vertical-cavity
surface-emitting laser (VCSEL) array transmission system has been proposed to mitigate
ICI. In order to support mobile users, two beam activation methods are proposed. The
beam activation based on the corner-cube retroreflector (CCR) can achieve low power
consumption and almost-zero delay, allowing real-time beam activation for high-speed users.
The mechanism based on the omnidirectional transmitter (ODTx) is suitable for low-speed
users and very robust to random orientation
Compatibility and challenges in machine learning approach for structural crack assessment
Structural health monitoring and assessment (SHMA) is exceptionally essential for preserving and sustaining any mechanical structure’s service life. A successful assessment should provide reliable and resolute information to maintain the continuous performance of the structure. This information can effectively determine crack progression and its overall impact on the structural operation. However, the available sensing techniques and methods for performing SHMA generate raw measurements that require significant data processing before making any valuable predictions. Machine learning (ML) algorithms (supervised and unsupervised learning) have been extensively used for such data processing. These algorithms extract damage-sensitive features from the raw data to identify structural conditions and performance. As per the available published literature, the extraction of these features has been quite random and used by academic researchers without a suitability justification. In this paper, a comprehensive literature review is performed to emphasise the influence of damage-sensitive features on ML algorithms. The selection and suitability of these features are critically reviewed while processing raw data obtained from different materials (metals, composites and polymers). It has been found that an accurate crack prediction is only possible if the selection of damage-sensitive features and ML algorithms is performed based on available raw data and structure material type. This paper also highlights the current challenges and limitations during the mentioned sections
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