185 research outputs found

    Application of a digital twin for highway tunnels based on multi-sensor and information fusion

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    Due to the harsh environment of highway tunnels and frequent breakdowns of various detection sensors and surveillance devices, the operational management of highway tunnels lacks effective data support. This paper analyzes the characteristics of operational surveillance data in highway tunnels. It proposes a multimodal information fusion method based on CNN–LSTM–attention and designs and develops a digital twin for highway tunnel operations. The system addresses issues such as insufficient development and coordination of the technical architecture of operation control systems, weak information service capabilities, and insufficient data application capabilities. The system also lacks intelligent decision-making and control capabilities. The developed system achieves closed-loop management of “accurate perception–risk assessment–decision warning–emergency management” for highway tunnel operations based on data-driven approaches. The engineering demonstration application underscores the system’s capacity to enhance tunnel traffic safety, diminish tunnel management costs, and elevate tunnel driving comfort

    Teaching Unknown Objects by Leveraging Human Gaze and Augmented Reality in Human-Robot Interaction

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    Roboter finden aufgrund ihrer außergewöhnlichen Arbeitsleistung, Präzision, Effizienz und Skalierbarkeit immer mehr Verwendung in den verschiedensten Anwendungsbereichen. Diese Entwicklung wurde zusätzlich begünstigt durch Fortschritte in der Künstlichen Intelligenz (KI), insbesondere im Maschinellem Lernen (ML). Mit Hilfe moderner neuronaler Netze sind Roboter in der Lage, Objekte in ihrer Umgebung zu erkennen und mit ihnen zu interagieren. Ein erhebliches Manko besteht jedoch darin, dass das Training dieser Objekterkennungsmodelle, in aller Regel mit einer zugrundeliegenden Abhängig von umfangreichen Datensätzen und der Verfügbarkeit großer Datenmengen einhergeht. Dies ist insbesondere dann problematisch, wenn der konkrete Einsatzort des Roboters und die Umgebung, einschließlich der darin befindlichen Objekte, nicht im Voraus bekannt sind. Die breite und ständig wachsende Palette von Objekten macht es dabei praktisch unmöglich, das gesamte Spektrum an existierenden Objekten allein mit bereits zuvor erstellten Datensätzen vollständig abzudecken. Das Ziel dieser Dissertation war es, einem Roboter unbekannte Objekte mit Hilfe von Human-Robot Interaction (HRI) beizubringen, um ihn von seiner Abhängigkeit von Daten sowie den Einschränkungen durch vordefinierte Szenarien zu befreien. Die Synergie von Eye Tracking und Augmented Reality (AR) ermöglichte es dem als Lehrer fungierenden Menschen, mit dem Roboter zu kommunizieren und ihn mittels des menschlichen Blickes auf Objekte hinzuweisen. Dieser holistische Ansatz ermöglichte die Konzeption eines multimodalen HRI-Systems, durch das der Roboter Objekte identifizieren und dreidimensional segmentieren konnte, obwohl sie ihm zu diesem Zeitpunkt noch unbekannt waren, um sie anschließend aus unterschiedlichen Blickwinkeln eigenständig zu inspizieren. Anhand der Klasseninformationen, die ihm der Mensch mitteilte, war der Roboter daraufhin in der Lage, die entsprechenden Objekte zu erlernen und später wiederzuerkennen. Mit dem Wissen, das dem Roboter durch diesen auf HRI basierenden Lehrvorgang beigebracht worden war, war dessen Fähigkeit Objekte zu erkennen vergleichbar mit den Fähigkeiten modernster Objektdetektoren, die auf umfangreichen Datensätzen trainiert worden waren. Dabei war der Roboter jedoch nicht auf vordefinierte Klassen beschränkt, was seine Vielseitigkeit und Anpassungsfähigkeit unter Beweis stellte. Die im Rahmen dieser Dissertation durchgeführte Forschung leistete bedeutende Beiträge an der Schnittstelle von Machine Learning (ML), AR, Eye Tracking und Robotik. Diese Erkenntnisse tragen nicht nur zum besseren Verständnis der genannten Felder bei, sondern ebnen auch den Weg für weitere interdisziplinäre Forschung. Die in dieser Dissertation enthalten wissenschaftlichen Artikel wurden auf hochrangigen Konferenzen in den Bereichen Robotik, Eye Tracking und HRI veröffentlicht.Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence (AI), particularly Machine Learning (ML). By employing sophisticated neural networks, robots are given the ability to detect and interact with objects in their vicinity. However, a significant drawback arises from the underlying dependency on extensive datasets and the availability of substantial amounts of training data for these object detection models. This issue becomes particularly problematic when the specific deployment location of the robot and the surroundings, including the objects within it, are not known in advance. The vast and ever-expanding array of objects makes it virtually impossible to comprehensively cover the entire spectrum of existing objects using preexisting datasets alone. The goal of this dissertation was to teach a robot unknown objects in the context of Human-Robot Interaction (HRI) in order to liberate it from its data dependency, unleashing it from predefined scenarios. In this context, the combination of eye tracking and Augmented Reality (AR) created a powerful synergy that empowered the human teacher to seamlessly communicate with the robot and effortlessly point out objects by means of human gaze. This holistic approach led to the development of a multimodal HRI system that enabled the robot to identify and visually segment the Objects of Interest (OOIs) in three-dimensional space, even though they were initially unknown to it, and then examine them autonomously from different angles. Through the class information provided by the human, the robot was able to learn the objects and redetect them at a later stage. Due to the knowledge gained from this HRI based teaching process, the robot’s object detection capabilities exhibited comparable performance to state-of-the-art object detectors trained on extensive datasets, without being restricted to predefined classes, showcasing its versatility and adaptability. The research conducted within the scope of this dissertation made significant contributions at the intersection of ML, AR, eye tracking, and robotics. These findings not only enhance the understanding of these fields, but also pave the way for further interdisciplinary research. The scientific articles included in this dissertation have been published at high-impact conferences in the fields of robotics, eye tracking, and HRI

    Exactly soluble models in many-body physics

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    Almost all phenomena in the universe are described, at the fundamental level, by quantum manybody models. In general, however, a complete understanding of large systems with many degrees of freedom is impossible. While in general many-body quantum systems are intractable, there are special cases for which there are techniques that allow for an exact solution. Exactly soluble models are interesting because they are soluble; beyond this, they can be used to gain intuition for further reaching many-body systems, including when they can be leveraged to help with numerical approximations for general models. The work presented in this thesis considers exactly soluble models of quantum many-body systems. The first part of this thesis extends the family of many-body spin models for which we can find a freefermion solution. A solution method that was developed for a specific free-fermion model is generalized in such a way that allows application to a broader class of many-body spin system than was previously known to be free. Models which admit a solution via this method are characterized by a graph theory invariants: in brief it is shown that a quantum spin system has an exact description via non-interacting fermions if its frustration graph is claw-free and contains a simplicial clique. The second part of this thesis gives an explicit example of how the usefulness of exactly soluble models can extend beyond the solution itself. This chapter pertains to the calculation of the topological entanglement entropy in topologically ordered loop-gas states. Topological entanglement entropy gives an understanding of how correlations may extend throughout a system. In this chapter the topological entanglement entropy of two- and three-dimensional loop-gas states is calculated in the bulk and at the boundary. We obtain a closed form expression for the topological entanglement in terms of the anyonic theory that the models support

    Insect neuroethology of reinforcement learning

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    Historically, reinforcement learning is a branch of machine learning founded on observations of how animals learn. This involved collaboration between the fields of biology and artificial intelligence that was beneficial to both fields, creating smarter artificial agents and improving the understanding of how biological systems function. The evolution of reinforcement learning during the past few years was rapid but substantially diverged from providing insights into how biological systems work, opening a gap between reinforcement learning and biology. In an attempt to close this gap, this thesis studied the insect neuroethology of reinforcement learning, that is, the neural circuits that underlie reinforcement-learning-related behaviours in insects. The goal was to extract a biologically plausible plasticity function from insect-neuronal data, use this to explain biological findings and compare it to more standard reinforcement learning models. Consequently, a novel dopaminergic plasticity rule was developed to approximate the function of dopamine as the plasticity mechanism between neurons in the insect brain. This allowed a range of observed learning phenomena to happen in parallel, like memory depression, potentiation, recovery, and saturation. In addition, by using anatomical data of connections between neurons in the mushroom body neuropils of the insect brain, the neural incentive circuit of dopaminergic and output neurons was also explored. This, together with the dopaminergic plasticity rule, allowed for dynamic collaboration amongst parallel memory functions, such as acquisition, transfer, and forgetting. When tested on olfactory conditioning paradigms, the model reproduced the observed changes in the activity of the identified neurons in fruit flies. It also replicated the observed behaviour of the animals and it allowed for flexible behavioural control. Inspired by the visual navigation system of desert ants, the model was further challenged in the visual place recognition task. Although a relatively simple encoding of the olfactory information was sufficient to explain odour learning, a more sophisticated encoding of the visual input was required to increase the separability among the visual inputs and enable visual place recognition. Signal whitening and sparse combinatorial encoding were sufficient to boost the performance of the system in this task. The incentive circuit enabled the encoding of increasing familiarity along a known route, which dropped proportionally to the distance of the animal from that route. Finally, the proposed model was challenged in delayed reinforcement tasks, suggesting that it might take the role of an adaptive critic in the context of reinforcement learning

    Artificial Dendritic Neuron: A Model of Computation and Learning Algorithm

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    Dendrites are root-like extensions from the neuron cell body and have long been thought to serve as the predominant input structures of neurons. Since the early twentieth century, neuroscience research has attempted to define the dendrite’s contribution to neural computation and signal integration. This body of experimental and modeling research strongly indicates that dendrites are not just input structures but are crucial to neural processing. Dendritic processing consists of both active and passive elements that utilize the spatial, electrical and connective properties of the dendritic tree. This work presents a neuron model based around the structure and properties of dendrites. This research assesses the computational benefits and requirements of adding dendrites to a spiking artificial neuron model. A list of the computational properties of actual dendrites that have shaped this work is given. An algorithm capable of generating and training a network of dendritic neurons is created as an investigative tool through which computational challenges and attributes are explored. This work assumes that dendrites provide a necessary and beneficial function to biological intelligence (BI) and their translation into the artificial intelligence (AI) realm would broaden the capabilities and improve the realism of artificial neural network (ANN) research. To date there have been only a few instances in which neural network-based AI research has ventured beyond the point neuron; therefore, the work presented here should be viewed as exploratory. The contribution to AI made by this work is an implementation of the artificial dendritic (AD) neuron model and an algorithm for training AD neurons with spatially distributed inputs with dendrite-like connectivity

    Elements of Ion Linear Accelerators, Calm in The Resonances, Other_Tales

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    The main part of this book, Elements of Linear Accelerators, outlines in Part 1 a framework for non-relativistic linear accelerator focusing and accelerating channel design, simulation, optimization and analysis where space charge is an important factor. Part 1 is the most important part of the book; grasping the framework is essential to fully understand and appreciate the elements within it, and the myriad application details of the following Parts. The treatment concentrates on all linacs, large or small, intended for high-intensity, very low beam loss, factory-type application. The Radio-Frequency-Quadrupole (RFQ) is especially developed as a representative and the most complicated linac form (from dc to bunched and accelerated beam), extending to practical design of long, high energy linacs, including space charge resonances and beam halo formation, and some challenges for future work. Also a practical method is presented for designing Alternating-Phase- Focused (APF) linacs with long sequences and high energy gain. Full open-source software is available. The following part, Calm in the Resonances and Other Tales, contains eyewitness accounts of nearly 60 years of participation in accelerator technology. (September 2023) The LINACS codes are released at no cost and, as always,with fully open-source coding. (p.2 & Ch 19.10)Comment: 652 pages. Some hundreds of figures - all images, there is no data in the figures. (September 2023) The LINACS codes are released at no cost and, as always,with fully open-source coding. (p.2 & Ch 19.10

    Chapter 34 - Biocompatibility of nanocellulose: Emerging biomedical applications

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    Nanocellulose already proved to be a highly relevant material for biomedical applications, ensued by its outstanding mechanical properties and, more importantly, its biocompatibility. Nevertheless, despite their previous intensive research, a notable number of emerging applications are still being developed. Interestingly, this drive is not solely based on the nanocellulose features, but also heavily dependent on sustainability. The three core nanocelluloses encompass cellulose nanocrystals (CNCs), cellulose nanofibrils (CNFs), and bacterial nanocellulose (BNC). All these different types of nanocellulose display highly interesting biomedical properties per se, after modification and when used in composite formulations. Novel applications that use nanocellulose includewell-known areas, namely, wound dressings, implants, indwelling medical devices, scaffolds, and novel printed scaffolds. Their cytotoxicity and biocompatibility using recent methodologies are thoroughly analyzed to reinforce their near future applicability. By analyzing the pristine core nanocellulose, none display cytotoxicity. However, CNF has the highest potential to fail long-term biocompatibility since it tends to trigger inflammation. On the other hand, neverdried BNC displays a remarkable biocompatibility. Despite this, all nanocelluloses clearly represent a flag bearer of future superior biomaterials, being elite materials in the urgent replacement of our petrochemical dependence

    DEVELOPMENT OF A MICROFLUIDICS INTEGRATED MICROVASCULARISED HUMAN SKIN-ON-A-CHIP TISSUE MODEL

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    Tissue engineered skin constructs have been under development since the 1980s as a replacement for cadaverous human skin and animal models. These have evolved from simple confluent single cell-type arrangements to models with integrated dermal equivalents and often multiple cell types. Concomitantly, formation of stable self-assembled nanofibrous peptide amphiphile (PA) membranes upon contact with hyaluronic acid (HA) in aqueous solution, with comparable ultrastructure to the apical skin basement membrane (BM) have been reported. With the rise of microfluidic cell culture, scientists have scaled down these technologies; however no group to our knowledge has yet published a full thickness microfluidic skin equivalent with a physiologically mimetic tubular microvasculature or investigated integration of a skin model PA-based BM equivalent. This project aimed to integrate these features into a full thickness human skin-on-a-chip model, with a focus on microvasculature. We report the formation of interfacial self-assembled nanofibrous membranes between fibrin and collagen hydrogels and various PAs including C16V3A3K3. We exploit this in the stabilisation of the dermoepidermal interface in a macroscale fibrin-based skin equivalent model. We then design a novel skin-on-a-chip model integrating human-derived cells in a full-thickness arrangement. The model features a stratified epidermal equivalent featuring correct spatial localisation of keratinocyte basal and differentiation markers, dermoepidermal interfacial deposition of laminin 332 and a dermal compartment populated with human fibroblasts expressive of vimentin. The extent of expression of basal and corneal keratinocyte markers, and the sizes of dermally localised vimentin positive bodies, are comparable between our model and ex vivo human skin. The vascularised model incorporates either HUVECs alone or alongside primary pericytes and displays formation of tubular microvessels positive for CD31 surrounded by a laminin positive basement membrane. Microvessel diameters are comparable to those reported in literature for ex vivo human skin vasculature. The skin-equivalent is also tested in 3D extrusion bioprinted devices. We believe that this is a novel development in the field of microfluidic skin models, with a complex microvascular component displaying anastomosis and lumen formation unlike other vascularised skin-chip models. This model has potential utility in the fields of preclinical drugs testing and disease modellin

    Play Among Books

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    How does coding change the way we think about architecture? Miro Roman and his AI Alice_ch3n81 develop a playful scenario in which they propose coding as the new literacy of information. They convey knowledge in the form of a project model that links the fields of architecture and information through two interwoven narrative strands in an “infinite flow” of real books
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