Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment

A Trio Neural Model for Dynamic Entity Relatedness Ranking

Measuring entity relatedness is a fundamental task for many natural language processing and information retrieval applications. Prior work often studies entity relatedness in static settings and an unsupervised manner. However, entities in real-world are often involved in many different relationships, consequently entity-relations are very dynamic over time. In this work, we propose a neural networkbased approach for dynamic entity relatedness, leveraging the collective attention as supervision. Our model is capable of learning rich and different entity representations in a joint framework. Through extensive experiments on large-scale datasets, we demonstrate that our method achieves better results than competitive baselines.Comment: In Proceedings of CoNLL 201

Concept Extraction and Clustering for Topic Digital Library Construction

This paper is to introduce a new approach to build topic digital library using concept extraction and document clustering. Firstly, documents in a special domain are automatically produced by document classification approach. Then, the keywords of each document are extracted using the machine learning approach. The keywords are used to cluster the documents subset. The clustered result is the taxonomy of the subset. Lastly, the taxonomy is modified to the hierarchical structure for user navigation by manual adjustments. The topic digital library is constructed after combining the full-text retrieval and hierarchical navigation function

Recommendation, collaboration and social search

This chapter considers the social component of interactive information retrieval: what is the role of other people in searching and browsing? For simplicity we begin by considering situations without computers. After all, you can interactively retrieve information without a computer; you just have to interact with someone or something else. Such an analysis can then help us think about the new forms of collaborative interactions that extend our conceptions of information search, made possible by the growth of networked ubiquitous computing technology. Information searching and browsing have often been conceptualized as a solitary activity, however they always have a social component. We may talk about 'the' searcher or 'the' user of a database or information resource. Our focus may be on individual uses and our research may look at individual users. Our experiments may be designed to observe the behaviors of individual subjects. Our models and theories derived from our empirical analyses may focus substantially or exclusively on an individual's evolving goals, thoughts, beliefs, emotions and actions. Nevertheless there are always social aspects of information seeking and use present, both implicitly and explicitly. We start by summarizing some of the history of information access with an emphasis on social and collaborative interactions. Then we look at the nature of recommendations, social search and interfaces to support collaboration between information seekers. Following this we consider how the design of interactive information systems is influenced by their social elements