12,623 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
Pollution-induced community tolerance in freshwater biofilms – from molecular mechanisms to loss of community functions
Exposure to herbicides poses a threat to aquatic biofilms by affecting their community structure, physiology and function. These changes render biofilms to become more tolerant, but on the downside community tolerance has ecologic costs. A concept that addresses induced community tolerance to a pollutant (PICT) was introduced by Blanck and Wängberg (1988). The basic principle of the concept is that microbial communities undergo pollution-induced succession when exposed to a pollutant over a long period of time, which changes communities structurally and functionally and enhancing tolerance to the pollutant exposure. However, the mechanisms of tolerance and the ecologic consequences were hardly studied up to date. This thesis addresses the structural and functional changes in biofilm communities and applies modern molecular methods to unravel molecular tolerance mechanisms.
Two different freshwater biofilm communities were cultivated for a period of five weeks, with one of the communities being contaminated with 4 μg L-1 diuron. Subsequently, the communities were characterized for structural and functional differences, especially focusing on their crucial role of photosynthesis. The community structure of the autotrophs was assessed using HPLC-based pigment analysis and their functional alterations were investigated using Imaging-PAM fluorometry to study photosynthesis and community oxygen profiling to determine net primary production. Then, the molecular fingerprints of the communities were measured with meta-transcriptomics (RNA-Seq) and GC-based community metabolomics approaches and analyzed with respect to changes in their molecular functions. The communities were acute exposed to diuron for one hour in a dose-response design, to reveal a potential PICT and uncover related adaptation to diuron exposure. The combination of apical and molecular methods in a dose-response design enabled the linkage of functional effects of diuron exposure and underlying molecular mechanisms based on a sensitivity analysis.
Chronic exposure to diuron impaired freshwater biofilms in their biomass accrual. The contaminated communities particularly lost autotrophic biomass, reflected by the decrease in specific chlorophyll a content. This loss was associated with a change in the molecular fingerprint of the communities, which substantiates structural and physiological changes. The decline in autotrophic biomass could be due to a primary loss of sensitive autotrophic organisms caused by the selection of better adapted species in the course of chronic exposure. Related to this hypothesis, an increase in diuron tolerance has been detected in the contaminated communities and molecular mechanisms facilitating tolerance have been found. It was shown that genes of the photosystem, reductive-pentose phosphate cycle and arginine metabolism were differentially expressed among the communities and that an increased amount of potential antioxidant degradation products was found in the contaminated communities. This led to the hypothesis that contaminated communities may have adapted to oxidative stress, making them less sensitive to diuron exposure. Moreover, the photosynthetic light harvesting complex was altered and the photoprotective xanthophyll cycle was increased in the contaminated communities. Despite these adaptation strategies, the loss of autotrophic biomass has been shown to impair primary production. This impairment persisted even under repeated short-term exposure, so that the tolerance mechanisms cannot safeguard primary production as a key function in aquatic systems.:1. The effect of chemicals on organisms and their functions .............................. 1
1.1 Welcome to the anthropocene .......................................................................... 1
1.2 From cellular stress responses to ecosystem resilience ................................... 3
1.2.1 The individual pursuit for homeostasis ....................................................... 3
1.2.2 Stability from diversity ................................................................................. 5
1.3 Community ecotoxicology - a step forward in monitoring the effects of chemical
pollution? ................................................................................................................. 6
1.4 Functional ecotoxicological assessment of microbial communities ................... 9
1.5 Molecular tools – the key to a mechanistic understanding of stressor effects
from a functional perspective in microbial communities? ...................................... 12
2. Aims and Hypothesis ......................................................................................... 14
2.1 Research question .......................................................................................... 14
2.2 Hypothesis and outline .................................................................................... 15
2.3 Experimental approach & concept .................................................................. 16
2.3.1 Aquatic freshwater biofilms as model community ..................................... 16
2.3.2 Diuron as model herbicide ........................................................................ 17
2.3.3 Experimental design ................................................................................. 18
3. Structural and physiological changes in microbial communities after chronic
exposure - PICT and altered functional capacity ................................................. 21
3.1 Introduction ..................................................................................................... 21
3.2 Methods .......................................................................................................... 23
3.2.1 Biofilm cultivation ...................................................................................... 23
3.2.2 Dry weight and autotrophic index ............................................................. 23
3.2.4 Pigment analysis of periphyton ................................................................. 23
3.2.4.1 In-vivo pigment analysis for community characterization ....................... 24
3.2.4.2 In-vivo pigment analysis based on Imaging-PAM fluorometry ............... 24
3.2.4.3 In-vivo pigment fluorescence for tolerance detection ............................. 26
3.2.4.4 Ex-vivo pigment analysis by high-pressure liquid-chromatography ....... 27
3.2.5 Community oxygen metabolism measurements ....................................... 28
3.3 Results and discussion ................................................................................... 29
3.3.1 Comparison of the structural community parameters ............................... 29
3.3.2 Photosynthetic activity and primary production of the communities after
selection phase ................................................................................................. 33
3.3.3 Acquisition of photosynthetic tolerance .................................................... 34
3.3.4 Primary production at exposure conditions ............................................... 36
3.3.5 Tolerance detection in primary production ................................................ 37
3.4 Summary and Conclusion ........................................................................... 40
4. Community gene expression analysis by meta-transcriptomics ................... 41
4.1 Introduction to meta-transcriptomics ............................................................... 41
4.2. Methods ......................................................................................................... 43
4.2.1 Sampling and RNA extraction................................................................... 43
4.2.2 RNA sequencing analysis ......................................................................... 44
4.2.3 Data assembly and processing................................................................. 45
4.2.4 Prioritization of contigs and annotation ..................................................... 47
4.2.5 Sensitivity analysis of biological processes .............................................. 48
4.3 Results and discussion ................................................................................... 48
4.3.1 Characterization of the meta-transcriptomic fingerprints .......................... 49
4.3.2 Insights into community stress response mechanisms using trend analysis
(DRomic’s) ......................................................................................................... 51
4.3.3 Response pattern in the isoform PS genes .............................................. 63
4.5 Summary and conclusion ................................................................................ 65
5. Community metabolome analysis ..................................................................... 66
5.1 Introduction to community metabolomics ........................................................ 66
5.2 Methods .......................................................................................................... 68
5.2.1 Sampling, metabolite extraction and derivatisation................................... 68
5.2.2 GC-TOF-MS analysis ............................................................................... 69
5.2.3 Data processing and statistical analysis ................................................... 69
5.3 Results and discussion ................................................................................... 70
5.3.1 Characterization of the metabolic fingerprints .......................................... 70
5.3.2 Difference in the metabolic fingerprints .................................................... 71
5.3.3 Differential metabolic responses of the communities to short-term exposure
of diuron ............................................................................................................ 73
5.4 Summary and conclusion ................................................................................ 78
6. Synthesis ............................................................................................................. 79
6.1 Approaches and challenges for linking molecular data to functional
measurements ...................................................................................................... 79
6.2 Methods .......................................................................................................... 83
6.2.1 Summary on the data ............................................................................... 83
6.2.2 Aggregation of molecular data to index values (TELI and MELI) .............. 83
6.2.3 Functional annotation of contigs and metabolites using KEGG ................ 83
6.3 Results and discussion ................................................................................... 85
6.3.1 Results of aggregation techniques ........................................................... 85
6.3.2 Sensitivity analysis of the different molecular approaches and endpoints 86
6.3.3 Mechanistic view of the molecular stress responses based on KEGG
functions ............................................................................................................ 89
6.4 Consolidation of the results – holistic interpretation and discussion ............... 93
6.4.1 Adaptation to chronic diuron exposure - from molecular changes to
community effects.............................................................................................. 93
6.4.2 Assessment of the ecological costs of Pollution-induced community
tolerance based on primary production ............................................................. 94
6.5 Outlook ............................................................................................................ 9
Model Diagnostics meets Forecast Evaluation: Goodness-of-Fit, Calibration, and Related Topics
Principled forecast evaluation and model diagnostics are vital in fitting probabilistic models and forecasting outcomes of interest. A common principle is that fitted or predicted distributions ought to be calibrated, ideally in the sense that the outcome is indistinguishable from a random draw from the posited distribution. Much of this thesis is centered on calibration properties of various types of forecasts.
In the first part of the thesis, a simple algorithm for exact multinomial goodness-of-fit tests is proposed. The algorithm computes exact -values based on various test statistics, such as the log-likelihood ratio and Pearson\u27s chi-square. A thorough analysis shows improvement on extant methods. However, the runtime of the algorithm grows exponentially in the number of categories and hence its use is limited.
In the second part, a framework rooted in probability theory is developed, which gives rise to hierarchies of calibration, and applies to both predictive distributions and stand-alone point forecasts. Based on a general notion of conditional T-calibration, the thesis introduces population versions of T-reliability diagrams and revisits a score decomposition into measures of miscalibration, discrimination, and uncertainty. Stable and efficient estimators of T-reliability diagrams and score components arise via nonparametric isotonic regression and the pool-adjacent-violators algorithm. For in-sample model diagnostics, a universal coefficient of determination is introduced that nests and reinterprets the classical in least squares regression.
In the third part, probabilistic top lists are proposed as a novel type of prediction in classification, which bridges the gap between single-class predictions and predictive distributions. The probabilistic top list functional is elicited by strictly consistent evaluation metrics, based on symmetric proper scoring rules, which admit comparison of various types of predictions
Deep Learning for Scene Flow Estimation on Point Clouds: A Survey and Prospective Trends
Aiming at obtaining structural information and 3D motion of dynamic scenes, scene flow estimation has been an interest of research in computer vision and computer graphics for a long time. It is also a fundamental task for various applications such as autonomous driving. Compared to previous methods that utilize image representations, many recent researches build upon the power of deep analysis and focus on point clouds representation to conduct 3D flow estimation. This paper comprehensively reviews the pioneering literature in scene flow estimation based on point clouds. Meanwhile, it delves into detail in learning paradigms and presents insightful comparisons between the state-of-the-art methods using deep learning for scene flow estimation. Furthermore, this paper investigates various higher-level scene understanding tasks, including object tracking, motion segmentation, etc. and concludes with an overview of foreseeable research trends for scene flow estimation
A suite of quantum algorithms for the shortestvector problem
Crytography has come to be an essential part of the cybersecurity infrastructure that provides a safe environment for communications in an increasingly connected world. The advent of quantum computing poses a threat to the foundations of the current widely-used cryptographic model, due to the breaking of most of the cryptographic algorithms used to provide confidentiality, authenticity, and more. Consequently a new set of cryptographic protocols have been designed to be secure against quantum computers, and are collectively known as post-quantum cryptography (PQC). A forerunner among PQC is lattice-based cryptography, whose security relies upon the hardness of a number of closely related mathematical problems, one of which is known as the shortest vector problem (SVP).
In this thesis I describe a suite of quantum algorithms that utilize the energy minimization principle to attack the shortest vector problem. The algorithms outlined span the gate-model and continuous time quantum computing, and explore methods of parameter optimization via variational methods, which are thought to be effective on near-term quantum computers. The performance of the algorithms are analyzed numerically, analytically, and on quantum hardware where possible. I explain how the results obtained in the pursuit of solving SVP apply more broadly to quantum algorithms seeking to solve general real-world problems; minimize the effect of noise on imperfect hardware; and improve efficiency of parameter optimization.Open Acces
Pocket size interactive films: Embedding the mobile devices’ features, characteristics and affordances into filmic interactive narratives.
Throughout the history of interactive film, creators have experimented with different modes of interaction to allow for the viewers’ agency. As interactive films have not yet established a standardised form, projects have continually been shaped by new technology. Over time, viewers have shifted from the cinema, to televisions, the personal computer and recently the mobile device. These devices further extend the interactive capabilities that are at the creators’ disposal. Therefore, this thesis proposes that mobile devices could facilitate new forms of interactive film that make use of these features.
This study investigates the integration of the mobile devices’ characteristics, features and affordances into an interactive film project that is both viewed and interacted with on a mobile device. First and foremost, it establishes whether the mobile device can be successfully used by authors to relay interactive films. Secondly, it gives insights into design considerations for authors that aim to make use of the mobile devices’ features. Additionally, the thesis gathers insights into the use of game-engine technology for developing similar interactive film projects.
The research begins with a literature review establishing the historical and academic context in regards to interactive- films, narratives, and interfaces, thereby focussing on mobile devices. Consecutively, a selection of projects is surveyed to garner insights into the current state of the art. These sections are then used to inform the practice-based part of this thesis in which the production of an interactive film project will be comprehensively documented. A concurrent think-aloud usability test, accompanied by a reflection on the outcomes and production process will conclude the research. The outcome suggests that mobile devices can act as successful vessels for interactive narratives. However, usability tests as well as reflection reveal that the thesis project cannot be strictly classified as an interactive film. Therefore, suggestions for future research as well as insights into the retention of filmic quality can be made in retrospect. Additionally, The use of game-engines for interactive film authoring proves to allow creators rapid prototyping and ease of implementation. Though their use might impact projects by over-complicating interaction paradigms more extensively used in game production.Media files notes:
Project Documentation of Creations; an interactive short film for the mobile device.
Media rights: CC-BY-NC-ND 4.
ScaFi: Integration and Performance Analysis with Scala Native
Aggregate Computing is an emerging paradigm for complex distributed systems where a vast number of distributed devices are involved in a global computation and must cooperate to produce a collective result. This situation is common in the Internet of Things, large-scale urban events, drone coordination and smart cities. Modern Aggregate Computing APIs are normally based on the Field Calculus that offers the basis for the global-to-local computation abstraction, providing Computational Fields. Moreover, these APIs also rely on abstraction layers that hide the complexity of the environment from the sight of the developer (complexity "hidden under the hood"), offering a simple and friendly way to develop this kind of applications. An Internal Domain-specific language that offers these features is Scala with Computational Fields (ScaFi), a Scala framework implementing aggregate programming mechanisms. A critical concept for these types of libraries is portability since their nature implies the possibility of being run over a wide range of different devices. The work shown in this thesis offers a solution to improve the portability and flexibility of ScaFi integrating Scala Native, a Scala ahead-of-time compiler that makes it possible to directly compile Scala code over devices that do not support the JVM (enabling the so-called Cross-compilation). Cross-compilation between different platforms is a very desirable feature for a programming language because it makes the language much more flexible. For this reason, it is often included in many modern languages such as Kotlin and Rust. To conclude, several tests are done to validate the stability and the performance of the integration and in order to prove that the implementation proposed can efficiently extend the number of devices on which ScaFi can be run
A novel Auto-ML Framework for Sarcasm Detection
Many domains have sarcasm or verbal irony presented in the text of reviews, tweets, comments, and dialog discussions. The purpose of this research is to classify sarcasm for multiple domains using the deep learning based AutoML framework. The proposed AutoML framework has five models in the model search pipeline, these five models are the combination of convolutional neural network (CNN), Long Short-Term Memory (LSTM), deep neural network (DNN), and Bidirectional Long Short-Term Memory (BiLSTM). The hybrid combination of CNN, LSTM, and DNN models are presented as CNN-LSTM-DNN, LSTM-DNN, BiLSTM-DNN, and CNN-BiLSTM-DNN. This work has proposed the algorithms that contrast polarities between terms and phrases, which are categorized into implicit and explicit incongruity categories. The incongruity and pragmatic features like punctuation, exclamation marks, and others integrated into the AutoML DeepConcat framework models. That integration was possible when the DeepConcat AutoML framework initiate a model search pipeline for five models to achieve better performance. Conceptually, DeepConcat means that model will integrate with generalized features. It was evident that the pretrain model BiLSTM achieved a better performance of 0.98 F1 when compared with the other five model performances. Similarly, the AutoML based BiLSTM-DNN model achieved the best performance of 0.98 F1, which is better than core approaches and existing state-of-the-art Tweeter tweet dataset, Amazon reviews, and dialog discussion comments. The proposed AutoML framework has compared performance metrics F1 and AUC and discovered that F1 is better than AUC. The integration of all feature categories achieved a better performance than the individual category of pragmatic and incongruity features. This research also evaluated the performance of the dropout layer hyperparameter and it achieved better performance than the fixed percentage like 10% of dropout parameter of the AutoML based Bayesian optimization. Proposed AutoML framework DeepConcat evaluated best pretrain models BiLSTM-DNN and CNN-CNN-DNN to transfer knowledge across domains like Amazon reviews and Dialog discussion comments (text) using the last strategy, full layer, and our fade-out freezing strategies. In the transfer learning fade-out strategy outperformed the existing state-of-the-art model BiLSTM-DNN, the performance is 0.98 F1 on tweets, 0.85 F1 on Amazon reviews, and 0.87 F1 on the dialog discussion SCV2-Gen dataset. Further, all strategies with various domains can be compared for the best model selection
Foundations for programming and implementing effect handlers
First-class control operators provide programmers with an expressive and efficient
means for manipulating control through reification of the current control state as a first-class object, enabling programmers to implement their own computational effects and
control idioms as shareable libraries. Effect handlers provide a particularly structured
approach to programming with first-class control by naming control reifying operations
and separating from their handling.
This thesis is composed of three strands of work in which I develop operational
foundations for programming and implementing effect handlers as well as exploring
the expressive power of effect handlers.
The first strand develops a fine-grain call-by-value core calculus of a statically
typed programming language with a structural notion of effect types, as opposed to the
nominal notion of effect types that dominates the literature. With the structural approach,
effects need not be declared before use. The usual safety properties of statically typed
programming are retained by making crucial use of row polymorphism to build and
track effect signatures. The calculus features three forms of handlers: deep, shallow,
and parameterised. They each offer a different approach to manipulate the control state
of programs. Traditional deep handlers are defined by folds over computation trees,
and are the original con-struct proposed by Plotkin and Pretnar. Shallow handlers are
defined by case splits (rather than folds) over computation trees. Parameterised handlers
are deep handlers extended with a state value that is threaded through the folds over
computation trees. To demonstrate the usefulness of effects and handlers as a practical
programming abstraction I implement the essence of a small UNIX-style operating
system complete with multi-user environment, time-sharing, and file I/O.
The second strand studies continuation passing style (CPS) and abstract machine
semantics, which are foundational techniques that admit a unified basis for implementing deep, shallow, and parameterised effect handlers in the same environment. The
CPS translation is obtained through a series of refinements of a basic first-order CPS
translation for a fine-grain call-by-value language into an untyped language. Each refinement moves toward a more intensional representation of continuations eventually
arriving at the notion of generalised continuation, which admit simultaneous support for
deep, shallow, and parameterised handlers. The initial refinement adds support for deep
handlers by representing stacks of continuations and handlers as a curried sequence of
arguments. The image of the resulting translation is not properly tail-recursive, meaning some function application terms do not appear in tail position. To rectify this the
CPS translation is refined once more to obtain an uncurried representation of stacks
of continuations and handlers. Finally, the translation is made higher-order in order to
contract administrative redexes at translation time. The generalised continuation representation is used to construct an abstract machine that provide simultaneous support for
deep, shallow, and parameterised effect handlers. kinds of effect handlers.
The third strand explores the expressiveness of effect handlers. First, I show that
deep, shallow, and parameterised notions of handlers are interdefinable by way of typed
macro-expressiveness, which provides a syntactic notion of expressiveness that affirms
the existence of encodings between handlers, but it provides no information about the
computational content of the encodings. Second, using the semantic notion of expressiveness I show that for a class of programs a programming language with first-class
control (e.g. effect handlers) admits asymptotically faster implementations than possible in a language without first-class control
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