23,330 research outputs found
Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control
This paper provides an overview of the current state-of-the-art in selective
harvesting robots (SHRs) and their potential for addressing the challenges of
global food production. SHRs have the potential to increase productivity,
reduce labour costs, and minimise food waste by selectively harvesting only
ripe fruits and vegetables. The paper discusses the main components of SHRs,
including perception, grasping, cutting, motion planning, and control. It also
highlights the challenges in developing SHR technologies, particularly in the
areas of robot design, motion planning and control. The paper also discusses
the potential benefits of integrating AI and soft robots and data-driven
methods to enhance the performance and robustness of SHR systems. Finally, the
paper identifies several open research questions in the field and highlights
the need for further research and development efforts to advance SHR
technologies to meet the challenges of global food production. Overall, this
paper provides a starting point for researchers and practitioners interested in
developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic
Multi-Objective Trust-Region Filter Method for Nonlinear Constraints using Inexact Gradients
In this article, we build on previous work to present an optimization
algorithm for nonlinearly constrained multi-objective optimization problems.
The algorithm combines a surrogate-assisted derivative-free trust-region
approach with the filter method known from single-objective optimization.
Instead of the true objective and constraint functions, so-called fully linear
models are employed, and we show how to deal with the gradient inexactness in
the composite step setting, adapted from single-objective optimization as well.
Under standard assumptions, we prove convergence of a subset of iterates to a
quasi-stationary point and if constraint qualifications hold, then the limit
point is also a KKT-point of the multi-objective problem
The Metaverse: Survey, Trends, Novel Pipeline Ecosystem & Future Directions
The Metaverse offers a second world beyond reality, where boundaries are
non-existent, and possibilities are endless through engagement and immersive
experiences using the virtual reality (VR) technology. Many disciplines can
benefit from the advancement of the Metaverse when accurately developed,
including the fields of technology, gaming, education, art, and culture.
Nevertheless, developing the Metaverse environment to its full potential is an
ambiguous task that needs proper guidance and directions. Existing surveys on
the Metaverse focus only on a specific aspect and discipline of the Metaverse
and lack a holistic view of the entire process. To this end, a more holistic,
multi-disciplinary, in-depth, and academic and industry-oriented review is
required to provide a thorough study of the Metaverse development pipeline. To
address these issues, we present in this survey a novel multi-layered pipeline
ecosystem composed of (1) the Metaverse computing, networking, communications
and hardware infrastructure, (2) environment digitization, and (3) user
interactions. For every layer, we discuss the components that detail the steps
of its development. Also, for each of these components, we examine the impact
of a set of enabling technologies and empowering domains (e.g., Artificial
Intelligence, Security & Privacy, Blockchain, Business, Ethics, and Social) on
its advancement. In addition, we explain the importance of these technologies
to support decentralization, interoperability, user experiences, interactions,
and monetization. Our presented study highlights the existing challenges for
each component, followed by research directions and potential solutions. To the
best of our knowledge, this survey is the most comprehensive and allows users,
scholars, and entrepreneurs to get an in-depth understanding of the Metaverse
ecosystem to find their opportunities and potentials for contribution
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
CoRe-Sleep: A Multimodal Fusion Framework for Time Series Robust to Imperfect Modalities
Sleep abnormalities can have severe health consequences. Automated sleep
staging, i.e. labelling the sequence of sleep stages from the patient's
physiological recordings, could simplify the diagnostic process. Previous work
on automated sleep staging has achieved great results, mainly relying on the
EEG signal. However, often multiple sources of information are available beyond
EEG. This can be particularly beneficial when the EEG recordings are noisy or
even missing completely. In this paper, we propose CoRe-Sleep, a Coordinated
Representation multimodal fusion network that is particularly focused on
improving the robustness of signal analysis on imperfect data. We demonstrate
how appropriately handling multimodal information can be the key to achieving
such robustness. CoRe-Sleep tolerates noisy or missing modalities segments,
allowing training on incomplete data. Additionally, it shows state-of-the-art
performance when testing on both multimodal and unimodal data using a single
model on SHHS-1, the largest publicly available study that includes sleep stage
labels. The results indicate that training the model on multimodal data does
positively influence performance when tested on unimodal data. This work aims
at bridging the gap between automated analysis tools and their clinical
utility.Comment: 10 pages, 4 figures, 2 tables, journa
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Sustainable 4D printing of magneto-electroactive shape memory polymer composites
Typical techniques for creating synthetic morphing structures suffer from a compromise between quick shape change and geometric complexity. A novel approach is proposed for encoding numerous shapes and forms by magneto-electroactive shape memory polymer composite (SMPC) structures and integrating sustainability with 4D printing (4DP) technology. Electrically driven, remote controllability, and quick reaction are the features of these sustainable composite structures. Low-cost 4D-printed SMPC structures can be programmed remotely at high temperatures to achieve multi-stable shapes and can snap repeatedly between all programmed temporary and permanent configurations. This allows for multiple designs in a single structure without wasting material. The strategy is based on a knowledge of SMPC mechanics, magnetic response, and the manufacturing idea underlying fused deposition modelling (FDM). Iron-filled magnetic polylactic acid (MPLA) and carbon black-filled conductive PLA (CPLA) composite materials are investigated in terms of microstructure properties, composite interface, and mechanical properties. Characterisation studies are carried out to identify how to control the structure with a low magnetic field. The shape morphing of magneto-electroactive SMPC structures is studied. FDM is used to 4D print MPLA and CPLA adaptive structures with 1D/2D-to-2D/3D shapeshifting by the magnetic field. The benefits of switchable multi-stable structures are reducing material waste and effort/energy and increasing efficiency in sectors such as packaging
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
Atypical developmental trajectories of white matter microstructure in prenatal alcohol exposure: Preliminary evidence from neurite orientation dispersion and density imaging
IntroductionFetal alcohol spectrum disorder (FASD), a life-long condition resulting from prenatal alcohol exposure (PAE), is associated with structural brain anomalies and neurobehavioral differences. Evidence from longitudinal neuroimaging suggest trajectories of white matter microstructure maturation are atypical in PAE. We aimed to further characterize longitudinal trajectories of developmental white matter microstructure change in children and adolescents with PAE compared to typically-developing Controls using diffusion-weighted Neurite Orientation Dispersion and Density Imaging (NODDI).Materials and methodsParticipants: Youth with PAE (n = 34) and typically-developing Controls (n = 31) ages 8–17 years at enrollment. Participants underwent formal evaluation of growth and facial dysmorphology. Participants also completed two study visits (17 months apart on average), both of which involved cognitive testing and an MRI scan (data collected on a Siemens Prisma 3 T scanner). Age-related changes in the orientation dispersion index (ODI) and the neurite density index (NDI) were examined across five corpus callosum (CC) regions defined by tractography.ResultsWhile linear trajectories suggested similar overall microstructural integrity in PAE and Controls, analyses of symmetrized percent change (SPC) indicated group differences in the timing and magnitude of age-related increases in ODI (indexing the bending and fanning of axons) in the central region of the CC, with PAE participants demonstrating atypically steep increases in dispersion with age compared to Controls. Participants with PAE also demonstrated greater increases in ODI in the mid posterior CC (trend-level group difference). In addition, SPC in ODI and NDI was differentially correlated with executive function performance for PAE participants and Controls, suggesting an atypical relationship between white matter microstructure maturation and cognitive function in PAE.DiscussionPreliminary findings suggest subtle atypicality in the timing and magnitude of age-related white matter microstructure maturation in PAE compared to typically-developing Controls. These findings add to the existing literature on neurodevelopmental trajectories in PAE and suggest that advanced biophysical diffusion modeling (NODDI) may be sensitive to biologically-meaningful microstructural changes in the CC that are disrupted by PAE. Findings of atypical brain maturation-behavior relationships in PAE highlight the need for further study. Further longitudinal research aimed at characterizing white matter neurodevelopmental trajectories in PAE will be important
TransFusionOdom: Interpretable Transformer-based LiDAR-Inertial Fusion Odometry Estimation
Multi-modal fusion of sensors is a commonly used approach to enhance the
performance of odometry estimation, which is also a fundamental module for
mobile robots. However, the question of \textit{how to perform fusion among
different modalities in a supervised sensor fusion odometry estimation task?}
is still one of challenging issues remains. Some simple operations, such as
element-wise summation and concatenation, are not capable of assigning adaptive
attentional weights to incorporate different modalities efficiently, which make
it difficult to achieve competitive odometry results. Recently, the Transformer
architecture has shown potential for multi-modal fusion tasks, particularly in
the domains of vision with language. In this work, we propose an end-to-end
supervised Transformer-based LiDAR-Inertial fusion framework (namely
TransFusionOdom) for odometry estimation. The multi-attention fusion module
demonstrates different fusion approaches for homogeneous and heterogeneous
modalities to address the overfitting problem that can arise from blindly
increasing the complexity of the model. Additionally, to interpret the learning
process of the Transformer-based multi-modal interactions, a general
visualization approach is introduced to illustrate the interactions between
modalities. Moreover, exhaustive ablation studies evaluate different
multi-modal fusion strategies to verify the performance of the proposed fusion
strategy. A synthetic multi-modal dataset is made public to validate the
generalization ability of the proposed fusion strategy, which also works for
other combinations of different modalities. The quantitative and qualitative
odometry evaluations on the KITTI dataset verify the proposed TransFusionOdom
could achieve superior performance compared with other related works.Comment: Submitted to IEEE Sensors Journal with some modifications. This work
has been submitted to the IEEE for possible publication. Copyright may be
transferred without notice, after which this version may no longer be
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