8,788 research outputs found
Multimodal spatio-temporal deep learning framework for 3D object detection in instrumented vehicles
This thesis presents the utilization of multiple modalities, such as image and lidar, to incorporate spatio-temporal information from sequence data into deep learning architectures for 3Dobject detection in instrumented vehicles. The race to autonomy in instrumented vehicles or self-driving cars has stimulated significant research in developing autonomous driver assistance systems (ADAS) technologies related explicitly to perception systems. Object detection plays a crucial role in perception systems by providing spatial information to its subsequent modules; hence, accurate detection is a significant task supporting autonomous driving. The advent of deep learning in computer vision applications and the availability of multiple sensing modalities such as 360° imaging, lidar, and radar have led to state-of-the-art 2D and 3Dobject detection architectures. Most current state-of-the-art 3D object detection frameworks consider single-frame reference. However, these methods do not utilize temporal information associated with the objects or scenes from the sequence data. Thus, the present research hypothesizes that multimodal temporal information can contribute to bridging the gap between 2D and 3D metric space by improving the accuracy of deep learning frameworks for 3D object estimations. The thesis presents understanding multimodal data representations and selecting hyper-parameters using public datasets such as KITTI and nuScenes with Frustum-ConvNet as a baseline architecture. Secondly, an attention mechanism was employed along with convolutional-LSTM to extract spatial-temporal information from sequence data to improve 3D estimations and to aid the architecture in focusing on salient lidar point cloud features. Finally, various fusion strategies are applied to fuse the modalities and temporal information into the architecture to assess its efficacy on performance and computational complexity. Overall, this thesis has established the importance and utility of multimodal systems for refined 3D object detection and proposed a complex pipeline incorporating spatial, temporal and attention mechanisms to improve specific, and general class accuracy demonstrated on key autonomous driving data sets
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
Anuário científico da Escola Superior de Tecnologia da Saúde de Lisboa - 2021
É com grande prazer que apresentamos a mais recente edição (a 11.ª) do Anuário Científico da Escola Superior de Tecnologia da Saúde de Lisboa. Como instituição de ensino superior, temos o compromisso de promover e incentivar a pesquisa científica em todas as áreas do conhecimento que contemplam a nossa missão. Esta publicação tem como objetivo divulgar toda a produção científica desenvolvida pelos Professores, Investigadores, Estudantes e Pessoal não Docente da ESTeSL durante 2021. Este Anuário é, assim, o reflexo do trabalho árduo e dedicado da nossa comunidade, que se empenhou na produção de conteúdo científico de elevada qualidade e partilhada com a Sociedade na forma de livros, capítulos de livros, artigos publicados em revistas nacionais e internacionais, resumos de comunicações orais e pósteres, bem como resultado dos trabalhos de 1º e 2º ciclo. Com isto, o conteúdo desta publicação abrange uma ampla variedade de tópicos, desde temas mais fundamentais até estudos de aplicação prática em contextos específicos de Saúde, refletindo desta forma a pluralidade e diversidade de áreas que definem, e tornam única, a ESTeSL. Acreditamos que a investigação e pesquisa científica é um eixo fundamental para o desenvolvimento da sociedade e é por isso que incentivamos os nossos estudantes a envolverem-se em atividades de pesquisa e prática baseada na evidência desde o início dos seus estudos na ESTeSL. Esta publicação é um exemplo do sucesso desses esforços, sendo a maior de sempre, o que faz com que estejamos muito orgulhosos em partilhar os resultados e descobertas dos nossos investigadores com a comunidade científica e o público em geral. Esperamos que este Anuário inspire e motive outros estudantes, profissionais de saúde, professores e outros colaboradores a continuarem a explorar novas ideias e contribuir para o avanço da ciência e da tecnologia no corpo de conhecimento próprio das áreas que compõe a ESTeSL. Agradecemos a todos os envolvidos na produção deste anuário e desejamos uma leitura inspiradora e agradável.info:eu-repo/semantics/publishedVersio
School-based interventions to increase physical activity and reduce cardiometabolic risk in children
Omics measures of ageing and disease susceptibility
While genomics has been a major field of study for decades due to relatively inexpensive genotyping arrays, the recent advancement of technology has also allowed the measure and study of various “omics”. There are now numerous methods and platforms available that allow high throughput and high dimensional quantification of many types of biological molecules. Traditional genomics and transcriptomics are now joined by proteomics, metabolomics, glycomics, lipidomics and epigenomics.
I was lucky to have access to a unique resource in the Orkney Complex Disease Study (ORCADES), a cohort of individuals from the Orkney Islands that are extremely deeply annotated. Approximately 1000 individuals in ORCADES have genomics, proteomics, lipidomics, glycomics, metabolomics, epigenomics, clinical risk factors and disease phenotypes, as well as body composition measurements from whole body scans. In addition to these cross-sectional omics and health related measures, these individuals also have linked electronic health records (EHR) available, allowing the assessment of the effect of these omics measures on incident disease over a ~10-year follow up period. In this thesis I use this phenotype rich resource to investigate the relationship between multiple types of omics measures and both ageing and health outcomes.
First, I used the ORCADES data to construct measures of biological age (BA). The idea that there is an underlying rate at which the body deteriorates with age that varies between individuals of the same chronological age, this biological age, would be more indicative of health status, functional capacity and risk of age-related diseases than chronological age. Previous models estimating BA (ageing clocks) have predominantly been built using a single type of omics assay and comparison between different omics ageing clocks has been limited. I performed the most exhaustive comparison of different omics ageing clocks yet, with eleven clocks spanning nine different omics assays. I show that different omics clocks overlap in the information they provide about age, that some omics clocks track more generalised ageing while others track specific disease risk factors and that omics ageing clocks are prognostic of incident disease over and above chronological age.
Second, I assessed whether individually or in multivariable models, omics measures are associated with health-related risk factors or prognostic of incident disease over 10 years post-assessment. I show that 2,686 single omics biomarkers are associated with 10 risk factors and 44 subsequent incident diseases. I also show that models built using multiple biomarkers from whole body scans, metabolomics, proteomics and clinical risk factors are prognostic of subsequent diabetes mellitus and that clinical risk factors are prognostic of incident hypertensive disorders, obesity, ischaemic heart disease and Framingham risk score.
Third, I investigated the genetic architecture of a subset of the proteomics measures available in ORCADES, specifically 184 cardiovascular-related proteins. Combining genome-wide association (GWAS) summary statistics from ORCADES and 17 other cohorts from the SCALLOP Consortium, giving a maximum sample size of 26,494 individuals, I performed 184 genome-wide association meta-analyses (GWAMAs) on the levels of these proteins circulating in plasma. I discovered 592 independent significant loci associated with the levels of at least one protein. I found that between 8-37% of these significant loci colocalise with known expression quantitative trait loci (eQTL). I also find evidence of causal associations between 11 plasma protein levels and disease susceptibility using Mendelian randomisation, highlighting potential candidate drug targets
Conscience and Consciousness: British Theatre and Human Rights.
This research project investigates a paradigm of human rights theatre. Through the lens of performance and theatre-making, this thesis explores how we came to represent, speak about, discuss, and own human rights in Britain. My framework of ‘human rights theatre’ proposes three distinctive features: firstly, such works dramatise real-world issues and highlights the role of the state in endangering its citizens; secondly, ethical ruptures are encountered within and without the drama, and finally, these performances characteristically aspire to produce an activist effect on the collective behaviours of the audience.
This thesis interrogates the strategies theatre-makers use to articulate human rights concerns or to animate human rights intent. The selected case-studies for this investigation are ice&fire’s testimonial project, Actors for Human Rights; Badac Theatre; Jonathan Holmes’ work as director of Jericho House; Cardboard Citizens’ youth participation programme, ACT NOW; and Tony Cealy’s Black Men’s Consortium. Deliberately selecting companies and performance events that have received limited critical attention, my methodology constellates case-studies through original interviews, durational observation of creative working methods and proximate descriptions of practice.
The thesis is interested in the experience of coming to ‘consciousness’ through human rights theatre, an awakening to the impacts of rights infringements and rights claiming. I explore consciousness as a processual, procedural, and durational happening in these performance events. I explore the ‘æffect’ of activist art and examine the ways in which makers of human rights theatre aim to amplify both affective and effective qualities in their work. My thesis also considers the articulation of activist purpose and the campaigning intent of the selected theatre-makers and explores how their activism is animated in their productions. Through the rich seam of discussion generated by the identification and exploration of the traits of a distinctive human rights theatre, I affirm the generative value of this typological enquiry
High-Resolution Virtual Try-On with Misalignment and Occlusion-Handled Conditions
Image-based virtual try-on aims to synthesize an image of a person wearing a
given clothing item. To solve the task, the existing methods warp the clothing
item to fit the person's body and generate the segmentation map of the person
wearing the item before fusing the item with the person. However, when the
warping and the segmentation generation stages operate individually without
information exchange, the misalignment between the warped clothes and the
segmentation map occurs, which leads to the artifacts in the final image. The
information disconnection also causes excessive warping near the clothing
regions occluded by the body parts, so-called pixel-squeezing artifacts. To
settle the issues, we propose a novel try-on condition generator as a unified
module of the two stages (i.e., warping and segmentation generation stages). A
newly proposed feature fusion block in the condition generator implements the
information exchange, and the condition generator does not create any
misalignment or pixel-squeezing artifacts. We also introduce discriminator
rejection that filters out the incorrect segmentation map predictions and
assures the performance of virtual try-on frameworks. Experiments on a
high-resolution dataset demonstrate that our model successfully handles the
misalignment and occlusion, and significantly outperforms the baselines. Code
is available at https://github.com/sangyun884/HR-VITON.Comment: Accepted to ECCV 202
Visual Servo Based Space Robotic Docking for Active Space Debris Removal
This thesis developed a 6DOF pose detection algorithm using machine learning capable of providing the orientation and location of an object in various lighting conditions and at different angles, for the purposes of space robotic rendezvous and docking control. The computer vision algorithm was paired with a virtual robotic simulation to test the feasibility of using the proposed algorithm for visual servo. This thesis also developed a method for generating virtual training images and corresponding ground truth data including both location and orientation information. Traditional computer vision techniques struggle to determine the 6DOF pose of an object when certain colors or edges are not found, therefore training a network is an optimal choice. The 6DOF pose detection algorithm was implemented on MATLAB and Python. The robotic simulation was implemented on Simulink and ROS Gazebo. Finally, the generation of training data was done with Python and Blender
The company she keeps : The social and interpersonal construction of girls same sex friendships
This thesis begins a critical analysis of girls' 'private' interpersonal and social relations as they are enacted within two school settings. It is the study of these marginal subordinated worlds productivity of forms of femininity which provides the main narrative of this project. I seek to understand these processes of (best) friendship construction through a feminist multi-disciplinary frame, drawing upon cultural studies, psychoanalysis and accounts of gender politics. I argue that the investments girls bring to their homosocial alliances and boundary drawing narry a psychological compulsion which is complexly connected to their own experiences within the mother/daughter bond as well as reflecting positively an immense social debt to the permissions girls have to be nurturant and ; negatively their own reproduction of oppressive exclusionary practices. Best friendship in particular gives girls therefore, the experience of 'monogamy' continuous of maternal/daughter identification, reminiscent of their positioning inside monopolistic forms of heterosexuality. But these subcultures also represent a subversive discontinuity to the public dominance of boys/teachers/adults in schools and to the ideologies and practices of heterosociality and heterosexuality. By taking seriously their transmission of the values of friendship in their chosen form of notes and diaries for example, I was able to access the means whereby they were able to resist their surveillance and control by those in power over them. I conclude by arguing that it is through a recognition of the valency of these indivisiblly positive and negative aspects to girls cultures that Equal Opportunities practitioners must begin if they are serious about their ambitions. Methods have to be made which enable girls to transfer their 'private' solidarities into the 'public' realm, which unquestionably demands contesting with them the causes and consequences of their implication in the divisions which also contaminate their lives and weaken them
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