20,560 research outputs found

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    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

    Security and Privacy Problems in Voice Assistant Applications: A Survey

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    Voice assistant applications have become omniscient nowadays. Two models that provide the two most important functions for real-life applications (i.e., Google Home, Amazon Alexa, Siri, etc.) are Automatic Speech Recognition (ASR) models and Speaker Identification (SI) models. According to recent studies, security and privacy threats have also emerged with the rapid development of the Internet of Things (IoT). The security issues researched include attack techniques toward machine learning models and other hardware components widely used in voice assistant applications. The privacy issues include technical-wise information stealing and policy-wise privacy breaches. The voice assistant application takes a steadily growing market share every year, but their privacy and security issues never stopped causing huge economic losses and endangering users' personal sensitive information. Thus, it is important to have a comprehensive survey to outline the categorization of the current research regarding the security and privacy problems of voice assistant applications. This paper concludes and assesses five kinds of security attacks and three types of privacy threats in the papers published in the top-tier conferences of cyber security and voice domain.Comment: 5 figure

    Wav2code: Restore Clean Speech Representations via Codebook Lookup for Noise-Robust ASR

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    Automatic speech recognition (ASR) has gained a remarkable success thanks to recent advances of deep learning, but it usually degrades significantly under real-world noisy conditions. Recent works introduce speech enhancement (SE) as front-end to improve speech quality, which is proved effective but may not be optimal for downstream ASR due to speech distortion problem. Based on that, latest works combine SE and currently popular self-supervised learning (SSL) to alleviate distortion and improve noise robustness. Despite the effectiveness, the speech distortion caused by conventional SE still cannot be completely eliminated. In this paper, we propose a self-supervised framework named Wav2code to implement a generalized SE without distortions for noise-robust ASR. First, in pre-training stage the clean speech representations from SSL model are sent to lookup a discrete codebook via nearest-neighbor feature matching, the resulted code sequence are then exploited to reconstruct the original clean representations, in order to store them in codebook as prior. Second, during finetuning we propose a Transformer-based code predictor to accurately predict clean codes by modeling the global dependency of input noisy representations, which enables discovery and restoration of high-quality clean representations without distortions. Furthermore, we propose an interactive feature fusion network to combine original noisy and the restored clean representations to consider both fidelity and quality, resulting in even more informative features for downstream ASR. Finally, experiments on both synthetic and real noisy datasets demonstrate that Wav2code can solve the speech distortion and improve ASR performance under various noisy conditions, resulting in stronger robustness.Comment: 12 pages, 7 figures, Submitted to IEEE/ACM TASL

    Quantifying and Explaining Machine Learning Uncertainty in Predictive Process Monitoring: An Operations Research Perspective

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    This paper introduces a comprehensive, multi-stage machine learning methodology that effectively integrates information systems and artificial intelligence to enhance decision-making processes within the domain of operations research. The proposed framework adeptly addresses common limitations of existing solutions, such as the neglect of data-driven estimation for vital production parameters, exclusive generation of point forecasts without considering model uncertainty, and lacking explanations regarding the sources of such uncertainty. Our approach employs Quantile Regression Forests for generating interval predictions, alongside both local and global variants of SHapley Additive Explanations for the examined predictive process monitoring problem. The practical applicability of the proposed methodology is substantiated through a real-world production planning case study, emphasizing the potential of prescriptive analytics in refining decision-making procedures. This paper accentuates the imperative of addressing these challenges to fully harness the extensive and rich data resources accessible for well-informed decision-making

    UniverSeg: Universal Medical Image Segmentation

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    While deep learning models have become the predominant method for medical image segmentation, they are typically not capable of generalizing to unseen segmentation tasks involving new anatomies, image modalities, or labels. Given a new segmentation task, researchers generally have to train or fine-tune models, which is time-consuming and poses a substantial barrier for clinical researchers, who often lack the resources and expertise to train neural networks. We present UniverSeg, a method for solving unseen medical segmentation tasks without additional training. Given a query image and example set of image-label pairs that define a new segmentation task, UniverSeg employs a new Cross-Block mechanism to produce accurate segmentation maps without the need for additional training. To achieve generalization to new tasks, we have gathered and standardized a collection of 53 open-access medical segmentation datasets with over 22,000 scans, which we refer to as MegaMedical. We used this collection to train UniverSeg on a diverse set of anatomies and imaging modalities. We demonstrate that UniverSeg substantially outperforms several related methods on unseen tasks, and thoroughly analyze and draw insights about important aspects of the proposed system. The UniverSeg source code and model weights are freely available at https://universeg.csail.mit.eduComment: Victor and Jose Javier contributed equally to this work. Project Website: https://universeg.csail.mit.ed

    The impact of innovative technologies in construction activities on concrete debris recycling in China : a system dynamics-based analysis

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    As construction activities become more intensive in developing countries, increasing improperly managed construction and demolition waste (CDW) brings serious environmental impacts. Recycling is a beneficial way to dispose of CDW that reduces environmental impact and brings economic benefits, especially for concrete. China is the country that generates the most CDW in the world, but its domestic recycling rate is much lower than that of developed countries. While the efficient technologies in developed regions have helped them to achieve a well-established recycling industry, whether these innovative technologies can be used to improve the concrete debris recycling targets in developing regions is unclear. This study examines whether innovations currently widely used in construction activities and materials can have a positive effect on the recycling of End-of-Life concrete materials in China. Results from modeling system dynamics imply that the introduction of innovative technologies in the recycling system of concrete debris can probably contribute to CO2 reduction (3.6% reduction) and economic benefits (2.6 times increase, but mainly from landfill charges and fines) from 2022 to 2030. Prefabrication and 3D printing significantly impact recycled concrete production and CDW recycling, and they are recommended as a priority for promotion. In contrast, carbonation is not suggested for application due to its minor role. Nevertheless, since the market share of innovative technologies and the basic CDW recycling rates are currently low in China, fluctuations in their usage are hardly to have a substantial positive impact. We suggest that financial support from the government is needed for upcycling by recyclers and technology providers to improve the base recycling rate in order for innovative technologies to make an effective contribution to the sustainable construction industry, creating a win–win situation for both the economy and the environment of the recycling system

    Food biodiversity: Quantifying the unquantifiable in human diets

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    Dietary diversity is an established public health principle, and its measurement is essential for studies of diet quality and food security. However, conventional between food group scores fail to capture the nutritional variability and ecosystem services delivered by dietary richness and dissimilarity within food groups, or the relative distribution (i.e., evenness or moderation) of e.g., species or varieties across whole diets. Summarizing food biodiversity in an all-encompassing index is problematic. Therefore, various diversity indices have been proposed in ecology, yet these require methodological adaption for integration in dietary assessments. In this narrative review, we summarize the key conceptual issues underlying the measurement of food biodiversity at an edible species level, assess the ecological diversity indices previously applied to food consumption and food supply data, discuss their relative suitability, and potential amendments for use in (quantitative) dietary intake studies. Ecological diversity indices are often used without justification through the lens of nutrition. To illustrate: (i) dietary species richness fails to account for the distribution of foods across the diet or their functional traits; (ii) evenness indices, such as the Gini-Simpson index, require widely accepted relative abundance units (e.g., kcal, g, cups) and evidence-based moderation weighting factors; and (iii) functional dissimilarity indices are constructed based on an arbitrary selection of distance measures, cutoff criteria, and number of phylogenetic, nutritional, and morphological traits. Disregard for these limitations can lead to counterintuitive results and ambiguous or incorrect conclusions about the food biodiversity within diets or food systems. To ensure comparability and robustness of future research, we advocate food biodiversity indices that: (i) satisfy key axioms; (ii) can be extended to account for disparity between edible species; and (iii) are used in combination, rather than in isolation

    Semantic Segmentation Enhanced Transformer Model for Human Attention Prediction

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    Saliency Prediction aims to predict the attention distribution of human eyes given an RGB image. Most of the recent state-of-the-art methods are based on deep image feature representations from traditional CNNs. However, the traditional convolution could not capture the global features of the image well due to its small kernel size. Besides, the high-level factors which closely correlate to human visual perception, e.g., objects, color, light, etc., are not considered. Inspired by these, we propose a Transformer-based method with semantic segmentation as another learning objective. More global cues of the image could be captured by Transformer. In addition, simultaneously learning the object segmentation simulates the human visual perception, which we would verify in our investigation of human gaze control in cognitive science. We build an extra decoder for the subtask and the multiple tasks share the same Transformer encoder, forcing it to learn from multiple feature spaces. We find in practice simply adding the subtask might confuse the main task learning, hence Multi-task Attention Module is proposed to deal with the feature interaction between the multiple learning targets. Our method achieves competitive performance compared to other state-of-the-art methods

    GETT-QA: Graph Embedding based T2T Transformer for Knowledge Graph Question Answering

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    In this work, we present an end-to-end Knowledge Graph Question Answering (KGQA) system named GETT-QA. GETT-QA uses T5, a popular text-to-text pre-trained language model. The model takes a question in natural language as input and produces a simpler form of the intended SPARQL query. In the simpler form, the model does not directly produce entity and relation IDs. Instead, it produces corresponding entity and relation labels. The labels are grounded to KG entity and relation IDs in a subsequent step. To further improve the results, we instruct the model to produce a truncated version of the KG embedding for each entity. The truncated KG embedding enables a finer search for disambiguation purposes. We find that T5 is able to learn the truncated KG embeddings without any change of loss function, improving KGQA performance. As a result, we report strong results for LC-QuAD 2.0 and SimpleQuestions-Wikidata datasets on end-to-end KGQA over Wikidata.Comment: 16 pages single column format accepted at ESWC 2023 research trac

    Norsk rÄ kumelk, en kilde til zoonotiske patogener?

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    The worldwide emerging trend of eating “natural” foods, that has not been processed, also applies for beverages. According to Norwegian legislation, all milk must be pasteurized before commercial sale but drinking milk that has not been heat-treated, is gaining increasing popularity. Scientist are warning against this trend and highlights the risk of contracting disease from milkborne microorganisms. To examine potential risks associated with drinking unpasteurized milk in Norway, milk- and environmental samples were collected from dairy farms located in south-east of Norway. The samples were analyzed for the presence of specific zoonotic pathogens; Listeria monocytogenes, Campylobacter spp., and Shiga toxin-producing Escherichia coli (STEC). Cattle are known to be healthy carriers of these pathogens, and Campylobacter spp. and STEC have a low infectious dose, meaning that infection can be established by ingesting a low number of bacterial cells. L. monocytogenes causes one of the most severe foodborne zoonotic diseases, listeriosis, that has a high fatality rate. All three pathogens have caused milk borne disease outbreaks all over the world, also in Norway. During this work, we observed that the prevalence of the three examined bacteria were high in the environment at the examined farms. In addition, 7% of the milk filters were contaminated by STEC, 13% by L. monocytogenes and 4% by Campylobacter spp. Four of the STEC isolates detected were eaepositive, which is associated with the capability to cause severe human disease. One of the eae-positive STEC isolates were collected from a milk filter, which strongly indicate that Norwegian raw milk may contain potential pathogenic STEC. To further assess the possibilities of getting ill by STEC after consuming raw milk, we examined the growth of the four eae-positive STEC isolates in raw milk at different temperatures. All four isolates seemed to have ability to multiply in raw milk at 8°C, and one isolate had significant growth after 72 hours. Incubation at 6°C seemed to reduce the number of bacteria during the first 24 hours before cell death stopped. These findings highlight the importance of stable refrigerator temperatures, preferable < 4°C, for storage of raw milk. The L. monocytogenes isolates collected during this study show genetic similarities to isolates collected from urban and rural environmental locations, but different clones were predominant in agricultural environments compared to clinical and food environments. However, the results indicate that the same clone can persist in a farm over time, and that milk can be contaminated by L. monocytogenes clones present in farm environment. Despite testing small volumes (25 mL) of milk, we were able to isolate both STEC and Campylobacter spp. directly from raw milk. A proportion of 3% of the bulk tank milk and teat milk samples were contaminated by Campylobacter spp. and one STEC was isolated from bulk tank milk. L monocytogenes was not detected in bulk tank milk, nor in teat milk samples. The agricultural evolvement during the past decades have led to larger production units and new food safety challenges. Dairy cattle production in Norway is in a current transition from tie-stall housing with conventional pipeline milking systems, to modern loose housing systems with robotic milking. The occurrence of the three pathogens in this project were higher in samples collected from farms with loose housing compared to those with tiestall housing. Pasteurization of cow’s milk is a risk reducing procedure to protect consumers from microbial pathogens and in most EU countries, commercial distribution of unpasteurized milk is legally restricted. Together, the results presented in this thesis show that the animal housing may influence the level of pathogenic bacteria in the raw milk and that ingestion of Norwegian raw cow’s milk may expose consumers to pathogenic bacteria which can cause severe disease, especially in children, elderly and in persons with underlying diseases. The results also highlight the importance of storing raw milk at low temperatures between milking and consumption.Å spise mat som er mindre prosessert og mer «naturlig» er en pĂ„gĂ„ende trend i Norge og i andre deler av verden. Interessen for Ă„ drikke melk som ikke er varmebehandlet, sĂ„kalt rĂ„ melk, er ogsĂ„ Ăžkende. I Norge er det pĂ„budt Ă„ pasteurisere melk fĂžr kommersielt salg for Ă„ beskytte forbrukeren mot sykdomsfremkallende mikroorganismer. Fagfolk advarer mot Ă„ drikke rĂ„ melk, og pĂ„peker risikoen for Ă„ bli syk av patogene bakterier som kan finnes i melken. I denne avhandlingen undersĂžker vi den potensielle risikoen det medfĂžrer Ă„ drikke upasteurisert melk fra Norge. I tillegg til Ă„ samle inn tankmelk- og speneprĂžver fra melkegĂ„rder i sĂžrĂžst Norge, samlet vi ogsĂ„ miljĂžprĂžver fra de samme gĂ„rdene for Ă„ kartlegge forekomst og for Ă„ identifisere potensielle mattrygghetsrisikoer i melkeproduksjonen. Alle prĂžvene ble analysert for de zoonotiske sykdomsfremkallende bakteriene Listeria monocytogenes, Campylobacter spp., og Shiga toksin-produserende Escherichia coli (STEC). Kyr kan vĂŠre friske smittebĂŠrere av disse bakteriene, som dermed kan etablere et reservoar pĂ„ gĂ„rdene. Bakteriene kan overfĂžres fra gĂ„rdsmiljĂžet til melkekjeden og dermed utfordre mattryggheten. Disse bakteriene har forĂ„rsaket melkebĂ„rne sykdomsutbrudd over hele verden, ogsĂ„ i Norge. Campylobacter spp. og STEC har lav infeksiĂžs dose, som vil si at man kan bli syk selv om man bare inntar et lavt antall bakterieceller. L. monocytogenes kan gi sykdommen listeriose, en av de mest alvorlige matbĂ„rne zoonotiske sykdommene vi har i den vestlige verden. Resultater fra denne oppgaven viser en hĂžy forekomst av de tre patogenene i gĂ„rdsmiljĂžet. I tillegg var 7% av melkefiltrene vi testet positive for STEC, 13% positive for L. monocytogenes og 4% positive for Campylobacter spp.. Fire av STEC isolatene bar genet for Intimin, eae, som er ansett som en viktig virulensfaktor som Ăžker sjansen for alvorlig sykdom. Ett av de eae-positive isolatene ble funnet i et melkefilter, noe som indikerer at norsk rĂ„ melk kan inneholde patogene STEC. For Ă„ videre vurdere risikoen for Ă„ bli syk av STEC fra rĂ„ melk undersĂžkte vi hvordan de fire eae-positive isolatene vokste i rĂ„ melk lagret ved forskjellige temperaturer. For alle isolatene Ăžkte antall bakterier etter lagring ved 8°C, og for et isolat var veksten signifikant. Etter lagring ved 6°C ble antallet bakterier redusert de fĂžrste 24 timene, deretter stoppet reduksjonen i antall bakterier. Disse resultatene viser hvor viktig det er Ă„ ha stabil lav lagringstemperatur for rĂ„ melk, helst < 4°C. L. monocytogenes isolatene som ble samlet inn fra melkegĂ„rdene viste genetiske likheter med isolater samlet inn fra urbane og rurale miljĂžer rundt omkring i Norge. Derimot var kloner som dominerte i landbruksmiljĂžet forskjellige fra kliniske isolater og isolater fra matproduksjonslokaler. Videre sĂ„ man at en klone kan persistere pĂ„ en gĂ„rd over tid og at melk kan kontamineres av L. monocytogenes kloner som er til stede i gĂ„rdsmiljĂžet. Til tross for smĂ„ testvolum av tankmelken (25 mL) fant vi bĂ„de STEC og Campylobacter spp. i melkeprĂžvene. 3% av tankmelkprĂžvene og speneprĂžvene var positive for Campylobacter spp. og ett STEC isolat ble funnet i tankmelk. L. monocytogenes ble ikke funnet direkte i melkeprĂžvene. Landbruket i Norge er i stadig utvikling der besetningene blir stĂžrre, men fĂŠrre. Melkebesetningene er midt i en overgang der tradisjonell oppstalling med melking pĂ„ bĂ„s byttes ut med lĂžsdriftssystemer og melkeroboter. Forekomsten av de tre patogenene funnet i denne studien var hĂžyere i besetningene med lĂžsdrift sammenliknet med besetningene som hadde melkekyrne oppstallet pĂ„ bĂ„s. Pasteurisering er et viktig forebyggende tiltak for Ă„ beskytte konsumenter fra mikrobielle patogener, og i de fleste EU-land er kommersielt salg av rĂ„ melk juridisk begrenset. Denne studien viser at oppstallingstype kan pĂ„virke nivĂ„ene av patogene bakterier i gĂ„rdsmiljĂžet og i rĂ„ melk. Inntak av rĂ„ melk kan eksponere forbruker for patogene bakterier som kan gi alvorlig sykdom, spesielt hos barn, eldre og personer med underliggende sykdommer. Resultatene underbygger viktigheten av Ă„ pasteurisere melk for Ă„ sikre mattryggheten, og at det er avgjĂžrende Ă„ lagre rĂ„ melk ved kontinuerlig lave temperaturer for Ă„ forebygge vekst av zoonotiske patogener
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