9,723 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
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
The Viability and Potential Consequences of IoT-Based Ransomware
With the increased threat of ransomware and the substantial growth of the Internet of Things (IoT) market, there is significant motivation for attackers to carry out IoT-based ransomware campaigns. In this thesis, the viability of such malware is tested.
As part of this work, various techniques that could be used by ransomware developers to attack commercial IoT devices were explored. First, methods that attackers could use to communicate with the victim were examined, such that a ransom note was able to be reliably sent to a victim. Next, the viability of using "bricking" as a method of ransom was evaluated, such that devices could be remotely disabled unless the victim makes a payment to the attacker. Research was then performed to ascertain whether it was possible to remotely gain persistence on IoT devices, which would improve the efficacy of existing ransomware methods, and provide opportunities for more advanced ransomware to be created. Finally, after successfully identifying a number of persistence techniques, the viability of privacy-invasion based ransomware was analysed.
For each assessed technique, proofs of concept were developed. A range of devices -- with various intended purposes, such as routers, cameras and phones -- were used to test the viability of these proofs of concept. To test communication hijacking, devices' "channels of communication" -- such as web services and embedded screens -- were identified, then hijacked to display custom ransom notes. During the analysis of bricking-based ransomware, a working proof of concept was created, which was then able to remotely brick five IoT devices. After analysing the storage design of an assortment of IoT devices, six different persistence techniques were identified, which were then successfully tested on four devices, such that malicious filesystem modifications would be retained after the device was rebooted. When researching privacy-invasion based ransomware, several methods were created to extract information from data sources that can be commonly found on IoT devices, such as nearby WiFi signals, images from cameras, or audio from microphones. These were successfully implemented in a test environment such that ransomable data could be extracted, processed, and stored for later use to blackmail the victim.
Overall, IoT-based ransomware has not only been shown to be viable but also highly damaging to both IoT devices and their users. While the use of IoT-ransomware is still very uncommon "in the wild", the techniques demonstrated within this work highlight an urgent need to improve the security of IoT devices to avoid the risk of IoT-based ransomware causing havoc in our society. Finally, during the development of these proofs of concept, a number of potential countermeasures were identified, which can be used to limit the effectiveness of the attacking techniques discovered in this PhD research
Multi-Graph Convolution Network for Pose Forecasting
Recently, there has been a growing interest in predicting human motion, which
involves forecasting future body poses based on observed pose sequences. This
task is complex due to modeling spatial and temporal relationships. The most
commonly used models for this task are autoregressive models, such as recurrent
neural networks (RNNs) or variants, and Transformer Networks. However, RNNs
have several drawbacks, such as vanishing or exploding gradients. Other
researchers have attempted to solve the communication problem in the spatial
dimension by integrating Graph Convolutional Networks (GCN) and Long Short-Term
Memory (LSTM) models. These works deal with temporal and spatial information
separately, which limits the effectiveness. To fix this problem, we propose a
novel approach called the multi-graph convolution network (MGCN) for 3D human
pose forecasting. This model simultaneously captures spatial and temporal
information by introducing an augmented graph for pose sequences. Multiple
frames give multiple parts, joined together in a single graph instance.
Furthermore, we also explore the influence of natural structure and
sequence-aware attention to our model. In our experimental evaluation of the
large-scale benchmark datasets, Human3.6M, AMSS and 3DPW, MGCN outperforms the
state-of-the-art in pose prediction.Comment: arXiv admin note: text overlap with arXiv:2110.04573 by other author
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
accessibl
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 ÎĽg 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
Pretrained Embeddings for E-commerce Machine Learning: When it Fails and Why?
The use of pretrained embeddings has become widespread in modern e-commerce
machine learning (ML) systems. In practice, however, we have encountered
several key issues when using pretrained embedding in a real-world production
system, many of which cannot be fully explained by current knowledge.
Unfortunately, we find that there is a lack of a thorough understanding of how
pre-trained embeddings work, especially their intrinsic properties and
interactions with downstream tasks. Consequently, it becomes challenging to
make interactive and scalable decisions regarding the use of pre-trained
embeddings in practice.
Our investigation leads to two significant discoveries about using pretrained
embeddings in e-commerce applications. Firstly, we find that the design of the
pretraining and downstream models, particularly how they encode and decode
information via embedding vectors, can have a profound impact. Secondly, we
establish a principled perspective of pre-trained embeddings via the lens of
kernel analysis, which can be used to evaluate their predictability,
interactively and scalably. These findings help to address the practical
challenges we faced and offer valuable guidance for successful adoption of
pretrained embeddings in real-world production. Our conclusions are backed by
solid theoretical reasoning, benchmark experiments, as well as online testings
TrojViT: Trojan Insertion in Vision Transformers
Vision Transformers (ViTs) have demonstrated the state-of-the-art performance
in various vision-related tasks. The success of ViTs motivates adversaries to
perform backdoor attacks on ViTs. Although the vulnerability of traditional
CNNs to backdoor attacks is well-known, backdoor attacks on ViTs are
seldom-studied. Compared to CNNs capturing pixel-wise local features by
convolutions, ViTs extract global context information through patches and
attentions. Na\"ively transplanting CNN-specific backdoor attacks to ViTs
yields only a low clean data accuracy and a low attack success rate. In this
paper, we propose a stealth and practical ViT-specific backdoor attack
. Rather than an area-wise trigger used by CNN-specific backdoor
attacks, TrojViT generates a patch-wise trigger designed to build a Trojan
composed of some vulnerable bits on the parameters of a ViT stored in DRAM
memory through patch salience ranking and attention-target loss. TrojViT
further uses minimum-tuned parameter update to reduce the bit number of the
Trojan. Once the attacker inserts the Trojan into the ViT model by flipping the
vulnerable bits, the ViT model still produces normal inference accuracy with
benign inputs. But when the attacker embeds a trigger into an input, the ViT
model is forced to classify the input to a predefined target class. We show
that flipping only few vulnerable bits identified by TrojViT on a ViT model
using the well-known RowHammer can transform the model into a backdoored one.
We perform extensive experiments of multiple datasets on various ViT models.
TrojViT can classify of test images to a target class by flipping
bits on a ViT for ImageNet.Comment: 10 pages, 4 figures, 11 table
One Adapter for All Programming Languages? Adapter Tuning for Code Search and Summarization
As pre-trained models automate many code intelligence tasks, a widely used
paradigm is to fine-tune a model on the task dataset for each programming
language. A recent study reported that multilingual fine-tuning benefits a
range of tasks and models. However, we find that multilingual fine-tuning leads
to performance degradation on recent models UniXcoder and CodeT5.
To alleviate the potentially catastrophic forgetting issue in multilingual
models, we fix all pre-trained model parameters, insert the parameter-efficient
structure adapter, and fine-tune it. Updating only 0.6\% of the overall
parameters compared to full-model fine-tuning for each programming language,
adapter tuning yields consistent improvements on code search and summarization
tasks, achieving state-of-the-art results. In addition, we experimentally show
its effectiveness in cross-lingual and low-resource scenarios. Multilingual
fine-tuning with 200 samples per programming language approaches the results
fine-tuned with the entire dataset on code summarization. Our experiments on
three probing tasks show that adapter tuning significantly outperforms
full-model fine-tuning and effectively overcomes catastrophic forgetting.Comment: Accepted to the 45th International Conference on Software Engineering
(ICSE 2023
MuRAL: Multi-Scale Region-based Active Learning for Object Detection
Obtaining large-scale labeled object detection dataset can be costly and
time-consuming, as it involves annotating images with bounding boxes and class
labels. Thus, some specialized active learning methods have been proposed to
reduce the cost by selecting either coarse-grained samples or fine-grained
instances from unlabeled data for labeling. However, the former approaches
suffer from redundant labeling, while the latter methods generally lead to
training instability and sampling bias. To address these challenges, we propose
a novel approach called Multi-scale Region-based Active Learning (MuRAL) for
object detection. MuRAL identifies informative regions of various scales to
reduce annotation costs for well-learned objects and improve training
performance. The informative region score is designed to consider both the
predicted confidence of instances and the distribution of each object category,
enabling our method to focus more on difficult-to-detect classes. Moreover,
MuRAL employs a scale-aware selection strategy that ensures diverse regions are
selected from different scales for labeling and downstream finetuning, which
enhances training stability. Our proposed method surpasses all existing
coarse-grained and fine-grained baselines on Cityscapes and MS COCO datasets,
and demonstrates significant improvement in difficult category performance
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