15,493 research outputs found
Vision- and tactile-based continuous multimodal intention and attention recognition for safer physical human-robot interaction
Employing skin-like tactile sensors on robots enhances both the safety and
usability of collaborative robots by adding the capability to detect human
contact. Unfortunately, simple binary tactile sensors alone cannot determine
the context of the human contact -- whether it is a deliberate interaction or
an unintended collision that requires safety manoeuvres. Many published methods
classify discrete interactions using more advanced tactile sensors or by
analysing joint torques. Instead, we propose to augment the intention
recognition capabilities of simple binary tactile sensors by adding a
robot-mounted camera for human posture analysis. Different interaction
characteristics, including touch location, human pose, and gaze direction, are
used to train a supervised machine learning algorithm to classify whether a
touch is intentional or not with an F1-score of 86%. We demonstrate that
multimodal intention recognition is significantly more accurate than monomodal
analyses with the collaborative robot Baxter. Furthermore, our method can also
continuously monitor interactions that fluidly change between intentional or
unintentional by gauging the user's attention through gaze. If a user stops
paying attention mid-task, the proposed intention and attention recognition
algorithm can activate safety features to prevent unsafe interactions. We also
employ a feature reduction technique that reduces the number of inputs to five
to achieve a more generalized low-dimensional classifier. This simplification
both reduces the amount of training data required and improves real-world
classification accuracy. It also renders the method potentially agnostic to the
robot and touch sensor architectures while achieving a high degree of task
adaptability.Comment: 11 pages, 8 figures, preprint under revie
A Design Science Research Approach to Smart and Collaborative Urban Supply Networks
Urban supply networks are facing increasing demands and challenges and thus constitute a relevant field for research and practical development. Supply chain management holds enormous potential and relevance for society and everyday life as the flow of goods and information are important economic functions. Being a heterogeneous field, the literature base of supply chain management research is difficult to manage and navigate. Disruptive digital technologies and the implementation of cross-network information analysis and sharing drive the need for new organisational and technological approaches. Practical issues are manifold and include mega trends such as digital transformation, urbanisation, and environmental awareness.
A promising approach to solving these problems is the realisation of smart and collaborative supply networks. The growth of artificial intelligence applications in recent years has led to a wide range of applications in a variety of domains. However, the potential of artificial intelligence utilisation in supply chain management has not yet been fully exploited. Similarly, value creation increasingly takes place in networked value creation cycles that have become continuously more collaborative, complex, and dynamic as interactions in business processes involving information technologies have become more intense.
Following a design science research approach this cumulative thesis comprises the development and discussion of four artefacts for the analysis and advancement of smart and collaborative urban supply networks. This thesis aims to highlight the potential of artificial intelligence-based supply networks, to advance data-driven inter-organisational collaboration, and to improve last mile supply network sustainability. Based on thorough machine learning and systematic literature reviews, reference and system dynamics modelling, simulation, and qualitative empirical research, the artefacts provide a valuable contribution to research and practice
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
Countermeasures for the majority attack in blockchain distributed systems
La tecnologÃa Blockchain es considerada como uno de los paradigmas informáticos más importantes posterior al Internet; en función a sus caracterÃsticas únicas que la hacen ideal para registrar, verificar y administrar información de diferentes transacciones. A pesar de esto, Blockchain se enfrenta a diferentes problemas de seguridad, siendo el ataque del 51% o ataque mayoritario uno de los más importantes. Este consiste en que uno o más mineros tomen el control de al menos el 51% del Hash extraÃdo o del cómputo en una red; de modo que un minero puede manipular y modificar arbitrariamente la información registrada en esta tecnologÃa. Este trabajo se enfocó en diseñar e implementar estrategias de detección y mitigación de ataques mayoritarios (51% de ataque) en un sistema distribuido Blockchain, a partir de la caracterización del comportamiento de los mineros. Para lograr esto, se analizó y evaluó el Hash Rate / Share de los mineros de Bitcoin y Crypto Ethereum, seguido del diseño e implementación de un protocolo de consenso para controlar el poder de cómputo de los mineros. Posteriormente, se realizó la exploración y evaluación de modelos de Machine Learning para detectar software malicioso de tipo Cryptojacking.DoctoradoDoctor en IngenierÃa de Sistemas y Computació
Projected Multi-Agent Consensus Equilibrium (PMACE) for Distributed Reconstruction with Application to Ptychography
Multi-Agent Consensus Equilibrium (MACE) formulates an inverse imaging
problem as a balance among multiple update agents such as data-fitting terms
and denoisers. However, each such agent operates on a separate copy of the full
image, leading to redundant memory use and slow convergence when each agent
affects only a small subset of the full image. In this paper, we extend MACE to
Projected Multi-Agent Consensus Equilibrium (PMACE), in which each agent
updates only a projected component of the full image, thus greatly reducing
memory use for some applications.We describe PMACE in terms of an equilibrium
problem and an equivalent fixed point problem and show that in most cases the
PMACE equilibrium is not the solution of an optimization problem. To
demonstrate the value of PMACE, we apply it to the problem of ptychography, in
which a sample is reconstructed from the diffraction patterns resulting from
coherent X-ray illumination at multiple overlapping spots. In our PMACE
formulation, each spot corresponds to a separate data-fitting agent, with the
final solution found as an equilibrium among all the agents. Our results
demonstrate that the PMACE reconstruction algorithm generates more accurate
reconstructions at a lower computational cost than existing ptychography
algorithms when the spots are sparsely sampled
Approaches to Improving the Accuracy of Machine Learning Models in Requirements Elicitation Techniques Selection
Selecting techniques is a crucial element of the business analysis approach
planning in IT projects. Particular attention is paid to the choice of
techniques for requirements elicitation. One of the promising methods for
selecting techniques is using machine learning algorithms trained on the
practitioners' experience considering different projects' contexts. The
effectiveness of ML models is significantly affected by the balance of the
training dataset, which is violated in the case of popular techniques. The
paper aims to analyze the efficiency of the Synthetic Minority Over-sampling
Technique usage in Machine Learning models for elicitation technique selection
in case of the imbalanced training dataset and possible ways for positive
feature importance selection. The computational experiment results confirmed
the effectiveness of using the proposed approaches to improve the accuracy of
machine learning models for selecting requirements elicitation techniques.
Proposed approaches can be used to build Machine Learning models for business
analysis activities planning in IT projects
Anuário cientÃfico 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 CientÃfico da Escola Superior de Tecnologia da Saúde de Lisboa. Como instituição de ensino superior, temos o compromisso de promover e incentivar a pesquisa cientÃfica em todas as áreas do conhecimento que contemplam a nossa missão. Esta publicação tem como objetivo divulgar toda a produção cientÃfica 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 cientÃfico de elevada qualidade e partilhada com a Sociedade na forma de livros, capÃtulos 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 especÃficos de Saúde, refletindo desta forma a pluralidade e diversidade de áreas que definem, e tornam única, a ESTeSL. Acreditamos que a investigação e pesquisa cientÃfica 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 inÃcio 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 cientÃfica 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
Machine Learning Research Trends in Africa: A 30 Years Overview with Bibliometric Analysis Review
In this paper, a critical bibliometric analysis study is conducted, coupled
with an extensive literature survey on recent developments and associated
applications in machine learning research with a perspective on Africa. The
presented bibliometric analysis study consists of 2761 machine learning-related
documents, of which 98% were articles with at least 482 citations published in
903 journals during the past 30 years. Furthermore, the collated documents were
retrieved from the Science Citation Index EXPANDED, comprising research
publications from 54 African countries between 1993 and 2021. The bibliometric
study shows the visualization of the current landscape and future trends in
machine learning research and its application to facilitate future
collaborative research and knowledge exchange among authors from different
research institutions scattered across the African continent
Limit theorems for non-Markovian and fractional processes
This thesis examines various non-Markovian and fractional processes---rough volatility models, stochastic Volterra equations, Wiener chaos expansions---through the prism of asymptotic analysis.
Stochastic Volterra systems serve as a conducive framework encompassing most rough volatility models used in mathematical finance. In Chapter 2, we provide a unified treatment of pathwise large and moderate deviations principles for a general class of multidimensional stochastic Volterra equations with singular kernels, not necessarily of convolution form. Our methodology is based on the weak convergence approach by Budhiraja, Dupuis and Ellis.
This powerful approach also enables us to investigate the pathwise large deviations of families of white noise functionals characterised by their Wiener chaos expansion as~
In Chapter 3, we provide sufficient conditions for the large deviations principle to hold in path space, thereby refreshing a problem left open By Pérez-Abreu (1993). Hinging on analysis on Wiener space, the proof involves describing, controlling and identifying the limit of perturbed multiple stochastic integrals.
In Chapter 4, we come back to mathematical finance via the route of Malliavin calculus. We present explicit small-time formulae for the at-the-money implied volatility, skew and curvature in a large class of models, including rough volatility models and their multi-factor versions. Our general setup encompasses both European options on a stock and VIX options. In particular, we develop a detailed analysis of the two-factor rough Bergomi model.
Finally, in Chapter 5, we consider the large-time behaviour of affine stochastic Volterra equations, an under-developed area in the absence of Markovianity.
We leverage on a measure-valued Markovian lift introduced by Cuchiero and Teichmann and the associated notion of generalised Feller property.
This setting allows us to prove the existence of an invariant measure for the lift and hence of a stationary distribution for the affine Volterra process, featuring in the rough Heston model.Open Acces
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