16,260 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
Fast Charging of Lithium-Ion Batteries Using Deep Bayesian Optimization with Recurrent Neural Network
Fast charging has attracted increasing attention from the battery community
for electrical vehicles (EVs) to alleviate range anxiety and reduce charging
time for EVs. However, inappropriate charging strategies would cause severe
degradation of batteries or even hazardous accidents. To optimize fast-charging
strategies under various constraints, particularly safety limits, we propose a
novel deep Bayesian optimization (BO) approach that utilizes Bayesian recurrent
neural network (BRNN) as the surrogate model, given its capability in handling
sequential data. In addition, a combined acquisition function of expected
improvement (EI) and upper confidence bound (UCB) is developed to better
balance the exploitation and exploration. The effectiveness of the proposed
approach is demonstrated on the PETLION, a porous electrode theory-based
battery simulator. Our method is also compared with the state-of-the-art BO
methods that use Gaussian process (GP) and non-recurrent network as surrogate
models. The results verify the superior performance of the proposed fast
charging approaches, which mainly results from that: (i) the BRNN-based
surrogate model provides a more precise prediction of battery lifetime than
that based on GP or non-recurrent network; and (ii) the combined acquisition
function outperforms traditional EI or UCB criteria in exploring the optimal
charging protocol that maintains the longest battery lifetime
Adaptive measurement filter: efficient strategy for optimal estimation of quantum Markov chains
Continuous-time measurements are instrumental for a multitude of tasks in
quantum engineering and quantum control, including the estimation of dynamical
parameters of open quantum systems monitored through the environment. However,
such measurements do not extract the maximum amount of information available in
the output state, so finding alternative optimal measurement strategies is a
major open problem.
In this paper we solve this problem in the setting of discrete-time
input-output quantum Markov chains. We present an efficient algorithm for
optimal estimation of one-dimensional dynamical parameters which consists of an
iterative procedure for updating a `measurement filter' operator and
determining successive measurement bases for the output units. A key ingredient
of the scheme is the use of a coherent quantum absorber as a way to
post-process the output after the interaction with the system. This is designed
adaptively such that the joint system and absorber stationary state is pure at
a reference parameter value. The scheme offers an exciting prospect for optimal
continuous-time adaptive measurements, but more work is needed to find
realistic practical implementations.Comment: 25 pages 7 figure
Full trajectory optimizing operator inference for reduced-order modeling using differentiable programming
Accurate and inexpensive Reduced Order Models (ROMs) for forecasting
turbulent flows can facilitate rapid design iterations and thus prove critical
for predictive control in engineering problems. Galerkin projection based
Reduced Order Models (GP-ROMs), derived by projecting the Navier-Stokes
equations on a truncated Proper Orthogonal Decomposition (POD) basis, are
popular because of their low computational costs and theoretical foundations.
However, the accuracy of traditional GP-ROMs degrades over long time prediction
horizons. To address this issue, we extend the recently proposed Neural
Galerkin Projection (NeuralGP) data driven framework to
compressibility-dominated transonic flow, considering a prototypical problem of
a buffeting NACA0012 airfoil governed by the full Navier-Stokes equations. The
algorithm maintains the form of the ROM-ODE obtained from the Galerkin
projection; however coefficients are learned directly from the data using
gradient descent facilitated by differentiable programming. This blends the
strengths of the physics driven GP-ROM and purely data driven neural
network-based techniques, resulting in a computationally cheaper model that is
easier to interpret. We show that the NeuralGP method minimizes a more rigorous
full trajectory error norm compared to a linearized error definition optimized
by the calibration procedure. We also find that while both procedures stabilize
the ROM by displacing the eigenvalues of the linear dynamics matrix of the
ROM-ODE to the complex left half-plane, the NeuralGP algorithm adds more
dissipation to the trailing POD modes resulting in its better long-term
performance. The results presented highlight the superior accuracy of the
NeuralGP technique compared to the traditional calibrated GP-ROM method
Vegetation responses to variations in climate: A combined ordinary differential equation and sequential Monte Carlo estimation approach
Vegetation responses to variation in climate are a current research priority in the context of accelerated shifts generated by climate change. However, the interactions between environmental and biological factors still represent one of the largest uncertainties in projections of future scenarios, since the relationship between drivers and ecosystem responses has a complex and nonlinear nature. We aimed to develop a model to study the vegetation’s primary productivity dynamic response to temporal variations in climatic conditions as measured by rainfall, temperature and radiation. Thus, we propose a new way to estimate the vegetation response to climate via a non-autonomous version of a classical growth curve, with a time-varying growth rate and carrying capacity parameters according to climate variables. With a Sequential Monte Carlo Estimation to account for complexities in the climate-vegetation relationship to minimize the number of parameters. The model was applied to six key sites identified in a previous study, consisting of different arid and semiarid rangelands from North Patagonia, Argentina. For each site, we selected the time series of MODIS NDVI, and climate data from ERA5 Copernicus hourly reanalysis from 2000 to 2021. After calculating the time series of the a posteriori distribution of parameters, we analyzed the explained capacity of the model in terms of the linear coefficient of determination and
the parameters distribution variation. Results showed that most rangelands recorded changes in their sensitivity over time to climatic factors, but vegetation responses were heterogeneous and influenced by different drivers. Differences in this climate-vegetation relationship were recorded among different cases: (1) a marginal and decreasing sensitivity to temperature and radiation, respectively, but a high sensitivity to water availability; (2) high and increasing sensitivity to temperature and water availability, respectively; and (3) a case with an abrupt shift in vegetation dynamics driven by a progressively decreasing sensitivity to water availability, without any
changes in the sensitivity either to temperature or radiation. Finally, we also found that the time scale, in which the ecosystem integrated the rainfall phenomenon in terms of the width of the window function used to convolve the rainfall series into a water availability variable, was also variable in time. This approach allows us to estimate the connection degree between ecosystem productivity and climatic variables. The capacity of the model to identify changes over time in the vegetation-climate relationship might inform decision-makers about ecological transitions and the differential impact of climatic drivers on ecosystems.Estación Experimental Agropecuaria BarilocheFil: Bruzzone, Octavio Augusto. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche; ArgentinaFil: Bruzzone, Octavio Augusto. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Perri, Daiana Vanesa. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Perri, Daiana Vanesa. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Easdale, Marcos Horacio. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Easdale, Marcos Horacio. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; Argentin
Cumulant expansion framework for internal gradient distributions tensors
Magnetic resonance imaging is a powerful, non invasive tool for medical
diagnosis. The low sensitivity for detecting the nuclear spin signals,
typically limits the image resolution to several tens of micrometers in
preclinical systems and millimeters in clinical scanners. Other sources of
information, derived from diffusion processes of intrinsic molecules as water
in the tissues, allow getting morphological information at micrometric and
submicrometric scales as potential biomarkers of several pathologies. Here we
consider extracting this morphological information by probing the distribution
of internal magnetic field gradients induced by the heterogeneous magnetic
susceptibility of the medium. We use a cumulant expansion to derive the
dephasing on the spin signal induced by the molecules that explore these
internal gradients while diffuse. Based on the cumulant expansion, we define
internal gradient distributions tensors (IGDT) and propose modulating gradient
spin echo sequences to probe them. These IGDT contain microstructural
morphological information that characterize porous media and biological
tissues. We evaluate the IGDT effects on the magnetization decay with typical
conditions of brain tissue and show their effects can be experimentally
observed. Our results thus provide a framework for exploiting IGDT as
quantitative diagnostic tools
Dynamic Subspace Estimation with Grassmannian Geodesics
Dynamic subspace estimation, or subspace tracking, is a fundamental problem
in statistical signal processing and machine learning. This paper considers a
geodesic model for time-varying subspaces. The natural objective function for
this model is non-convex. We propose a novel algorithm for minimizing this
objective and estimating the parameters of the model from data with
Grassmannian-constrained optimization. We show that with this algorithm, the
objective is monotonically non-increasing. We demonstrate the performance of
this model and our algorithm on synthetic data, video data, and dynamic fMRI
data
A variational Bayesian inference technique for model updating of structural systems with unknown noise statistics
Dynamic models of structural and mechanical systems can be updated to match the measured data through a Bayesian inference process. However, the performance of classical (non-adaptive) Bayesian model updating approaches decreases significantly when the pre-assumed statistical characteristics of the model prediction error are violated. To overcome this issue, this paper presents an adaptive recursive variational Bayesian approach to estimate the statistical characteristics of the prediction error jointly with the unknown model parameters. This approach improves the accuracy and robustness of model updating by including the estimation of model prediction error. The performance of this approach is demonstrated using numerically simulated data obtained from a structural frame with material non-linearity under earthquake excitation. Results show that in the presence of non-stationary noise/error, the non-adaptive approach fails to estimate unknown model parameters, whereas the proposed approach can accurately estimate them
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