13,738 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
Security and Privacy Problems in Voice Assistant Applications: A Survey
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
Recommended from our members
Ensuring Access to Safe and Nutritious Food for All Through the Transformation of Food Systems
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
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
RAPID: Enabling Fast Online Policy Learning in Dynamic Public Cloud Environments
Resource sharing between multiple workloads has become a prominent practice
among cloud service providers, motivated by demand for improved resource
utilization and reduced cost of ownership. Effective resource sharing, however,
remains an open challenge due to the adverse effects that resource contention
can have on high-priority, user-facing workloads with strict Quality of Service
(QoS) requirements. Although recent approaches have demonstrated promising
results, those works remain largely impractical in public cloud environments
since workloads are not known in advance and may only run for a brief period,
thus prohibiting offline learning and significantly hindering online learning.
In this paper, we propose RAPID, a novel framework for fast, fully-online
resource allocation policy learning in highly dynamic operating environments.
RAPID leverages lightweight QoS predictions, enabled by
domain-knowledge-inspired techniques for sample efficiency and bias reduction,
to decouple control from conventional feedback sources and guide policy
learning at a rate orders of magnitude faster than prior work. Evaluation on a
real-world server platform with representative cloud workloads confirms that
RAPID can learn stable resource allocation policies in minutes, as compared
with hours in prior state-of-the-art, while improving QoS by 9.0x and
increasing best-effort workload performance by 19-43%
TOWARDS AN UNDERSTANDING OF EFFORTFUL FUNDRAISING EXPERIENCES: USING INTERPRETATIVE PHENOMENOLOGICAL ANALYSIS IN FUNDRAISING RESEARCH
Physical-activity oriented community fundraising has experienced an exponential growth in popularity over the past 15 years. The aim of this study was to explore the value of effortful fundraising experiences, from the point of view of participants, and explore the impact that these experiences have on people’s lives. This study used an IPA approach to interview 23 individuals, recognising the role of participants as proxy (nonprofessional) fundraisers for charitable organisations, and the unique organisation donor dynamic that this creates. It also bought together relevant psychological theory related to physical activity fundraising experiences (through a narrative literature review) and used primary interview data to substantiate these. Effortful fundraising experiences are examined in detail to understand their significance to participants, and how such experiences influence their connection with a charity or cause. This was done with an idiographic focus at first, before examining convergences and divergences across the sample. This study found that effortful fundraising experiences can have a profound positive impact upon community fundraisers in both the short and the long term. Additionally, it found that these experiences can be opportunities for charitable organisations to create lasting meaningful relationships with participants, and foster mutually beneficial lifetime relationships with them. Further research is needed to test specific psychological theory in this context, including self-esteem theory, self determination theory, and the martyrdom effect (among others)
Predictive Maintenance of Critical Equipment for Floating Liquefied Natural Gas Liquefaction Process
Predictive Maintenance of Critical Equipment for Liquefied Natural Gas Liquefaction Process
Meeting global energy demand is a massive challenge, especially with the quest of more affinity towards sustainable and cleaner energy. Natural gas is viewed as a bridge fuel to a renewable energy. LNG as a processed form of natural gas is the fastest growing and cleanest form of fossil fuel. Recently, the unprecedented increased in LNG demand, pushes its exploration and processing into offshore as Floating LNG (FLNG). The offshore topsides gas processes and liquefaction has been identified as one of the great challenges of FLNG. Maintaining topside liquefaction process asset such as gas turbine is critical to profitability and reliability, availability of the process facilities. With the setbacks of widely used reactive and preventive time-based maintenances approaches, to meet the optimal reliability and availability requirements of oil and gas operators, this thesis presents a framework driven by AI-based learning approaches for predictive maintenance. The framework is aimed at leveraging the value of condition-based maintenance to minimises the failures and downtimes of critical FLNG equipment (Aeroderivative gas turbine).
In this study, gas turbine thermodynamics were introduced, as well as some factors affecting gas turbine modelling. Some important considerations whilst modelling gas turbine system such as modelling objectives, modelling methods, as well as approaches in modelling gas turbines were investigated. These give basis and mathematical background to develop a gas turbine simulated model. The behaviour of simple cycle HDGT was simulated using thermodynamic laws and operational data based on Rowen model. Simulink model is created using experimental data based on Rowen’s model, which is aimed at exploring transient behaviour of an industrial gas turbine. The results show the capability of Simulink model in capture nonlinear dynamics of the gas turbine system, although constraint to be applied for further condition monitoring studies, due to lack of some suitable relevant correlated features required by the model.
AI-based models were found to perform well in predicting gas turbines failures. These capabilities were investigated by this thesis and validated using an experimental data obtained from gas turbine engine facility. The dynamic behaviours gas turbines changes when exposed to different varieties of fuel. A diagnostics-based AI models were developed to diagnose different gas turbine engine’s failures associated with exposure to various types of fuels. The capabilities of Principal Component Analysis (PCA) technique have been harnessed to reduce the dimensionality of the dataset and extract good features for the diagnostics model development.
Signal processing-based (time-domain, frequency domain, time-frequency domain) techniques have also been used as feature extraction tools, and significantly added more correlations to the dataset and influences the prediction results obtained. Signal processing played a vital role in extracting good features for the diagnostic models when compared PCA. The overall results obtained from both PCA, and signal processing-based models demonstrated the capabilities of neural network-based models in predicting gas turbine’s failures. Further, deep learning-based LSTM model have been developed, which extract features from the time series dataset directly, and hence does not require any feature extraction tool. The LSTM model achieved the highest performance and prediction accuracy, compared to both PCA-based and signal processing-based the models.
In summary, it is concluded from this thesis that despite some challenges related to gas turbines Simulink Model for not being integrated fully for gas turbine condition monitoring studies, yet data-driven models have proven strong potentials and excellent performances on gas turbine’s CBM diagnostics. The models developed in this thesis can be used for design and manufacturing purposes on gas turbines applied to FLNG, especially on condition monitoring and fault detection of gas turbines. The result obtained would provide valuable understanding and helpful guidance for researchers and practitioners to implement robust predictive maintenance models that will enhance the reliability and availability of FLNG critical equipment.Petroleum Technology Development Funds (PTDF) Nigeri
Recommended from our members
Privacy-aware Smart Home Interface Framework
Smart home user interfaces are pervasive and shared by multiple users who occupy the space. Therefore, they pose a risk to interpersonal privacy of occupants because an individual’s sensitive information can be leaked to other co-occupants (information privacy), or they can be disturbed by intrusions into their personal space (physical privacy) when the co-occupant interacts with the smart home user interfaces. This thesis hypothesises that interpersonal privacy violations can be mitigated by adapting the user interface layer and presents insights into how to achieve usable user interface adaptation to mitigate or minimise interpersonal privacy violations in smart homes.
The thesis reports two case studies and two user studies. The first case study identifies the key characteristics needed to model the rich context of interpersonal privacy violations scenarios. Then it presents knowledge representation models that are required to represent the identified characteristics and evaluates them for adequacy in modelling the context information of interpersonal privacy violation scenarios. The second case study presents a software architecture and a set of algorithms that can detect interpersonal privacy violations and generate usable user interface adaptations. Then it evaluates the architecture and the algorithms for adequacy in generating usable privacy-aware user interface adaptations. The first user study (N=15) evaluates the usability of the adaptive user interfaces generated from the framework where storyboards were used as the stimulant. Extending the findings from the usability study and expanding the coverage of example scenarios, the second user study (N=23) evaluates the overall user experience of the adaptive user interfaces, using video prototypes as the stimulant.
The research demonstrates that the characteristics identified, and the respective knowledge representation models adequately captured the context of interpersonal privacy violation scenarios. Furthermore, the software architecture and the algorithms could detect possible interpersonal privacy violations and generate usable user interface adaptations to mitigate them. The two user studies demonstrate that the adaptive user interfaces, when used in appropriate situations, were a suitable solution for addressing interpersonal privacy violations while providing high usability and a positive user experience. The thesis concludes by providing recommendations for developing privacy-aware user interface adaptations and suggesting future work that can extend this research
- …