4,683 research outputs found
Multimodal spatio-temporal deep learning framework for 3D object detection in instrumented vehicles
This thesis presents the utilization of multiple modalities, such as image and lidar, to incorporate spatio-temporal information from sequence data into deep learning architectures for 3Dobject detection in instrumented vehicles. The race to autonomy in instrumented vehicles or self-driving cars has stimulated significant research in developing autonomous driver assistance systems (ADAS) technologies related explicitly to perception systems. Object detection plays a crucial role in perception systems by providing spatial information to its subsequent modules; hence, accurate detection is a significant task supporting autonomous driving. The advent of deep learning in computer vision applications and the availability of multiple sensing modalities such as 360° imaging, lidar, and radar have led to state-of-the-art 2D and 3Dobject detection architectures. Most current state-of-the-art 3D object detection frameworks consider single-frame reference. However, these methods do not utilize temporal information associated with the objects or scenes from the sequence data. Thus, the present research hypothesizes that multimodal temporal information can contribute to bridging the gap between 2D and 3D metric space by improving the accuracy of deep learning frameworks for 3D object estimations. The thesis presents understanding multimodal data representations and selecting hyper-parameters using public datasets such as KITTI and nuScenes with Frustum-ConvNet as a baseline architecture. Secondly, an attention mechanism was employed along with convolutional-LSTM to extract spatial-temporal information from sequence data to improve 3D estimations and to aid the architecture in focusing on salient lidar point cloud features. Finally, various fusion strategies are applied to fuse the modalities and temporal information into the architecture to assess its efficacy on performance and computational complexity. Overall, this thesis has established the importance and utility of multimodal systems for refined 3D object detection and proposed a complex pipeline incorporating spatial, temporal and attention mechanisms to improve specific, and general class accuracy demonstrated on key autonomous driving data sets
Integration of heterogeneous data sources and automated reasoning in healthcare and domotic IoT systems
In recent years, IoT technology has radically transformed many crucial industrial and service sectors such as healthcare. The multi-facets heterogeneity of the devices and the collected information provides important opportunities to develop innovative systems and services. However, the ubiquitous presence of data silos and the poor semantic interoperability in the IoT landscape constitute a significant obstacle in the pursuit of this goal. Moreover, achieving actionable knowledge from the collected data requires IoT information sources to be analysed using appropriate artificial intelligence techniques such as automated reasoning. In this thesis work, Semantic Web technologies have been investigated as an approach to address both the data integration and reasoning aspect in modern IoT systems. In particular, the contributions presented in this thesis are the following: (1) the IoT Fitness Ontology, an OWL ontology that has been developed in order to overcome the issue of data silos and enable semantic interoperability in the IoT fitness domain; (2) a Linked Open Data web portal for collecting and sharing IoT health datasets with the research community; (3) a novel methodology for embedding knowledge in rule-defined IoT smart home scenarios; and (4) a knowledge-based IoT home automation system that supports a seamless integration of heterogeneous devices and data sources
Land Use and Land Cover Mapping in a Changing World
It is increasingly being recognized that land use and land cover changes driven by anthropogenic pressures are impacting terrestrial and aquatic ecosystems and their services, human society, and human livelihoods and well-being. This Special Issue contains 12 original papers covering various issues related to land use and land use changes in various parts of the world (see references), with the purpose of providing a forum to exchange ideas and progress in related areas. Research topics include land use targets, dynamic modelling and mapping using satellite images, pressures from energy production, deforestation, impacts on ecosystem services, aboveground biomass evaluation, and investigations on libraries of legends and classification systems
Post-Growth Geographies: Spatial Relations of Diverse and Alternative Economies
Post-Growth Geographies examines the spatial relations of diverse and alternative economies between growth-oriented institutions and multiple socio-ecological crises. The book brings together conceptual and empirical contributions from geography and its neighbouring disciplines and offers different perspectives on the possibilities, demands and critiques of post-growth transformation. Through case studies and interviews, the contributions combine voices from activism, civil society, planning and politics with current theoretical debates on socio-ecological transformation
Meta-ontology fault detection
Ontology engineering is the field, within knowledge representation, concerned with using logic-based formalisms to represent knowledge, typically moderately sized knowledge bases called ontologies. How to best develop, use and maintain these ontologies has produced relatively large bodies of both formal, theoretical and methodological research.
One subfield of ontology engineering is ontology debugging, and is concerned with preventing, detecting and repairing errors (or more generally pitfalls, bad practices or faults) in ontologies. Due to the logical nature of ontologies and, in particular, entailment, these faults are often both hard to prevent and detect and have far reaching consequences. This makes ontology debugging one of the principal challenges to more widespread adoption of ontologies in applications.
Moreover, another important subfield in ontology engineering is that of ontology alignment: combining multiple ontologies to produce more powerful results than the simple sum of the parts. Ontology alignment further increases the issues, difficulties and challenges of ontology debugging by introducing, propagating and exacerbating faults in ontologies.
A relevant aspect of the field of ontology debugging is that, due to the challenges and difficulties, research within it is usually notably constrained in its scope, focusing on particular aspects of the problem or on the application to only certain subdomains or under specific methodologies. Similarly, the approaches are often ad hoc and only related to other approaches at a conceptual level. There are no well established and widely used formalisms, definitions or benchmarks that form a foundation of the field of ontology debugging.
In this thesis, I tackle the problem of ontology debugging from a more abstract than usual point of view, looking at existing literature in the field and attempting to extract common ideas and specially focussing on formulating them in a common language and under a common approach. Meta-ontology fault detection is a framework for detecting faults in ontologies that utilizes semantic fault patterns to express schematic entailments that typically indicate faults in a systematic way. The formalism that I developed to represent these patterns is called existential second-order query logic (abbreviated as ESQ logic). I further reformulated a large proportion of the ideas present in some of the existing research pieces into this framework and as patterns in ESQ logic, providing a pattern catalogue.
Most of the work during my PhD has been spent in designing and implementing
an algorithm to effectively automatically detect arbitrary ESQ patterns in arbitrary ontologies. The result is what we call minimal commitment resolution for ESQ logic, an extension of first-order resolution, drawing on important ideas from higher-order unification and implementing a novel approach to unification problems using dependency graphs. I have proven important theoretical properties about this algorithm such as its soundness, its termination (in a certain sense and under certain conditions) and its fairness or completeness in the enumeration of infinite spaces of solutions.
Moreover, I have produced an implementation of minimal commitment resolution for ESQ logic in Haskell that has passed all unit tests and produces non-trivial results on small examples. However, attempts to apply this algorithm to examples of a more realistic size have proven unsuccessful, with computation times that exceed our tolerance levels.
In this thesis, I have provided both details of the challenges faced in this regard,
as well as other successful forms of qualitative evaluation of the meta-ontology fault detection approach, and discussions about both what I believe are the main causes of the computational feasibility problems, ideas on how to overcome them, and also ideas on other directions of future work that could use the results in the thesis to contribute to the production of foundational formalisms, ideas and approaches to ontology debugging that can properly combine existing constrained research. It is unclear to me whether minimal commitment resolution for ESQ logic can, in its current shape, be implemented efficiently or not, but I believe that, at the very least, the theoretical and conceptual underpinnings that I have presented in this thesis will be useful to produce more
foundational results in the field
Intelligent computing : the latest advances, challenges and future
Computing is a critical driving force in the development of human civilization. In recent years, we have witnessed the emergence of intelligent computing, a new computing paradigm that is reshaping traditional computing and promoting digital revolution in the era of big data, artificial intelligence and internet-of-things with new computing theories, architectures, methods, systems, and applications. Intelligent computing has greatly broadened the scope of computing, extending it from traditional computing on data to increasingly diverse computing paradigms such as perceptual intelligence, cognitive intelligence, autonomous intelligence, and human computer fusion intelligence. Intelligence and computing have undergone paths of different evolution and development for a long time but have become increasingly intertwined in recent years: intelligent computing is not only intelligence-oriented but also intelligence-driven. Such cross-fertilization has prompted the emergence and rapid advancement of intelligent computing
BIM-GPT: a Prompt-Based Virtual Assistant Framework for BIM Information Retrieval
Efficient information retrieval (IR) from building information models (BIMs)
poses significant challenges due to the necessity for deep BIM knowledge or
extensive engineering efforts for automation. We introduce BIM-GPT, a
prompt-based virtual assistant (VA) framework integrating BIM and generative
pre-trained transformer (GPT) technologies to support NL-based IR. A prompt
manager and dynamic template generate prompts for GPT models, enabling
interpretation of NL queries, summarization of retrieved information, and
answering BIM-related questions. In tests on a BIM IR dataset, our approach
achieved 83.5% and 99.5% accuracy rates for classifying NL queries with no data
and 2% data incorporated in prompts, respectively. Additionally, we validated
the functionality of BIM-GPT through a VA prototype for a hospital building.
This research contributes to the development of effective and versatile VAs for
BIM IR in the construction industry, significantly enhancing BIM accessibility
and reducing engineering efforts and training data requirements for processing
NL queries.Comment: 35 pages, 15 figure
Mars delivery service - development of the electro-mechanical systems of the Sample Fetch Rover for the Mars Sample Return Campaign
This thesis describes the development of the Sample Fetch Rover (SFR), studied for Mars Sample Return (MSR), an international campaign carried out in cooperation between the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The focus of this document is the design of the electro-mechanical systems of the rover.
After placing this work into the general context of robotic planetary exploration and summarising the state of the art for what concerns Mars rovers, the architecture of the Mars Sample Return Campaign is presented. A complete overview of the current SFR architecture is provided, touching upon all the main subsystems of the spacecraft. For each area, it is discussed what are the design drivers, the chosen solutions and whether they use heritage technology (in particular from the ExoMars Rover) or new developments. This research focuses on two topics of particular interest, due to their relevance for the mission and the novelty of their design: locomotion and sample acquisition, which are discussed in depth.
The early SFR locomotion concepts are summarised, covering the initial trade-offs and discarded designs for higher traverse performance. Once a consolidated architecture was reached, the locomotion subsystem was developed further, defining the details of the suspension, actuators, deployment mechanisms and wheels. This technology is presented here in detail, including some key analysis and test results that support the design and demonstrate how it responds to the mission requirements.
Another major electro-mechanical system developed as part of this work is the one dedicated to sample tube acquisition. The concept of operations of this machinery was defined to be robust against the unknown conditions that characterise the mission. The design process led to a highly automated robotic system which is described here in its main components: vision system, robotic arm and tube storage
- …