16,419 research outputs found

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    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

    Self-Supervised Learning to Prove Equivalence Between Straight-Line Programs via Rewrite Rules

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    We target the problem of automatically synthesizing proofs of semantic equivalence between two programs made of sequences of statements. We represent programs using abstract syntax trees (AST), where a given set of semantics-preserving rewrite rules can be applied on a specific AST pattern to generate a transformed and semantically equivalent program. In our system, two programs are equivalent if there exists a sequence of application of these rewrite rules that leads to rewriting one program into the other. We propose a neural network architecture based on a transformer model to generate proofs of equivalence between program pairs. The system outputs a sequence of rewrites, and the validity of the sequence is simply checked by verifying it can be applied. If no valid sequence is produced by the neural network, the system reports the programs as non-equivalent, ensuring by design no programs may be incorrectly reported as equivalent. Our system is fully implemented for a given grammar which can represent straight-line programs with function calls and multiple types. To efficiently train the system to generate such sequences, we develop an original incremental training technique, named self-supervised sample selection. We extensively study the effectiveness of this novel training approach on proofs of increasing complexity and length. Our system, S4Eq, achieves 97% proof success on a curated dataset of 10,000 pairs of equivalent programsComment: 30 pages including appendi

    Neural Architecture Search: Insights from 1000 Papers

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    In the past decade, advances in deep learning have resulted in breakthroughs in a variety of areas, including computer vision, natural language understanding, speech recognition, and reinforcement learning. Specialized, high-performing neural architectures are crucial to the success of deep learning in these areas. Neural architecture search (NAS), the process of automating the design of neural architectures for a given task, is an inevitable next step in automating machine learning and has already outpaced the best human-designed architectures on many tasks. In the past few years, research in NAS has been progressing rapidly, with over 1000 papers released since 2020 (Deng and Lindauer, 2021). In this survey, we provide an organized and comprehensive guide to neural architecture search. We give a taxonomy of search spaces, algorithms, and speedup techniques, and we discuss resources such as benchmarks, best practices, other surveys, and open-source libraries

    Evaluating Factors Impacting Fallen Tree Detection from Airborne Laser Scanning Point Clouds

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    Fallen tree mapping provides valuable information regarding the ecological value of boreal forests. Airborne laser scanning (ALS) enables mapping fallen trees on a large scale. We compared the performance of line-detection-based individual fallen tree detection when using moderate point density ALS data (15 points/m2) and high-point-density unmanned aerial vehicle-based laser scanning (ULS) data (285 points/m2). Furthermore, we inspected the dataset and detection methodology-related factors impacting performance in each case. The results of this study showed that increasing the point density of the laser scanning dataset enables the detection of a larger proportion of fallen trees. However, based on our experiment, a line-detection-based fallen tree detection approach is sensitive to noise, thus generating a large number of false detections, especially with high-point-density data. Different types of filters, such as a simple height-based filter and machine-learning-based filters, can be used for reducing noise. However, using such filters is always a compromise, as in addition to reducing noise and thus false detections, they also reduce the number of true detections. Hence, a less noise-sensitive fallen tree detection method utilizing the finer details visible in high-density point clouds could be more suitable for high-point-density laser scanning data

    Examples of works to practice staccato technique in clarinet instrument

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    Klarnetin staccato tekniğini güçlendirme aşamaları eser çalışmalarıyla uygulanmıştır. Staccato geçişlerini hızlandıracak ritim ve nüans çalışmalarına yer verilmiştir. Çalışmanın en önemli amacı sadece staccato çalışması değil parmak-dilin eş zamanlı uyumunun hassasiyeti üzerinde de durulmasıdır. Staccato çalışmalarını daha verimli hale getirmek için eser çalışmasının içinde etüt çalışmasına da yer verilmiştir. Çalışmaların üzerinde titizlikle durulması staccato çalışmasının ilham verici etkisi ile müzikal kimliğe yeni bir boyut kazandırmıştır. Sekiz özgün eser çalışmasının her aşaması anlatılmıştır. Her aşamanın bir sonraki performans ve tekniği güçlendirmesi esas alınmıştır. Bu çalışmada staccato tekniğinin hangi alanlarda kullanıldığı, nasıl sonuçlar elde edildiği bilgisine yer verilmiştir. Notaların parmak ve dil uyumu ile nasıl şekilleneceği ve nasıl bir çalışma disiplini içinde gerçekleşeceği planlanmıştır. Kamış-nota-diyafram-parmak-dil-nüans ve disiplin kavramlarının staccato tekniğinde ayrılmaz bir bütün olduğu saptanmıştır. Araştırmada literatür taraması yapılarak staccato ile ilgili çalışmalar taranmıştır. Tarama sonucunda klarnet tekniğin de kullanılan staccato eser çalışmasının az olduğu tespit edilmiştir. Metot taramasında da etüt çalışmasının daha çok olduğu saptanmıştır. Böylelikle klarnetin staccato tekniğini hızlandırma ve güçlendirme çalışmaları sunulmuştur. Staccato etüt çalışmaları yapılırken, araya eser çalışmasının girmesi beyni rahatlattığı ve istekliliği daha arttırdığı gözlemlenmiştir. Staccato çalışmasını yaparken doğru bir kamış seçimi üzerinde de durulmuştur. Staccato tekniğini doğru çalışmak için doğru bir kamışın dil hızını arttırdığı saptanmıştır. Doğru bir kamış seçimi kamıştan rahat ses çıkmasına bağlıdır. Kamış, dil atma gücünü vermiyorsa daha doğru bir kamış seçiminin yapılması gerekliliği vurgulanmıştır. Staccato çalışmalarında baştan sona bir eseri yorumlamak zor olabilir. Bu açıdan çalışma, verilen müzikal nüanslara uymanın, dil atış performansını rahatlattığını ortaya koymuştur. Gelecek nesillere edinilen bilgi ve birikimlerin aktarılması ve geliştirici olması teşvik edilmiştir. Çıkacak eserlerin nasıl çözüleceği, staccato tekniğinin nasıl üstesinden gelinebileceği anlatılmıştır. Staccato tekniğinin daha kısa sürede çözüme kavuşturulması amaç edinilmiştir. Parmakların yerlerini öğrettiğimiz kadar belleğimize de çalışmaların kaydedilmesi önemlidir. Gösterilen azmin ve sabrın sonucu olarak ortaya çıkan yapıt başarıyı daha da yukarı seviyelere çıkaracaktır

    Anuário científico da Escola Superior de Tecnologia da Saúde de Lisboa - 2021

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    É com grande prazer que apresentamos a mais recente edição (a 11.ª) do Anuário Científico da Escola Superior de Tecnologia da Saúde de Lisboa. Como instituição de ensino superior, temos o compromisso de promover e incentivar a pesquisa científica em todas as áreas do conhecimento que contemplam a nossa missão. Esta publicação tem como objetivo divulgar toda a produção científica 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 científico de elevada qualidade e partilhada com a Sociedade na forma de livros, capítulos 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 específicos de Saúde, refletindo desta forma a pluralidade e diversidade de áreas que definem, e tornam única, a ESTeSL. Acreditamos que a investigação e pesquisa científica 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 início 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 científica 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

    Exploring Potential Domains of Agroecological Transformation in the United States

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    There is now substantial evidence that agroecology constitutes a necessary pathway towards socially just and ecologically resilient agrifood systems. In the United States, however, agroecology remains relegated to the margins of research and policy spaces. This dissertation explores three potential domains of agroecological transformation in the US. Domains of transformation are sites of contestation in which agroecology interfaces with the industrial agrifood system; these material and conceptual spaces may point to important pathways for scaling agroecology. To explore this concept, I examine formal agroecology education (Chapter 1), extension services and statewide discourses around soil health (Chapter 2), and models of farmland access not based on private property (Chapter 3). While these constitute three distinct topics, I seek to demonstrate that they are linked by similar forces that enable and constrain the extent to which these domains can be sites of agroecological transformation. First, I use case study methodology to explore the evolution of an advanced undergraduate agroecology course at the University of Vermont. I examine how course content and pedagogy align with a transformative framing of agroecology as inherently transdisciplinary, participatory, action-oriented, and political. I find that student-centered pedagogies and experiential education on farms successfully promote transformative learning whereby students shift their understanding of agrifood systems and their role(s) within them. In my second chapter, I zoom out to consider soil health discourses amongst farmers and extension professionals in Vermont. Using co-created mental models and participatory analysis, I find that a singular notion of soil health based on biological, chemical, and physical properties fails to capture the diverse ways in which farmers and extension professionals understand soil health. I advocate for a principles-based approach to soil health that includes social factors and may provide a valuable heuristic for mobilizing knowledge towards agroecology transition pathways. My third chapter, conducted in collaboration with the national non-profit organization Agrarian Trust, considers equitable farmland access. Through semi-structured interviews with 13 farmers and growers across the US, I explore both farmer motivations for engaging with alternative land access models (ALAMs) and the potential role(s) these models may play within broader transformation processes. I argue that ALAMs constitute material and conceptual ‘third spaces’ within which the private property regime is challenged and new identities and language around land ownership can emerge; as such, ALAMs may facilitate a (re)imagining of land-based social-ecological relationships. I conclude the dissertation by identifying conceptual and practical linkages across the domains explored in Chapters 1-3. I pay particular attention to processes that challenge neoliberal logics, enact plural ways of knowing, and prefigure just futures. In considering these concepts, I apply an expansive notion of pedagogy to explore how processes of teaching and (un)learning can contribute to cultivating foundational capacities for transition processes

    Comparing Machine Learning Methods for Estimating Heterogeneous Treatment Effects by Combining Data from Multiple Randomized Controlled Trials

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    Individualized treatment decisions can improve health outcomes, but using data to make these decisions in a reliable, precise, and generalizable way is challenging with a single dataset. Leveraging multiple randomized controlled trials allows for the combination of datasets with unconfounded treatment assignment to improve the power to estimate heterogeneous treatment effects. This paper discusses several non-parametric approaches for estimating heterogeneous treatment effects using data from multiple trials. We extend single-study methods to a scenario with multiple trials and explore their performance through a simulation study, with data generation scenarios that have differing levels of cross-trial heterogeneity. The simulations demonstrate that methods that directly allow for heterogeneity of the treatment effect across trials perform better than methods that do not, and that the choice of single-study method matters based on the functional form of the treatment effect. Finally, we discuss which methods perform well in each setting and then apply them to four randomized controlled trials to examine effect heterogeneity of treatments for major depressive disorder

    Semi-supervised detection of structural damage using Variational Autoencoder and a One-Class Support Vector Machine

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    In recent years, Artificial Neural Networks (ANNs) have been introduced in Structural Health Monitoring (SHM) systems. A semi-supervised method with a data-driven approach allows the ANN training on data acquired from an undamaged structural condition to detect structural damages. In standard approaches, after the training stage, a decision rule is manually defined to detect anomalous data. However, this process could be made automatic using machine learning methods, whom performances are maximised using hyperparameter optimization techniques. The paper proposes a semi-supervised method with a data-driven approach to detect structural anomalies. The methodology consists of: (i) a Variational Autoencoder (VAE) to approximate undamaged data distribution and (ii) a One-Class Support Vector Machine (OC-SVM) to discriminate different health conditions using damage sensitive features extracted from VAE's signal reconstruction. The method is applied to a scale steel structure that was tested in nine damage's scenarios by IASC-ASCE Structural Health Monitoring Task Group

    latent Dirichlet allocation method-based nowcasting approach for prediction of silver price

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    Silver is a metal that offers significant value to both investors and companies. The purpose of this study is to make an estimation of the price of silver. While making this estimation, it is planned to include the frequency of searches on Google Trends for the words that affect the silver price. Thus, it is aimed to obtain a more accurate estimate. First, using the Latent Dirichlet Allocation method, the keywords to be analyzed in Google Trends were collected from various articles on the Internet. Mining data from Google Trends combined with the information obtained by LDA is the new approach this study took, to predict the price of silver. No study has been found in the literature that has adopted this approach to estimate the price of silver. The estimation was carried out with Random Forest Regression, Gaussian Process Regression, Support Vector Machine, Regression Trees and Artificial Neural Networks methods. In addition, ARIMA, which is one of the traditional methods that is widely used in time series analysis, was also used to benchmark the accuracy of the methodology. The best MSE ratio was obtained as 0,000227131 ± 0.0000235205 by the Regression Trees method. This score indicates that it would be a valid technique to estimate the price of "Silver" by using Google Trends data using the LDA method
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