17,387 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

    The Metaverse: Survey, Trends, Novel Pipeline Ecosystem & Future Directions

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    The Metaverse offers a second world beyond reality, where boundaries are non-existent, and possibilities are endless through engagement and immersive experiences using the virtual reality (VR) technology. Many disciplines can benefit from the advancement of the Metaverse when accurately developed, including the fields of technology, gaming, education, art, and culture. Nevertheless, developing the Metaverse environment to its full potential is an ambiguous task that needs proper guidance and directions. Existing surveys on the Metaverse focus only on a specific aspect and discipline of the Metaverse and lack a holistic view of the entire process. To this end, a more holistic, multi-disciplinary, in-depth, and academic and industry-oriented review is required to provide a thorough study of the Metaverse development pipeline. To address these issues, we present in this survey a novel multi-layered pipeline ecosystem composed of (1) the Metaverse computing, networking, communications and hardware infrastructure, (2) environment digitization, and (3) user interactions. For every layer, we discuss the components that detail the steps of its development. Also, for each of these components, we examine the impact of a set of enabling technologies and empowering domains (e.g., Artificial Intelligence, Security & Privacy, Blockchain, Business, Ethics, and Social) on its advancement. In addition, we explain the importance of these technologies to support decentralization, interoperability, user experiences, interactions, and monetization. Our presented study highlights the existing challenges for each component, followed by research directions and potential solutions. To the best of our knowledge, this survey is the most comprehensive and allows users, scholars, and entrepreneurs to get an in-depth understanding of the Metaverse ecosystem to find their opportunities and potentials for contribution

    Reinforcement Learning-based User-centric Handover Decision-making in 5G Vehicular Networks

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    The advancement of 5G technologies and Vehicular Networks open a new paradigm for Intelligent Transportation Systems (ITS) in safety and infotainment services in urban and highway scenarios. Connected vehicles are vital for enabling massive data sharing and supporting such services. Consequently, a stable connection is compulsory to transmit data across the network successfully. The new 5G technology introduces more bandwidth, stability, and reliability, but it faces a low communication range, suffering from more frequent handovers and connection drops. The shift from the base station-centric view to the user-centric view helps to cope with the smaller communication range and ultra-density of 5G networks. In this thesis, we propose a series of strategies to improve connection stability through efficient handover decision-making. First, a modified probabilistic approach, M-FiVH, aimed at reducing 5G handovers and enhancing network stability. Later, an adaptive learning approach employed Connectivity-oriented SARSA Reinforcement Learning (CO-SRL) for user-centric Virtual Cell (VC) management to enable efficient handover (HO) decisions. Following that, a user-centric Factor-distinct SARSA Reinforcement Learning (FD-SRL) approach combines time series data-oriented LSTM and adaptive SRL for VC and HO management by considering both historical and real-time data. The random direction of vehicular movement, high mobility, network load, uncertain road traffic situation, and signal strength from cellular transmission towers vary from time to time and cannot always be predicted. Our proposed approaches maintain stable connections by reducing the number of HOs by selecting the appropriate size of VCs and HO management. A series of improvements demonstrated through realistic simulations showed that M-FiVH, CO-SRL, and FD-SRL were successful in reducing the number of HOs and the average cumulative HO time. We provide an analysis and comparison of several approaches and demonstrate our proposed approaches perform better in terms of network connectivity

    A Visual Modeling Method for Spatiotemporal and Multidimensional Features in Epidemiological Analysis: Applied COVID-19 Aggregated Datasets

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    The visual modeling method enables flexible interactions with rich graphical depictions of data and supports the exploration of the complexities of epidemiological analysis. However, most epidemiology visualizations do not support the combined analysis of objective factors that might influence the transmission situation, resulting in a lack of quantitative and qualitative evidence. To address this issue, we have developed a portrait-based visual modeling method called +msRNAer. This method considers the spatiotemporal features of virus transmission patterns and the multidimensional features of objective risk factors in communities, enabling portrait-based exploration and comparison in epidemiological analysis. We applied +msRNAer to aggregate COVID-19-related datasets in New South Wales, Australia, which combined COVID-19 case number trends, geo-information, intervention events, and expert-supervised risk factors extracted from LGA-based censuses. We perfected the +msRNAer workflow with collaborative views and evaluated its feasibility, effectiveness, and usefulness through one user study and three subject-driven case studies. Positive feedback from experts indicates that +msRNAer provides a general understanding of analyzing comprehension that not only compares relationships between cases in time-varying and risk factors through portraits but also supports navigation in fundamental geographical, timeline, and other factor comparisons. By adopting interactions, experts discovered functional and practical implications for potential patterns of long-standing community factors against the vulnerability faced by the pandemic. Experts confirmed that +msRNAer is expected to deliver visual modeling benefits with spatiotemporal and multidimensional features in other epidemiological analysis scenarios

    Digital Inclusion of the Farming Sector Using Drone Technology

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    Agriculture continues to be the primary source of income for most rural people in the developing economy. The world’s economy is also strongly reliant on agricultural products, which accounts for a large number of its exports. Despite its growing importance, agriculture is still lagging behind to meet the demands due to crop failure caused by bad weather conditions and unmanaged insect problems. As a result, the quality and quantity of agricultural products are occasionally affected to reduce the farm income. Crop failure could be predicted ahead of time and preventative measures could be taken through a combination of conventional farming practices with contemporary technologies such as agri-drones to address the difficulties plaguing the agricultural sectors. Drones are actually unmanned aerial vehicles that are used for imaging, soil and crop surveillance, and a variety of other purposes in agricultural sectors. Drone technology is now becoming an emerging technology for large-scale applications in agriculture. Although the technology is still in its infancy in developing nations, numerous research and businesses are working to make it easily accessible to the farming community to boost the agricultural productivity

    Deep Transfer Learning Applications in Intrusion Detection Systems: A Comprehensive Review

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    Globally, the external Internet is increasingly being connected to the contemporary industrial control system. As a result, there is an immediate need to protect the network from several threats. The key infrastructure of industrial activity may be protected from harm by using an intrusion detection system (IDS), a preventive measure mechanism, to recognize new kinds of dangerous threats and hostile activities. The most recent artificial intelligence (AI) techniques used to create IDS in many kinds of industrial control networks are examined in this study, with a particular emphasis on IDS-based deep transfer learning (DTL). This latter can be seen as a type of information fusion that merge, and/or adapt knowledge from multiple domains to enhance the performance of the target task, particularly when the labeled data in the target domain is scarce. Publications issued after 2015 were taken into account. These selected publications were divided into three categories: DTL-only and IDS-only are involved in the introduction and background, and DTL-based IDS papers are involved in the core papers of this review. Researchers will be able to have a better grasp of the current state of DTL approaches used in IDS in many different types of networks by reading this review paper. Other useful information, such as the datasets used, the sort of DTL employed, the pre-trained network, IDS techniques, the evaluation metrics including accuracy/F-score and false alarm rate (FAR), and the improvement gained, were also covered. The algorithms, and methods used in several studies, or illustrate deeply and clearly the principle in any DTL-based IDS subcategory are presented to the reader

    Increasing the Business Value Of Free-Floating Carsharing Fleets By Applying Machine-Learning Based Relocations

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    Free-floating carsharing (CS) services provide customers with a fleet of vehicles distributed within an operation area. These services gained popularity because of their positive impact on societal and personal mobility. Understanding determinants of customer demand is a key challenge for developing and applying vehicle relocation strategies to prevent the formation of undersupply areas. In this study, we merge possible features from publicly available data sources with historical demand from CS services situated in three different-sized cities. We train and test a Random Forest (RF) regressor estimating demand based on the enhanced dataset. Building on this demand prediction, we developed a relocation strategy that optimizes vehicle availability at anticipated demand points. Our strategy improved the reservation acceptance ratio in all three reference systems between 7.1 % and 15.6 %. Furthermore, the number of relocations compared to a deterministic relocation strategy could be reduced by 82.3 % and 20.6 % in two cities

    The determinants of value addition: a crtitical analysis of global software engineering industry in Sri Lanka

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    It was evident through the literature that the perceived value delivery of the global software engineering industry is low due to various facts. Therefore, this research concerns global software product companies in Sri Lanka to explore the software engineering methods and practices in increasing the value addition. The overall aim of the study is to identify the key determinants for value addition in the global software engineering industry and critically evaluate the impact of them for the software product companies to help maximise the value addition to ultimately assure the sustainability of the industry. An exploratory research approach was used initially since findings would emerge while the study unfolds. Mixed method was employed as the literature itself was inadequate to investigate the problem effectively to formulate the research framework. Twenty-three face-to-face online interviews were conducted with the subject matter experts covering all the disciplines from the targeted organisations which was combined with the literature findings as well as the outcomes of the market research outcomes conducted by both government and nongovernment institutes. Data from the interviews were analysed using NVivo 12. The findings of the existing literature were verified through the exploratory study and the outcomes were used to formulate the questionnaire for the public survey. 371 responses were considered after cleansing the total responses received for the data analysis through SPSS 21 with alpha level 0.05. Internal consistency test was done before the descriptive analysis. After assuring the reliability of the dataset, the correlation test, multiple regression test and analysis of variance (ANOVA) test were carried out to fulfil the requirements of meeting the research objectives. Five determinants for value addition were identified along with the key themes for each area. They are staffing, delivery process, use of tools, governance, and technology infrastructure. The cross-functional and self-organised teams built around the value streams, employing a properly interconnected software delivery process with the right governance in the delivery pipelines, selection of tools and providing the right infrastructure increases the value delivery. Moreover, the constraints for value addition are poor interconnection in the internal processes, rigid functional hierarchies, inaccurate selections and uses of tools, inflexible team arrangements and inadequate focus for the technology infrastructure. The findings add to the existing body of knowledge on increasing the value addition by employing effective processes, practices and tools and the impacts of inaccurate applications the same in the global software engineering industry
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