19,715 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
The [OIII] profiles of far-infrared active and non-active optically-selected green valley galaxies
We present a study of the line profile in a
sub-sample of 8 active galactic nuclei (AGN) and 6 non-AGN in the
optically-selected green valley at using long-slit
spectroscopic observations with the 11 m Southern African Large Telescope.
Gaussian decomposition of the line profile was performed to study its different
components. We observe that the AGN profile is more complex than the non-AGN
one. In particular, in most AGN (5/8) we detect a blue wing of the line. We
derive the FWHM velocities of the wing and systemic component, and find that
AGN show higher FWHM velocity than non-AGN in their core component. We also
find that the AGN show blue wings with a median velocity width of approximately
600 , and a velocity offset from the core component in the
range -90 to -350 , in contrast to the non-AGN galaxies, where
we do not detect blue wings in any of their line
profiles. Using spatial information in our spectra, we show that at least three
of the outflow candidate galaxies have centrally driven gas outflows extending
across the whole galaxy. Moreover, these are also the galaxies which are
located on the main sequence of star formation, raising the possibility that
the AGN in our sample are influencing SF of their host galaxies (such as
positive feedback). This is in agreement with our previous work where we
studied SF, morphology, and stellar population properties of a sample of green
valley AGN and non-AGN galaxies.Comment: 15 pages, 6 figures, accepted for publication in Ap
Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency
Visual simultaneous localization and mapping (SLAM) systems face challenges
in detecting loop closure under the circumstance of large viewpoint changes. In
this paper, we present an object-based loop closure detection method based on
the spatial layout and semanic consistency of the 3D scene graph. Firstly, we
propose an object-level data association approach based on the semantic
information from semantic labels, intersection over union (IoU), object color,
and object embedding. Subsequently, multi-view bundle adjustment with the
associated objects is utilized to jointly optimize the poses of objects and
cameras. We represent the refined objects as a 3D spatial graph with semantics
and topology. Then, we propose a graph matching approach to select
correspondence objects based on the structure layout and semantic property
similarity of vertices' neighbors. Finally, we jointly optimize camera
trajectories and object poses in an object-level pose graph optimization, which
results in a globally consistent map. Experimental results demonstrate that our
proposed data association approach can construct more accurate 3D semantic
maps, and our loop closure method is more robust than point-based and
object-based methods in circumstances with large viewpoint changes
CEERS: Diversity of Lyman-Alpha Emitters during the Epoch of Reionization
We analyze rest-frame ultraviolet to optical spectra of three -
galaxies whose Ly-emission lines were previously detected with
Keck/MOSFIRE observations, using the JWST/NIRSpec observations from the Cosmic
Evolution Early Release Science (CEERS) survey. From NIRSpec data, we confirm
the systemic redshifts of these Ly emitters, and emission-line ratio
diagnostics indicate these galaxies were highly ionized and metal poor. We
investigate Ly line properties, including the line flux, velocity
offset, and spatial extension. For the one galaxy where we have both NIRSpec
and MOSFIRE measurements, we find a significant offset in their flux
measurements ( greater in MOSFIRE) and a marginal difference in
the velocity shifts. The simplest interpretation is that the Ly
emission is extended and not entirely encompassed by the NIRSpec slit. The
cross-dispersion profiles in NIRSpec reveal that Ly in one galaxy is
significantly more extended than the non-resonant emission lines. We also
compute the expected sizes of ionized bubbles that can be generated by the
Ly sources, discussing viable scenarios for the creation of sizable
ionized bubbles (1 physical Mpc). The source with the highest-ionization
condition is possibly capable of ionizing its own bubble, while the other two
do not appear to be capable of ionizing such a large region, requiring
additional sources of ionizing photons. Therefore, the fact that we detect
Ly from these galaxies suggests diverse scenarios on escape of
Ly during the epoch of reionization. High spectral resolution spectra
with JWST/NIRSpec will be extremely useful for constraining the physics of
patchy reionization.Comment: Submitted to ApJ (18 pages, 7 figures, 2 tables
Examples of works to practice staccato technique in clarinet instrument
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
SOFIA and ALMA Investigate Magnetic Fields and Gas Structures in Massive Star Formation: The Case of the Masquerading Monster in BYF 73
We present SOFIA+ALMA continuum and spectral-line polarisation data on the
massive molecular cloud BYF 73, revealing important details about the magnetic
field morphology, gas structures, and energetics in this unusual massive star
formation laboratory. The 154m HAWC+ polarisation map finds a highly
organised magnetic field in the densest, inner 0.550.40 pc portion of
the cloud, compared to an unremarkable morphology in the cloud's outer layers.
The 3mm continuum ALMA polarisation data reveal several more structures in the
inner domain, including a pc-long, 500 M "Streamer" around the
central massive protostellar object MIR 2, with magnetic fields mostly parallel
to the east-west Streamer but oriented north-south across MIR 2. The magnetic
field orientation changes from mostly parallel to the column density structures
to mostly perpendicular, at thresholds = 6.610
m, = 2.510 m, and =
427 nT. ALMA also mapped Goldreich-Kylafis polarisation in CO
across the cloud, which traces in both total intensity and polarised flux, a
powerful bipolar outflow from MIR 2 that interacts strongly with the Streamer.
The magnetic field is also strongly aligned along the outflow direction;
energetically, it may dominate the outflow near MIR 2, comprising rare evidence
for a magnetocentrifugal origin to such outflows. A portion of the Streamer may
be in Keplerian rotation around MIR 2, implying a gravitating mass 135050
M for the protostar+disk+envelope; alternatively, these kinematics
can be explained by gas in free fall towards a 95035 M object.
The high accretion rate onto MIR 2 apparently occurs through the Streamer/disk,
and could account for 33% of MIR 2's total luminosity via gravitational
energy release.Comment: 33 pages, 32 figures, accepted by ApJ. Line-Integral Convolution
(LIC) images and movie versions of Figures 3b, 7, and 29 are available at
https://gemelli.spacescience.org/~pbarnes/research/champ/papers
Modelling uncertainties for measurements of the H → γγ Channel with the ATLAS Detector at the LHC
The Higgs boson to diphoton (H → γγ) branching ratio is only 0.227 %, but this
final state has yielded some of the most precise measurements of the particle. As
measurements of the Higgs boson become increasingly precise, greater import is
placed on the factors that constitute the uncertainty. Reducing the effects of these
uncertainties requires an understanding of their causes. The research presented
in this thesis aims to illuminate how uncertainties on simulation modelling are
determined and proffers novel techniques in deriving them.
The upgrade of the FastCaloSim tool is described, used for simulating events in
the ATLAS calorimeter at a rate far exceeding the nominal detector simulation,
Geant4. The integration of a method that allows the toolbox to emulate the
accordion geometry of the liquid argon calorimeters is detailed. This tool allows
for the production of larger samples while using significantly fewer computing
resources.
A measurement of the total Higgs boson production cross-section multiplied
by the diphoton branching ratio (σ × Bγγ) is presented, where this value was
determined to be (σ × Bγγ)obs = 127 ± 7 (stat.) ± 7 (syst.) fb, within agreement
with the Standard Model prediction. The signal and background shape modelling
is described, and the contribution of the background modelling uncertainty to the
total uncertainty ranges from 18–2.4 %, depending on the Higgs boson production
mechanism.
A method for estimating the number of events in a Monte Carlo background
sample required to model the shape is detailed. It was found that the size of
the nominal γγ background events sample required a multiplicative increase by
a factor of 3.60 to adequately model the background with a confidence level of
68 %, or a factor of 7.20 for a confidence level of 95 %. Based on this estimate,
0.5 billion additional simulated events were produced, substantially reducing the
background modelling uncertainty.
A technique is detailed for emulating the effects of Monte Carlo event generator
differences using multivariate reweighting. The technique is used to estimate the
event generator uncertainty on the signal modelling of tHqb events, improving the
reliability of estimating the tHqb production cross-section. Then this multivariate
reweighting technique is used to estimate the generator modelling uncertainties
on background V γγ samples for the first time. The estimated uncertainties were
found to be covered by the currently assumed background modelling uncertainty
An Improved eXplainable Point Cloud Classifier (XPCC)
Classification of objects from 3D point clouds has become an increasingly relevant task across many computer vision applications. However, few studies have investigated explainable methods. In this paper, a new prototype-based and explainable classification method called eXplainable Point Cloud Classifier (XPCC) is proposed. The XPCC method offers several advantages over previous explainable and non-explainable methods. First, the XPCC method uses local densities and global multivariate generative distributions. Therefore, the XPCC provides comprehensive and interpretable object-based classification. Furthermore, the proposed method is built on recursive calculations, thus, is computationally very efficient. Second, the model learns continuously without the need for complete re-training and is domain transferable. Third, the proposed XPCC expands on the underlying learning method, xDNN, and is specific to 3D. As such, three new layers are added to the original xDNN architecture: i) the 3D point cloud feature extraction, ii) the global compound prototype weighting, and iii) the SoftMax function. Experiments were performed with the ModelNet40 benchmark which demonstrated that XPCC is the only explainable point cloud classifier to increase classification accuracy relative to the base algorithm when applied to the same problem. Additionally, this paper proposes a novel prototype-based visual representation that provides model- and object-based explanations. The prototype objects are superimposed to create a prototypical class representation of their data density within the feature space, called the Compound Prototype Cloud. They allow a user to visualize the explainable aspects of the model and identify object regions that contribute to the classification in a human-understandable way
Modeling Uncertainty for Reliable Probabilistic Modeling in Deep Learning and Beyond
[ES] Esta tesis se enmarca en la intersección entre las técnicas modernas de Machine Learning, como las Redes Neuronales Profundas, y el modelado probabilístico confiable. En muchas aplicaciones, no solo nos importa la predicción hecha por un modelo (por ejemplo esta imagen de pulmón presenta cáncer) sino también la confianza que tiene el modelo para hacer esta predicción (por ejemplo esta imagen de pulmón presenta cáncer con 67% probabilidad). En tales aplicaciones, el modelo ayuda al tomador de decisiones (en este caso un médico) a tomar la decisión final. Como consecuencia, es necesario que las probabilidades proporcionadas por un modelo reflejen las proporciones reales presentes en el conjunto al que se ha asignado dichas probabilidades; de lo contrario, el modelo es inútil en la práctica. Cuando esto sucede, decimos que un modelo está perfectamente calibrado.
En esta tesis se exploran tres vias para proveer modelos más calibrados. Primero se muestra como calibrar modelos de manera implicita, que son descalibrados por técnicas de aumentación de datos. Se introduce una función de coste que resuelve esta descalibración tomando como partida las ideas derivadas de la toma de decisiones con la regla de Bayes. Segundo, se muestra como calibrar modelos utilizando una etapa de post calibración implementada con una red neuronal Bayesiana. Finalmente, y en base a las limitaciones estudiadas en la red neuronal Bayesiana, que hipotetizamos que se basan en un prior mispecificado, se introduce un nuevo proceso estocástico que sirve como distribución a priori en un problema de inferencia Bayesiana.[CA] Aquesta tesi s'emmarca en la intersecció entre les tècniques modernes de Machine Learning, com ara les Xarxes Neuronals Profundes, i el modelatge probabilístic fiable. En moltes aplicacions, no només ens importa la predicció feta per un model (per ejemplem aquesta imatge de pulmó presenta càncer) sinó també la confiança que té el model per fer aquesta predicció (per exemple aquesta imatge de pulmó presenta càncer amb 67% probabilitat). En aquestes aplicacions, el model ajuda el prenedor de decisions (en aquest cas un metge) a prendre la decisió final. Com a conseqüència, cal que les probabilitats proporcionades per un model reflecteixin les proporcions reals presents en el conjunt a què s'han assignat aquestes probabilitats; altrament, el model és inútil a la pràctica. Quan això passa, diem que un model està perfectament calibrat.
En aquesta tesi s'exploren tres vies per proveir models més calibrats. Primer es mostra com calibrar models de manera implícita, que són descalibrats per tècniques d'augmentació de dades. S'introdueix una funció de cost que resol aquesta descalibració prenent com a partida les idees derivades de la presa de decisions amb la regla de Bayes. Segon, es mostra com calibrar models utilitzant una etapa de post calibratge implementada amb una xarxa neuronal Bayesiana. Finalment, i segons les limitacions estudiades a la xarxa neuronal Bayesiana, que es basen en un prior mispecificat, s'introdueix un nou procés estocàstic que serveix com a distribució a priori en un problema d'inferència Bayesiana.[EN] This thesis is framed at the intersection between modern Machine Learning techniques, such as Deep Neural Networks, and reliable probabilistic modeling. In many machine learning applications, we do not only care about the prediction made by a model (e.g. this lung image presents cancer) but also in how confident is the model in making this prediction (e.g. this lung image presents cancer with 67% probability). In such applications, the model assists the decision-maker (in this case a doctor) towards making the final decision. As a consequence, one needs that the probabilities provided by a model reflects the true underlying set of outcomes, otherwise the model is useless in practice. When this happens, we say that a model is perfectly calibrated.
In this thesis three ways are explored to provide more calibrated models. First, it is shown how to calibrate models implicitly, which are decalibrated by data augmentation techniques. A cost function is introduced that solves this decalibration taking as a starting point the ideas derived from decision making with Bayes' rule. Second, it shows how to calibrate models using a post-calibration stage implemented with a Bayesian neural network. Finally, and based on the limitations studied in the Bayesian neural network, which we hypothesize that came from a mispecified prior, a new stochastic process is introduced that serves as a priori distribution in a Bayesian inference problem.Maroñas Molano, J. (2022). Modeling Uncertainty for Reliable Probabilistic Modeling in Deep Learning and Beyond [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/181582TESI
Application of advanced fluorescence microscopy and spectroscopy in live-cell imaging
Since its inception, fluorescence microscopy has been a key source of discoveries in cell biology. Advancements in fluorophores, labeling techniques and instrumentation have made fluorescence microscopy a versatile quantitative tool for studying dynamic processes and interactions both in vitro and in live-cells. In this thesis, I apply quantitative fluorescence microscopy techniques in live-cell environments to investigate several biological processes. To study Gag processing in HIV-1 particles, fluorescence lifetime imaging microscopy and single particle tracking are combined to follow nascent HIV-1 virus particles during assembly and release on the plasma membrane of living cells. Proteolytic release of eCFP embedded in the Gag lattice of immature HIV-1 virus particles results in a characteristic increase in its fluorescence lifetime. Gag processing and rearrangement can be detected in individual virus particles using this approach. In another project, a robust method for quantifying Förster resonance energy transfer in live-cells is developed to allow direct comparison of live-cell FRET experiments between laboratories. Finally, I apply image fluctuation spectroscopy to study protein behavior in a variety of cellular environments. Image cross-correlation spectroscopy is used to study the oligomerization of CXCR4, a G-protein coupled receptor on the plasma membrane. With raster image correlation spectroscopy, I measure the diffusion of histones in the nucleoplasm and heterochromatin domains of the nuclei of early mouse embryos. The lower diffusion coefficient of histones in the heterochromatin domain supports the conclusion that heterochromatin forms a liquid phase-separated domain. The wide range of topics covered in this thesis demonstrate that fluorescence microscopy is more than just an imaging tool but also a powerful instrument for the quantification and elucidation of dynamic cellular processes
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