20,974 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

    Identifying Student Profiles Within Online Judge Systems Using Explainable Artificial Intelligence

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    Online Judge (OJ) systems are typically considered within programming-related courses as they yield fast and objective assessments of the code developed by the students. Such an evaluation generally provides a single decision based on a rubric, most commonly whether the submission successfully accomplished the assignment. Nevertheless, since in an educational context such information may be deemed insufficient, it would be beneficial for both the student and the instructor to receive additional feedback about the overall development of the task. This work aims to tackle this limitation by considering the further exploitation of the information gathered by the OJ and automatically inferring feedback for both the student and the instructor. More precisely, we consider the use of learning-based schemes—particularly, Multi-Instance Learning and classical Machine Learning formulations—to model student behaviour. Besides, Explainable Artificial Intelligence is contemplated to provide human-understandable feedback. The proposal has been evaluated considering a case of study comprising 2,500 submissions from roughly 90 different students from a programming-related course in a Computer Science degree. The results obtained validate the proposal: the model is capable of significantly predicting the user outcome (either passing or failing the assignment) solely based on the behavioural pattern inferred by the submissions provided to the OJ. Moreover, the proposal is able to identify prone-to-fail student groups and profiles as well as other relevant information, which eventually serves as feedback to both the student and the instructor.This work has been partially funded by the “Programa Redes-I3CE de investigacion en docencia universitaria del Instituto de Ciencias de la Educacion (REDES-I3CE-2020-5069)” of the University of Alicante. The third author is supported by grant APOSTD/2020/256 from “Programa I+D+I de la Generalitat Valenciana”

    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

    Extended mixed integer quadratic programming for simultaneous distributed generation location and network reconfiguration

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    Introduction. To minimise power loss, maintain the voltage within the acceptable range, and improve power quality in power distribution networks, reconfiguration and optimal distributed generation placement are presented. Power flow analysis and advanced optimization techniques that can handle significant combinatorial problems must be used in distribution network reconfiguration investigations. The optimization approach to be used depends on the size of the distribution network. Our methodology simultaneously addresses two nonlinear discrete optimization problems to construct an intelligent algorithm to identify the best solution. The proposed work is novel in that it the Extended Mixed-Integer Quadratic Programming (EMIQP) technique, a deterministic approach for determining the topology that will effectively minimize power losses in the distribution system by strategically sizing and positioning Distributed Generation (DG) while taking network reconfiguration into account. Using an efficient Quadratic Mixed Integer Programming (QMIP) solver (IBM ®), the resulting optimization problem has a quadratic form. To ascertain the range and impact of various variables, our methodology outperforms cutting-edge algorithms described in the literature in terms of the obtained power loss reduction, according to extensive numerical validation carried out on typical IEEE 33- and 69-bus systems at three different load factors. Practical value. Examining the effectiveness of concurrent reconfiguration and DG allocation versus sole reconfiguration is done using test cases. According to the findings, network reconfiguration along with the installation of a distributed generator in the proper location, at the proper size, with the proper loss level, and with a higher profile, is effective.  Вступ. Для мінімізації втрат потужності, підтримки напруги в допустимому діапазоні та покращення якості електроенергії у розподільчих мережах представлена реконфігурація та оптимальне розміщення розподіленої генерації. При дослідженнях реконфігурації розподільної мережі необхідно використовувати аналіз потоку потужності та передові методи оптимізації, які можуть вирішувати серйозні комбінаторні проблеми. Підхід до оптимізації, що використовується, залежить від розміру розподільної мережі. Наша методологія одночасно вирішує дві задачі нелінійної дискретної оптимізації, щоби побудувати інтелектуальний алгоритм для визначення найкращого рішення. Пропонована робота є новою, оскільки вона використовує метод розширеного змішано-цілочисельного квадратичного програмування (EMIQP), детермінований підхід до визначення топології, що ефективно мінімізує втрати потужності в системі розподілу за рахунок стратегічного визначення розмірів та позиціонування розподіленої генерації (DG) з урахуванням реконфігурації мережі. При використанні ефективного солвера Quadratic Mixed Integer Programming (QMIP) (IBM®) результуюча задача оптимізації має квадратичну форму. Щоб з'ясувати діапазон та вплив різних змінних, наша методологія перевершує передові алгоритми, описані в літературі, з точки зору одержаного зниження втрат потужності, згідно з великою числовою перевіркою, проведеною на типових системах з шинами IEEE 33 і 69 при трьох різних коефіцієнтах навантаження. Практична цінність. Вивчення ефективності одночасної реконфігурації та розподілу DG у порівнянні з єдиною реконфігурацією проводиться з використанням тестових прикладів. Відповідно до результатів, реконфігурація мережі разом із установкою розподіленого генератора в потрібному місці, належного розміру, з належним рівнем втрат і з більш високим профілем є ефективною

    Maxflow-Based Bounds for Low-Rate Information Propagation over Noisy Networks

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    We study error exponents for the problem of low-rate communication over a directed graph, where each edge in the graph represents a noisy communication channel, and there is a single source and destination. We derive maxflow-based achievability and converse bounds on the error exponent that match when there are two messages and all channels satisfy a symmetry condition called pairwise reversibility. More generally, we show that the upper and lower bounds match to within a factor of 4. We also show that with three messages there are cases where the maxflow-based error exponent is strictly suboptimal, thus showing that our tightness result cannot be extended beyond two messages without further assumptions

    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

    An investigation of the geothermal potential of the Upper Devonian sandstones beneath eastern Glasgow

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    The urban development of the city of Glasgow is a consequence of its economic development, in part fuelled by local coalfields which exploited rocks in the same sedimentary basin within which geothermal resources in flooded abandoned mine workings, and deeper hot sedimentary aquifers (HSA), are present. This creates an opportunity to provide geothermal heating to areas of dense urban population with high heat demand. The depth of the target HSA geothermal resource, in Upper Devonian aged sandstones of the Stratheden Group, beneath eastern Glasgow was determined by gravity surveying and structural geological modelling. The estimated depth of the geothermal resource ranged from c.1500-2000 m, in the eastward deepening sedimentary basin. To reliably estimate the temperature of the geothermal resource, rigorous corrections to account for the effects of palaeoclimate and topography on heat flow were applied to boreholes in the Greater Glasgow area. The mean regional corrected heat flow was calculated as 75.7 mW m-2, an increase of 13.8 mW m-2 from the uncorrected value of 61.9 mW m-2, emphasising the extent to which heat flow was previously underestimated. Extrapolation of the geothermal gradient, calculated from the mean regional corrected heat flow, results in aquifer temperatures of c. 64-79 °C at depths of c.1500-2000 m beneath eastern Glasgow. The geothermal resource may, therefore, be capable of supporting a wide variety of direct heat use applications if sufficient matrix permeability or fracture networks are present. However, diagenetic effects such as quartz and carbonate cementation were found to restrict the porosity in Upper Devonian sandstones in a borehole and outcrop analogue study. These effects may likewise reduce porosity and intergranular permeability in the target aquifer, although this crucial aspect cannot be fully understood without deep exploratory drilling. To quantify the magnitude of the deep geothermal resource, the indicative thermal power outputs of geothermal doublet wells located in Glasgow’s East End were calculated for the first time, with outputs ranging from 1.3-2.1 MW dependent upon the aquifer depth. This, however, is predicated upon an aquifer permeability of c. 40 mD, which if reduced to 10 mD or less due to the effects of diagenesis, significantly reduces the thermal power outputs to 230-390 kW. The lack of assured project-success, given uncertainties related to the aquifer properties at depth, coupled with high capital costs of drilling, pose barriers to the development of deep geothermal energy in Glasgow. Further investigation of the economic viability of geothermal exploration, and alternative technological solutions is therefore required to mitigate the technical and economic risks. However, if sufficient matrix permeability or fracture networks are present at depth in the Upper Devonian sandstone sequence, then the potential contribution that geothermal energy could make to meeting local heat demand, reducing greenhouse gas emissions, and addressing the ‘energy trilemma’ in Glasgow is significant

    Predictive Maintenance of Critical Equipment for Floating Liquefied Natural Gas Liquefaction Process

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    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

    Cultivating Agrobiodiversity in the U.S.: Barriers and Bridges at Multiple Scales

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    The diversity of crops grown in the United States (U.S.) is declining, causing agricultural landscapes to become more and more simplified. This trend is concerning for the loss of important plant, insect, and animal species, as well as the pollution and degradation of our environment. Through three separate but related studies, this dissertation addresses the need to increase the diversity of these agricultural landscapes in the U.S., particularly through diversifying the type and number of crops grown. The first study uses multiple, openly accessible datasets related to agricultural land use and policies to document and visualize change over recent decades. Through this, I show that U.S. agriculture has gradually become more specialized in the crops grown, crop production is heavily concentrated in certain areas, and crop diversity is continuing to decline. Meanwhile, federal agricultural policy, while having become more influential over how U.S. agriculture operates, incentivizes this specialization. The second study uses nonlinear statistical modeling to identify and compare social, political, and ecological factors that best predict crop diversity across nine regions in the U.S. Factors of climate, prior land use, and farm inputs best predict diversity across regions, but regions show key differences in how factors are important, indicating that patterns at the regional scale constrain and enable further diversification. Finally, the third study relied on interviews with farmers and key informants in southern Idaho’s Magic Valley – a cluster of eight counties that is known to be agriculturally diverse. Interviews gauge what farmers are currently doing to manage crop diversity (the present) and how they imagine alternative landscapes (the imaginary). We found that farmers in the Magic Valley manage current diversity mainly through cover cropping and diverse crop rotations, but daily struggles and political barriers make experimenting with and imagining alternative landscapes difficult and unlikely to occur. Together, these three studies provide an integrated view of how and why U.S. agriculture landscapes simplify or diversify, as well as the barriers and bridges such pathways of diversification
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