18,817 research outputs found

    Robust Processing of Natural Language

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    Previous approaches to robustness in natural language processing usually treat deviant input by relaxing grammatical constraints whenever a successful analysis cannot be provided by ``normal'' means. This schema implies, that error detection always comes prior to error handling, a behaviour which hardly can compete with its human model, where many erroneous situations are treated without even noticing them. The paper analyses the necessary preconditions for achieving a higher degree of robustness in natural language processing and suggests a quite different approach based on a procedure for structural disambiguation. It not only offers the possibility to cope with robustness issues in a more natural way but eventually might be suited to accommodate quite different aspects of robust behaviour within a single framework.Comment: 16 pages, LaTeX, uses pstricks.sty, pstricks.tex, pstricks.pro, pst-node.sty, pst-node.tex, pst-node.pro. To appear in: Proc. KI-95, 19th German Conference on Artificial Intelligence, Bielefeld (Germany), Lecture Notes in Computer Science, Springer 199

    Attention and Anticipation in Fast Visual-Inertial Navigation

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    We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

    An empirical test for cellular automaton models of traffic flow

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    Based on a detailed microscopic test scenario motivated by recent empirical studies of single-vehicle data, several cellular automaton models for traffic flow are compared. We find three levels of agreement with the empirical data: 1) models that do not reproduce even qualitatively the most important empirical observations, 2) models that are on a macroscopic level in reasonable agreement with the empirics, and 3) models that reproduce the empirical data on a microscopic level as well. Our results are not only relevant for applications, but also shed new light on the relevant interactions in traffic flow.Comment: 28 pages, 36 figures, accepted for publication in PR

    Feeling the future: A meta-analysis of 90 experiments on the anomalous anticipation of random future events

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    In 2011, one of the authors (DJB) published a report of nine experiments in the Journal of Personality and Social Psychology purporting to demonstrate that an individual\u2019s cognitive and affective responses can be influenced by randomly selected stimulus events that do not occur until after his or her responses have already been made and recorded, a generalized variant of the phenomenon traditionally denoted by the term precognition. To encourage replications, all materials needed to conduct them were made available on request. We here report a meta-analysis of 90 experiments from 33 laboratories in 14 countries which yielded an overall effect greater than 6 sigma, z = 6.40, p = 1.2 7 10 with an effect size (Hedges\u2019 g) of 0.09. A Bayesian analysis yielded a Bayes Factor of 5.1 7 10 , greatly exceeding the criterion value of 100 for \u201cdecisive evidence\u201d in support of the experimental hypothesis. When DJB\u2019s original experiments are excluded, the combined effect size for replications by independent investigators is 0.06, z = 4.16, p = 1.1 7 10 , and the BF value is 3,853, again exceeding the criterion for \u201cdecisive evidence.\u201d The number of potentially unretrieved experiments required to reduce the overall effect size of the complete database to a trivial value of 0.01 is 544, and seven of eight additional statistical tests support the conclusion that the database is not significantly compromised by either selection bias or by intense \u201cp -hacking\u201d\u2014the selective suppression of findings or analyses that failed to yield statistical significance. P-curve analysis, a recently introduced statistical technique, estimates the true effect size of the experiments to be 0.20 for the complete database and 0.24 for the independent replications, virtually identical to the effect size of DJB\u2019s original experiments (0.22) and the closely related \u201cpresentiment\u201d experiments (0.21). We discuss the controversial status of precognition and other anomalous effects collectively known as psi

    Managing Uncertainty: A Case for Probabilistic Grid Scheduling

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    The Grid technology is evolving into a global, service-orientated architecture, a universal platform for delivering future high demand computational services. Strong adoption of the Grid and the utility computing concept is leading to an increasing number of Grid installations running a wide range of applications of different size and complexity. In this paper we address the problem of elivering deadline/economy based scheduling in a heterogeneous application environment using statistical properties of job historical executions and its associated meta-data. This approach is motivated by a study of six-month computational load generated by Grid applications in a multi-purpose Grid cluster serving a community of twenty e-Science projects. The observed job statistics, resource utilisation and user behaviour is discussed in the context of management approaches and models most suitable for supporting a probabilistic and autonomous scheduling architecture

    Single-Precision and Double-Precision Merged Floating-Point Multiplication and Addition Units on FPGA

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    Floating-point (FP) operations defined in IEEE 754-2008 Standard for Floating-Point Arithmetic can provide wider dynamic range and higher precision than fixed-point operations. Many scientific computations and multimedia applications adopt FP operations. Among all the FP operations, addition and multiplication are the most frequent operations. In this thesis, the single-precision (SP) and double-precision (DP) merged FP multiplier and FP adder architectures are proposed. The proposed efficient iterative FP multiplier is designed based on the Karatsuba algorithm and implemented with the pipelined architecture. It can accomplish two parallel SP multiplication operations in one iteration with a latency of 6 clock cycles or one DP multiplication operation in two iterations with a latency of 9 clock cycles. Implemented on Xilinx Virtex-5 (xc5vlx155ff1760-3) FPGA device, the proposed multiplier runs at 348 MHz using 6 DSP48E blocks, 1117 LUTs, and 1370 FFs. Compared to previous FPGA based multiple-precision FP multiplier, the proposed designs runs at 4% faster clock frequency with reduction of 33% of DSP blocks, 17% latency for SP multiplication, and 28% latency for DP multiplication. The proposed high performance FP adder is designed based one the two-path FP addition algorithm. With fully pipelined architecture, the proposed adder can accomplish one DP or two parallel SP addition/subtraction operations in 6 clock cycles. The proposed adder architecture is implemented on both Altera and Xilinx 65nm process FPGA devices. The proposed adder can run up to 336 MHz with 1694 FFs, 1420 LUTs on Xilinx Virtex-5 (xc5vlx155ff1760-3) FPGA device. Compared to the combination of one DP and two SP architecture built with Xilinx FP operator, the proposed adder has 11.3% faster clock frequency. On Altera Stratix-III (EP3SL340F1760C2) FPGA device, the maximum clock frequency of the proposed adder can reach 358 MHz and 1686 ALUTs and 1556 registers are occupied. The proposed adder is 11.6% faster than the combination of one DP and two SP architecture built with Altera FP megafunction. For the reference of other researchers, the implementation results of the proposed FP multiplier and FP adder on the latest Xilinx Virtex-7 device and Altera Arria 10 device are also provided

    An interoceptive predictive coding model of conscious presence

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    We describe a theoretical model of the neurocognitive mechanisms underlying conscious presence and its disturbances. The model is based on interoceptive prediction error and is informed by predictive models of agency, general models of hierarchical predictive coding and dopaminergic signaling in cortex, the role of the anterior insular cortex (AIC) in interoception and emotion, and cognitive neuroscience evidence from studies of virtual reality and of psychiatric disorders of presence, specifically depersonalization/derealization disorder. The model associates presence with successful suppression by top-down predictions of informative interoceptive signals evoked by autonomic control signals and, indirectly, by visceral responses to afferent sensory signals. The model connects presence to agency by allowing that predicted interoceptive signals will depend on whether afferent sensory signals are determined, by a parallel predictive-coding mechanism, to be self-generated or externally caused. Anatomically, we identify the AIC as the likely locus of key neural comparator mechanisms. Our model integrates a broad range of previously disparate evidence, makes predictions for conjoint manipulations of agency and presence, offers a new view of emotion as interoceptive inference, and represents a step toward a mechanistic account of a fundamental phenomenological property of consciousness
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