9,224 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

    Security and Privacy Problems in Voice Assistant Applications: A Survey

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    Voice assistant applications have become omniscient nowadays. Two models that provide the two most important functions for real-life applications (i.e., Google Home, Amazon Alexa, Siri, etc.) are Automatic Speech Recognition (ASR) models and Speaker Identification (SI) models. According to recent studies, security and privacy threats have also emerged with the rapid development of the Internet of Things (IoT). The security issues researched include attack techniques toward machine learning models and other hardware components widely used in voice assistant applications. The privacy issues include technical-wise information stealing and policy-wise privacy breaches. The voice assistant application takes a steadily growing market share every year, but their privacy and security issues never stopped causing huge economic losses and endangering users' personal sensitive information. Thus, it is important to have a comprehensive survey to outline the categorization of the current research regarding the security and privacy problems of voice assistant applications. This paper concludes and assesses five kinds of security attacks and three types of privacy threats in the papers published in the top-tier conferences of cyber security and voice domain.Comment: 5 figure

    The Viability and Potential Consequences of IoT-Based Ransomware

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    With the increased threat of ransomware and the substantial growth of the Internet of Things (IoT) market, there is significant motivation for attackers to carry out IoT-based ransomware campaigns. In this thesis, the viability of such malware is tested. As part of this work, various techniques that could be used by ransomware developers to attack commercial IoT devices were explored. First, methods that attackers could use to communicate with the victim were examined, such that a ransom note was able to be reliably sent to a victim. Next, the viability of using "bricking" as a method of ransom was evaluated, such that devices could be remotely disabled unless the victim makes a payment to the attacker. Research was then performed to ascertain whether it was possible to remotely gain persistence on IoT devices, which would improve the efficacy of existing ransomware methods, and provide opportunities for more advanced ransomware to be created. Finally, after successfully identifying a number of persistence techniques, the viability of privacy-invasion based ransomware was analysed. For each assessed technique, proofs of concept were developed. A range of devices -- with various intended purposes, such as routers, cameras and phones -- were used to test the viability of these proofs of concept. To test communication hijacking, devices' "channels of communication" -- such as web services and embedded screens -- were identified, then hijacked to display custom ransom notes. During the analysis of bricking-based ransomware, a working proof of concept was created, which was then able to remotely brick five IoT devices. After analysing the storage design of an assortment of IoT devices, six different persistence techniques were identified, which were then successfully tested on four devices, such that malicious filesystem modifications would be retained after the device was rebooted. When researching privacy-invasion based ransomware, several methods were created to extract information from data sources that can be commonly found on IoT devices, such as nearby WiFi signals, images from cameras, or audio from microphones. These were successfully implemented in a test environment such that ransomable data could be extracted, processed, and stored for later use to blackmail the victim. Overall, IoT-based ransomware has not only been shown to be viable but also highly damaging to both IoT devices and their users. While the use of IoT-ransomware is still very uncommon "in the wild", the techniques demonstrated within this work highlight an urgent need to improve the security of IoT devices to avoid the risk of IoT-based ransomware causing havoc in our society. Finally, during the development of these proofs of concept, a number of potential countermeasures were identified, which can be used to limit the effectiveness of the attacking techniques discovered in this PhD research

    The place where curses are manufactured : four poets of the Vietnam War

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    The Vietnam War was unique among American wars. To pinpoint its uniqueness, it was necessary to look for a non-American voice that would enable me to articulate its distinctiveness and explore the American character as observed by an Asian. Takeshi Kaiko proved to be most helpful. From his novel, Into a Black Sun, I was able to establish a working pair of 'bookends' from which to approach the poetry of Walter McDonald, Bruce Weigl, Basil T. Paquet and Steve Mason. Chapter One is devoted to those seemingly mismatched 'bookends,' Walt Whitman and General William C. Westmoreland, and their respective anthropocentric and technocentric visions of progress and the peculiarly American concept of the "open road" as they manifest themselves in Vietnam. In Chapter, Two, I analyze the war poems of Walter McDonald. As a pilot, writing primarily about flying, his poetry manifests General Westmoreland's technocentric vision of the 'road' as determined by and manifest through technology. Chapter Three focuses on the poems of Bruce Weigl. The poems analyzed portray the literal and metaphorical descent from the technocentric, 'numbed' distance of aerial warfare to the world of ground warfare, and the initiation of a 'fucking new guy,' who discovers the contours of the self's interior through a set of experiences that lead from from aerial insertion into the jungle to the degradation of burning human feces. Chapter Four, devoted to the thirteen poems of Basil T. Paquet, focuses on the continuation of the descent begun in Chapter Two. In his capacity as a medic, Paquet's entire body of poems details his quotidian tasks which entail tending the maimed, the mortally wounded and the dead. The final chapter deals with Steve Mason's JohnnY's Song, and his depiction of the plight of Vietnam veterans back in "The World" who are still trapped inside the interior landscape of their individual "ghettoes" of the soul created by their war-time experiences

    DIN Spec 91345 RAMI 4.0 compliant data pipelining: An approach to support data understanding and data acquisition in smart manufacturing environments

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    Today, data scientists in the manufacturing domain are confronted with a set of challenges associated to data acquisition as well as data processing including the extraction of valuable in-formation to support both, the work of the manufacturing equipment as well as the manufacturing processes behind it. One essential aspect related to data acquisition is the pipelining, including various commu-nication standards, protocols and technologies to save and transfer heterogenous data. These circumstances make it hard to understand, find, access and extract data from the sources depend-ing on use cases and applications. In order to support this data pipelining process, this thesis proposes the use of the semantic model. The selected semantic model should be able to describe smart manufacturing assets them-selves as well as to access their data along their life-cycle. As a matter of fact, there are many research contributions in smart manufacturing, which already came out with reference architectures or standards for semantic-based meta data descrip-tion or asset classification. This research builds upon these outcomes and introduces a novel se-mantic model-based data pipelining approach using as a basis the Reference Architecture Model for Industry 4.0 (RAMI 4.0).Hoje em dia, os cientistas de dados no domĂ­nio da manufatura sĂŁo confrontados com vĂĄrias normas, protocolos e tecnologias de comunicação para gravar, processar e transferir vĂĄrios tipos de dados. Estas circunstĂąncias tornam difĂ­cil compreender, encontrar, aceder e extrair dados necessĂĄrios para aplicaçÔes dependentes de casos de utilização, desde os equipamentos aos respectivos processos de manufatura. Um aspecto essencial poderia ser um processo de canalisação de dados incluindo vĂĄrios normas de comunicação, protocolos e tecnologias para gravar e transferir dados. Uma solução para suporte deste processo, proposto por esta tese, Ă© a aplicação de um modelo semĂąntico que descreva os prĂłprios recursos de manufactura inteligente e o acesso aos seus dados ao longo do seu ciclo de vida. Muitas das contribuiçÔes de investigação em manufatura inteligente jĂĄ produziram arquitecturas de referĂȘncia como a RAMI 4.0 ou normas para a descrição semĂąntica de meta dados ou classificação de recursos. Esta investigação baseia-se nestas fontes externas e introduz um novo modelo semĂąntico baseado no Modelo de Arquitectura de ReferĂȘncia para IndĂșstria 4.0 (RAMI 4.0), em conformidade com a abordagem de canalisação de dados no domĂ­nio da produção inteligente como caso exemplar de utilização para permitir uma fĂĄcil exploração, compreensĂŁo, descoberta, selecção e extracção de dados

    Supernatural crossing in Republican Chinese fiction, 1920s–1940s

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    This dissertation studies supernatural narratives in Chinese fiction from the mid-1920s to the 1940s. The literary works present phenomena or elements that are or appear to be supernatural, many of which remain marginal or overlooked in Sinophone and Anglophone academia. These sources are situated in the May Fourth/New Culture ideological context, where supernatural narratives had to make way for the progressive intellectuals’ literary realism and their allegorical application of supernatural motifs. In the face of realism, supernatural narratives paled, dismissed as impractical fantasies that distract one from facing and tackling real life. Nevertheless, I argue that the supernatural narratives do not probe into another mystical dimension that might co-exist alongside the empirical world. Rather, they imagine various cases of the characters’ crossing to voice their discontent with contemporary society or to reflect on the notion of reality. “Crossing” relates to characters’ acts or processes of trespassing the boundary that separates the supernatural from the conventional natural world, thus entailing encounters and interaction between the natural and the supernatural. The dissertation examines how crossing, as a narrative device, disturbs accustomed and mundane situations, releases hidden tensions, and discloses repressed truths in Republican fiction. There are five types of crossing in the supernatural narratives. Type 1 is the crossing into “haunted” houses. This includes (intangible) human agency crossing into domestic spaces and revealing secrets and truths concealed by the scary, feigned ‘haunting’, thus exposing the hidden evil and the other house occupiers’ silenced, suffocated state. Type 2 is men crossing into female ghosts’ apparitional residences. The female ghosts allude to heart-breaking, traumatic experiences in socio-historical reality, evoking sympathetic concern for suffering individuals who are caught in social upheavals. Type 3 is the crossing from reality into the characters’ delusional/hallucinatory realities. While they physically remain in the empirical world, the characters’ abnormal perceptions lead them to exclusive, delirious, and quasi-supernatural experiences of reality. Their crossings blur the concrete boundaries between the real and the unreal on the mental level: their abnormal perceptions construct a significant, meaningful reality for them, which may be as real as the commonly regarded objective reality. Type 4 is the crossing into the netherworld modelled on the real world in the authors’ observation and bears a spectrum of satirised objects of the Republican society. The last type is immortal visitors crossing into the human world. This type satirises humanity’s vices and destructive potential. The primary sources demonstrate their writers’ witty passion to play with super--natural notions and imagery (such as ghosts, demons, and immortals) and stitch them into vivid, engaging scenes using techniques such as the gothic, the grotesque, and the satirical, in order to evoke sentiments such as terror, horror, disgust, dis--orientation, or awe, all in service of their insights into realist issues. The works also creatively tailor traditional Chinese modes and motifs, which exemplifies the revival of Republican interest in traditional cultural heritage. The supernatural narratives may amaze or disturb the reader at first, but what is more shocking, unpleasantly nudging, or thought-provoking is the problematic society and people’s lives that the supernatural (misunderstandings) eventually reveals. They present a more compre--hensive treatment of reality than Republican literature with its revolutionary consciousness surrounding class struggle. The critical perspectives of the supernatural narratives include domestic space, unacknowledged history and marginal individuals, abnormal mentality, and pervasive weaknesses in humanity. The crossing and supernatural narratives function as a means of better understanding the lived reality. This study gathers diverse primary sources written by Republican writers from various educational and political backgrounds and interprets them from a rare perspective, thus filling a research gap. It promotes a fuller view of supernatural narratives in twentieth-century Chinese literature. In terms of reflecting the social and personal reality of the Republican era, the supernatural narratives supplement the realist fiction of the time

    Annals [...].

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    Pedometrics: innovation in tropics; Legacy data: how turn it useful?; Advances in soil sensing; Pedometric guidelines to systematic soil surveys.Evento online. Coordenado por: Waldir de Carvalho Junior, Helena Saraiva Koenow Pinheiro, Ricardo SimĂŁo Diniz Dalmolin

    Addressing infrastructure challenges posed by the Harwich Formation through understanding its geological origins

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    Variable deposits known to make up the sequence of the Harwich Formation in London have been the subject of ongoing uncertainty within the engineering industry. Current stratigraphical subdivisions do not account for the systematic recognition of individual members in unexposed ground where recovered material is usually disturbed - fines are flushed out during the drilling process and loose materials are often lost or mixed with the surrounding layers. Most engineering problems associated with the Harwich Formation deposits are down to their unconsolidated nature and irregular cementation within layers. The consequent engineering hazards are commonly reflected in high permeability, raised groundwater pressures, ground settlements - when found near the surface and poor stability - when exposed during excavations or tunnelling operations. This frequently leads to sudden design changes or requires contingency measures during construction. All of these can result in damaged equipment, slow progress, and unforeseen costs. This research proposes a facies-based approach where the lithological facies assigned were identified based on reinterpretation of available borehole data from various ground investigations in London, supported by visual inspection of deposits in-situ and a selection of laboratory testing including Particle Size Distribution, Optical and Scanning Electron Microscopy and X-ray Diffraction analyses. Two ground models were developed as a result: 1st a 3D geological model (MOVE model) of the stratigraphy found within the study area that explores the influence of local structural processes controlling/affecting these sediments pre-, syn- and post- deposition and 2nd a sequence stratigraphic model (Dionisos Flow model) unveiling stratal geometries of facies at various stages of accretion. The models present a series of sediment distribution maps, localised 3D views and cross-sections that aim to provide a novel approach to assist the geotechnical industry in predicting the likely distribution of the Harwich Formation deposits, decreasing the engineering risks associated with this stratum.Open Acces

    The Adirondack Chronology

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    The Adirondack Chronology is intended to be a useful resource for researchers and others interested in the Adirondacks and Adirondack history.https://digitalworks.union.edu/arlpublications/1000/thumbnail.jp
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