16,099 research outputs found

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

    Full text link
    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

    Full text link
    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

    Robust Multiview Multimodal Driver Monitoring System Using Masked Multi-Head Self-Attention

    Full text link
    Driver Monitoring Systems (DMSs) are crucial for safe hand-over actions in Level-2+ self-driving vehicles. State-of-the-art DMSs leverage multiple sensors mounted at different locations to monitor the driver and the vehicle's interior scene and employ decision-level fusion to integrate these heterogenous data. However, this fusion method may not fully utilize the complementarity of different data sources and may overlook their relative importance. To address these limitations, we propose a novel multiview multimodal driver monitoring system based on feature-level fusion through multi-head self-attention (MHSA). We demonstrate its effectiveness by comparing it against four alternative fusion strategies (Sum, Conv, SE, and AFF). We also present a novel GPU-friendly supervised contrastive learning framework SuMoCo to learn better representations. Furthermore, We fine-grained the test split of the DAD dataset to enable the multi-class recognition of drivers' activities. Experiments on this enhanced database demonstrate that 1) the proposed MHSA-based fusion method (AUC-ROC: 97.0\%) outperforms all baselines and previous approaches, and 2) training MHSA with patch masking can improve its robustness against modality/view collapses. The code and annotations are publicly available.Comment: 9 pages (1 for reference); accepted by the 6th Multimodal Learning and Applications Workshop (MULA) at CVPR 202

    One Small Step for Generative AI, One Giant Leap for AGI: A Complete Survey on ChatGPT in AIGC Era

    Full text link
    OpenAI has recently released GPT-4 (a.k.a. ChatGPT plus), which is demonstrated to be one small step for generative AI (GAI), but one giant leap for artificial general intelligence (AGI). Since its official release in November 2022, ChatGPT has quickly attracted numerous users with extensive media coverage. Such unprecedented attention has also motivated numerous researchers to investigate ChatGPT from various aspects. According to Google scholar, there are more than 500 articles with ChatGPT in their titles or mentioning it in their abstracts. Considering this, a review is urgently needed, and our work fills this gap. Overall, this work is the first to survey ChatGPT with a comprehensive review of its underlying technology, applications, and challenges. Moreover, we present an outlook on how ChatGPT might evolve to realize general-purpose AIGC (a.k.a. AI-generated content), which will be a significant milestone for the development of AGI.Comment: A Survey on ChatGPT and GPT-4, 29 pages. Feedback is appreciated ([email protected]

    Modularizing and Assembling Cognitive Map Learners via Hyperdimensional Computing

    Full text link
    Biological organisms must learn how to control their own bodies to achieve deliberate locomotion, that is, predict their next body position based on their current position and selected action. Such learning is goal-agnostic with respect to maximizing (minimizing) an environmental reward (penalty) signal. A cognitive map learner (CML) is a collection of three separate yet collaboratively trained artificial neural networks which learn to construct representations for the node states and edge actions of an arbitrary bidirectional graph. In so doing, a CML learns how to traverse the graph nodes; however, the CML does not learn when and why to move from one node state to another. This work created CMLs with node states expressed as high dimensional vectors suitable for hyperdimensional computing (HDC), a form of symbolic machine learning (ML). In so doing, graph knowledge (CML) was segregated from target node selection (HDC), allowing each ML approach to be trained independently. The first approach used HDC to engineer an arbitrary number of hierarchical CMLs, where each graph node state specified target node states for the next lower level CMLs to traverse to. Second, an HDC-based stimulus-response experience model was demonstrated per CML. Because hypervectors may be in superposition with each other, multiple experience models were added together and run in parallel without any retraining. Lastly, a CML-HDC ML unit was modularized: trained with proxy symbols such that arbitrary, application-specific stimulus symbols could be operated upon without retraining either CML or HDC model. These methods provide a template for engineering heterogenous ML systems

    Quantifying the retention of emotions across story retellings

    Get PDF
    Story retelling is a fundamental medium for the transmission of information between individuals and among social groups. Besides conveying factual information, stories also contain affective information. Though natural language processing techniques have advanced considerably in recent years, the extent to which machines can be trained to identify and track emotions across retellings is unknown. This study leverages the powerful RoBERTa model, based on a transformer architecture, to derive emotion-rich story embeddings from a unique dataset of 25,728 story retellings. The initial stories were centered around five emotional events (joy, sadness, embarrassment, risk, and disgust—though the stories did not contain these emotion words) and three intensities (high, medium, and low). Our results indicate (1) that RoBERTa can identify emotions in stories it was not trained on, (2) that the five emotions and their intensities are preserved when they are transmitted in the form of retellings, (3) that the emotions in stories are increasingly well-preserved as they experience additional retellings, and (4) that among the five emotions, risk and disgust are least well-preserved, compared with joy, sadness, and embarrassment. This work is a first step toward quantifying situation-driven emotions with machines

    Augmented classification for electrical coil winding defects

    Get PDF
    A green revolution has accelerated over the recent decades with a look to replace existing transportation power solutions through the adoption of greener electrical alternatives. In parallel the digitisation of manufacturing has enabled progress in the tracking and traceability of processes and improvements in fault detection and classification. This paper explores electrical machine manufacture and the challenges faced in identifying failures modes during this life cycle through the demonstration of state-of-the-art machine vision methods for the classification of electrical coil winding defects. We demonstrate how recent generative adversarial networks can be used to augment training of these models to further improve their accuracy for this challenging task. Our approach utilises pre-processing and dimensionality reduction to boost performance of the model from a standard convolutional neural network (CNN) leading to a significant increase in accuracy

    A qualitative study about first year students’ experiences of transitioning to higher education and available academic support resources

    Get PDF
    Successfully transitioning students to higher education is a complex problem that challenges institutions internationally. Unsuccessful transitions have wide ranging implications that include both social and financial impacts for students and the universities. There appears to be a paucity in the literature that represents student perspectives on their transition experiences. This research study aimed to do two things: first to better understand the transition experience and use of academic support services from the student perspective and second to provide strategies for facilitating a more effective transition experience based on student discussions. This research explores the experiences of primarily non-traditional students at one institution in Australia. Data collection involved two phases using a yarning circle approach. The first involved participants in small unstructured yarning circles where they were given the opportunity to speak freely about their transition experience and their use of academic support services. This was then followed by a larger yarning circle that was semi-structured to explore some of the themes from the small yarning circles more fully. The yarning circle data was analysed using Braun and Clarke’s (2006) six-steps of thematic analysis. The analysis indicated that participants felt that the available academic support services did not meet their needs. It also provided insight into how the students approach higher education and what they are seeking from their institution by means of support. One major finding that has the potential to impact transition programs around the world is that older non-traditional students appear to approach higher education as they would a new job. This shifts the lens away from the traditional transition program of social integration to one that uses workplace induction strategies as a form of integration. The recommendations from this study also include recognising and accepting the emotions associated with transitioning to higher education, reworking the transition strategies for non-traditional students and facilitating opportunities for engagement as opposed to providing them directly

    Incentivising research data sharing : a scoping review

    Get PDF
    Background: Numerous mechanisms exist to incentivise researchers to share their data. This scoping review aims to identify and summarise evidence of the efficacy of different interventions to promote open data practices and provide an overview of current research. Methods: This scoping review is based on data identified from Web of Science and LISTA, limited from 2016 to 2021. A total of 1128 papers were screened, with 38 items being included. Items were selected if they focused on designing or evaluating an intervention or presenting an initiative to incentivise sharing. Items comprised a mixture of research papers, opinion pieces and descriptive articles. Results: Seven major themes in the literature were identified: publisher/journal data sharing policies, metrics, software solutions, research data sharing agreements in general, open science ‘badges’, funder mandates, and initiatives. Conclusions: A number of key messages for data sharing include: the need to build on existing cultures and practices, meeting people where they are and tailoring interventions to support them; the importance of publicising and explaining the policy/service widely; the need to have disciplinary data champions to model good practice and drive cultural change; the requirement to resource interventions properly; and the imperative to provide robust technical infrastructure and protocols, such as labelling of data sets, use of DOIs, data standards and use of data repositories
    • …
    corecore