10,739 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

    Rehabilitation Exercise Repetition Segmentation and Counting using Skeletal Body Joints

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    Physical exercise is an essential component of rehabilitation programs that improve quality of life and reduce mortality and re-hospitalization rates. In AI-driven virtual rehabilitation programs, patients complete their exercises independently at home, while AI algorithms analyze the exercise data to provide feedback to patients and report their progress to clinicians. To analyze exercise data, the first step is to segment it into consecutive repetitions. There has been a significant amount of research performed on segmenting and counting the repetitive activities of healthy individuals using raw video data, which raises concerns regarding privacy and is computationally intensive. Previous research on patients' rehabilitation exercise segmentation relied on data collected by multiple wearable sensors, which are difficult to use at home by rehabilitation patients. Compared to healthy individuals, segmenting and counting exercise repetitions in patients is more challenging because of the irregular repetition duration and the variation between repetitions. This paper presents a novel approach for segmenting and counting the repetitions of rehabilitation exercises performed by patients, based on their skeletal body joints. Skeletal body joints can be acquired through depth cameras or computer vision techniques applied to RGB videos of patients. Various sequential neural networks are designed to analyze the sequences of skeletal body joints and perform repetition segmentation and counting. Extensive experiments on three publicly available rehabilitation exercise datasets, KIMORE, UI-PRMD, and IntelliRehabDS, demonstrate the superiority of the proposed method compared to previous methods. The proposed method enables accurate exercise analysis while preserving privacy, facilitating the effective delivery of virtual rehabilitation programs.Comment: 8 pages, 1 figure, 2 table

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

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    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]

    Genomic prediction in plants: opportunities for ensemble machine learning based approaches [version 2; peer review: 1 approved, 2 approved with reservations]

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    Background: Many studies have demonstrated the utility of machine learning (ML) methods for genomic prediction (GP) of various plant traits, but a clear rationale for choosing ML over conventionally used, often simpler parametric methods, is still lacking. Predictive performance of GP models might depend on a plethora of factors including sample size, number of markers, population structure and genetic architecture. Methods: Here, we investigate which problem and dataset characteristics are related to good performance of ML methods for genomic prediction. We compare the predictive performance of two frequently used ensemble ML methods (Random Forest and Extreme Gradient Boosting) with parametric methods including genomic best linear unbiased prediction (GBLUP), reproducing kernel Hilbert space regression (RKHS), BayesA and BayesB. To explore problem characteristics, we use simulated and real plant traits under different genetic complexity levels determined by the number of Quantitative Trait Loci (QTLs), heritability (h2 and h2e), population structure and linkage disequilibrium between causal nucleotides and other SNPs. Results: Decision tree based ensemble ML methods are a better choice for nonlinear phenotypes and are comparable to Bayesian methods for linear phenotypes in the case of large effect Quantitative Trait Nucleotides (QTNs). Furthermore, we find that ML methods are susceptible to confounding due to population structure but less sensitive to low linkage disequilibrium than linear parametric methods. Conclusions: Overall, this provides insights into the role of ML in GP as well as guidelines for practitioners

    Machine Learning Research Trends in Africa: A 30 Years Overview with Bibliometric Analysis Review

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    In this paper, a critical bibliometric analysis study is conducted, coupled with an extensive literature survey on recent developments and associated applications in machine learning research with a perspective on Africa. The presented bibliometric analysis study consists of 2761 machine learning-related documents, of which 98% were articles with at least 482 citations published in 903 journals during the past 30 years. Furthermore, the collated documents were retrieved from the Science Citation Index EXPANDED, comprising research publications from 54 African countries between 1993 and 2021. The bibliometric study shows the visualization of the current landscape and future trends in machine learning research and its application to facilitate future collaborative research and knowledge exchange among authors from different research institutions scattered across the African continent

    Learning disentangled speech representations

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    A variety of informational factors are contained within the speech signal and a single short recording of speech reveals much more than the spoken words. The best method to extract and represent informational factors from the speech signal ultimately depends on which informational factors are desired and how they will be used. In addition, sometimes methods will capture more than one informational factor at the same time such as speaker identity, spoken content, and speaker prosody. The goal of this dissertation is to explore different ways to deconstruct the speech signal into abstract representations that can be learned and later reused in various speech technology tasks. This task of deconstructing, also known as disentanglement, is a form of distributed representation learning. As a general approach to disentanglement, there are some guiding principles that elaborate what a learned representation should contain as well as how it should function. In particular, learned representations should contain all of the requisite information in a more compact manner, be interpretable, remove nuisance factors of irrelevant information, be useful in downstream tasks, and independent of the task at hand. The learned representations should also be able to answer counter-factual questions. In some cases, learned speech representations can be re-assembled in different ways according to the requirements of downstream applications. For example, in a voice conversion task, the speech content is retained while the speaker identity is changed. And in a content-privacy task, some targeted content may be concealed without affecting how surrounding words sound. While there is no single-best method to disentangle all types of factors, some end-to-end approaches demonstrate a promising degree of generalization to diverse speech tasks. This thesis explores a variety of use-cases for disentangled representations including phone recognition, speaker diarization, linguistic code-switching, voice conversion, and content-based privacy masking. Speech representations can also be utilised for automatically assessing the quality and authenticity of speech, such as automatic MOS ratings or detecting deep fakes. The meaning of the term "disentanglement" is not well defined in previous work, and it has acquired several meanings depending on the domain (e.g. image vs. speech). Sometimes the term "disentanglement" is used interchangeably with the term "factorization". This thesis proposes that disentanglement of speech is distinct, and offers a viewpoint of disentanglement that can be considered both theoretically and practically

    Targeting Fusion Proteins of HIV-1 and SARS-CoV-2

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    Viruses are disease-causing pathogenic agents that require host cells to replicate. Fusion of host and viral membranes is critical for the lifecycle of enveloped viruses. Studying viral fusion proteins can allow us to better understand how they shape immune responses and inform the design of therapeutics such as drugs, monoclonal antibodies, and vaccines. This thesis discusses two approaches to targeting two fusion proteins: Env from HIV-1 and S from SARS-CoV-2. The first chapter of this thesis is an introduction to viruses with a specific focus on HIV-1 CD4 mimetic drugs and antibodies against SARS-CoV-2. It discusses the architecture of these viruses and fusion proteins and how small molecules, peptides, and antibodies can target these proteins successfully to treat and prevent disease. In addition, a brief overview is included of the techniques involved in structural biology and how it has informed the study of viruses. For the interested reader, chapter 2 contains a review article that serves as a more in-depth introduction for both viruses as well as how the use of structural biology has informed the study of viral surface proteins and neutralizing antibody responses to them. The subsequent chapters provide a body of work divided into two parts. The first part in chapter 3 involves a study on conformational changes induced in the HIV-1 Env protein by CD4-mimemtic drugs using single particle cryo-EM. The second part encompassing chapters 4 and 5 includes two studies on antibodies isolated from convalescent COVID-19 donors. The former involves classification of antibody responses to the SARS-CoV-2 S receptor-binding domain (RBD). The latter discusses an anti-RBD antibody class that binds to a conserved epitope on the RBD and shows cross-binding and cross-neutralization to other coronaviruses in the sarbecovirus subgenus.</p

    Image classification over unknown and anomalous domains

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    A longstanding goal in computer vision research is to develop methods that are simultaneously applicable to a broad range of prediction problems. In contrast to this, models often perform best when they are specialized to some task or data type. This thesis investigates the challenges of learning models that generalize well over multiple unknown or anomalous modes and domains in data, and presents new solutions for learning robustly in this setting. Initial investigations focus on normalization for distributions that contain multiple sources (e.g. images in different styles like cartoons or photos). Experiments demonstrate the extent to which existing modules, batch normalization in particular, struggle with such heterogeneous data, and a new solution is proposed that can better handle data from multiple visual modes, using differing sample statistics for each. While ideas to counter the overspecialization of models have been formulated in sub-disciplines of transfer learning, e.g. multi-domain and multi-task learning, these usually rely on the existence of meta information, such as task or domain labels. Relaxing this assumption gives rise to a new transfer learning setting, called latent domain learning in this thesis, in which training and inference are carried out over data from multiple visual domains, without domain-level annotations. Customized solutions are required for this, as the performance of standard models degrades: a new data augmentation technique that interpolates between latent domains in an unsupervised way is presented, alongside a dedicated module that sparsely accounts for hidden domains in data, without requiring domain labels to do so. In addition, the thesis studies the problem of classifying previously unseen or anomalous modes in data, a fundamental problem in one-class learning, and anomaly detection in particular. While recent ideas have been focused on developing self-supervised solutions for the one-class setting, in this thesis new methods based on transfer learning are formulated. Extensive experimental evidence demonstrates that a transfer-based perspective benefits new problems that have recently been proposed in anomaly detection literature, in particular challenging semantic detection tasks

    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

    Defining Service Level Agreements in Serverless Computing

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    The emergence of serverless computing has brought significant advancements to the delivery of computing resources to cloud users. With the abstraction of infrastructure, ecosystem, and execution environments, users could focus on their code while relying on the cloud provider to manage the abstracted layers. In addition, desirable features such as autoscaling and high availability became a provider’s responsibility and can be adopted by the user\u27s application at no extra overhead. Despite such advancements, significant challenges must be overcome as applications transition from monolithic stand-alone deployments to the ephemeral and stateless microservice model of serverless computing. These challenges pertain to the uniqueness of the conceptual and implementation models of serverless computing. One of the notable challenges is the complexity of defining Service Level Agreements (SLA) for serverless functions. As the serverless model shifts the administration of resources, ecosystem, and execution layers to the provider, users become mere consumers of the provider’s abstracted platform with no insight into its performance. Suboptimal conditions of the abstracted layers are not visible to the end-user who has no means to assess their performance. Thus, SLA in serverless computing must take into consideration the unique abstraction of its model. This work investigates the Service Level Agreement (SLA) modeling of serverless functions\u27 and serverless chains’ executions. We highlight how serverless SLA fundamentally differs from earlier cloud delivery models. We then propose an approach to define SLA for serverless functions by utilizing resource utilization fingerprints for functions\u27 executions and a method to assess if executions adhere to that SLA. We evaluate the approach’s accuracy in detecting SLA violations for a broad range of serverless application categories. Our validation results illustrate a high accuracy in detecting SLA violations resulting from resource contentions and provider’s ecosystem degradations. We conclude by presenting the empirical validation of our proposed approach, which could detect Execution-SLA violations with accuracy up to 99%
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