11,462 research outputs found
Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control
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
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
Technical Dimensions of Programming Systems
Programming requires much more than just writing code in a programming language. It is usually done in the context of a stateful environment, by interacting with a system through a graphical user interface. Yet, this wide space of possibilities lacks a common structure for navigation. Work on programming systems fails to form a coherent body of research, making it hard to improve on past work and advance the state of the art.
In computer science, much has been said and done to allow comparison of programming languages, yet no similar theory exists for programming systems; we believe that programming systems deserve a theory too.
We present a framework of technical dimensions which capture the underlying characteristics of programming systems and provide a means for conceptualizing and comparing them.
We identify technical dimensions by examining past influential programming systems and reviewing their design principles, technical capabilities, and styles of user interaction. Technical dimensions capture characteristics that may be studied, compared and advanced independently. This makes it possible to talk about programming systems in a way that can be shared and constructively debated rather than relying solely on personal impressions.
Our framework is derived using a qualitative analysis of past programming systems. We outline two concrete ways of using our framework. First, we show how it can analyze a recently developed novel programming system. Then, we use it to identify an interesting unexplored point in the design space of programming systems.
Much research effort focuses on building programming systems that are easier to use, accessible to non-experts, moldable and/or powerful, but such efforts are disconnected. They are informal, guided by the personal vision of their authors and thus are only evaluable and comparable on the basis of individual experience using them. By providing foundations for more systematic research, we can help programming systems researchers to stand, at last, on the shoulders of giants
A Proposed Meta-Reality Immersive Development Pipeline: Generative AI Models and Extended Reality (XR) Content for the Metaverse
The realization of an interoperable and scalable virtual platform, currently known as the “metaverse,” is inevitable, but many technological challenges need to be overcome first. With the metaverse still in a nascent phase, research currently indicates that building a new 3D social environment capable of interoperable avatars and digital transactions will represent most of the initial investment in time and capital. The return on investment, however, is worth the financial risk for firms like Meta, Google, and Apple. While the current virtual space of the metaverse is worth 84.09 billion by the end of 2028. But the creation of an entire alternate virtual universe of 3D avatars, objects, and otherworldly cityscapes calls for a new development pipeline and workflow. Existing 3D modeling and digital twin processes, already well-established in industry and gaming, will be ported to support the need to architect and furnish this new digital world. The current development pipeline, however, is cumbersome, expensive and limited in output capacity. This paper proposes a new and innovative immersive development pipeline leveraging the recent advances in artificial intelligence (AI) for 3D model creation and optimization. The previous reliance on 3D modeling software to create assets and then import into a game engine can be replaced with nearly instantaneous content creation with AI. While AI art generators like DALL-E 2 and DeepAI have been used for 2D asset creation, when combined with game engine technology, such as Unreal Engine 5 and virtualized geometry systems like Nanite, a new process for creating nearly unlimited content for immersive reality is possible. New processes and workflows, such as those proposed here, will revolutionize content creation and pave the way for Web 3.0, the metaverse and a truly 3D social environment
Trainable Variational Quantum-Multiblock ADMM Algorithm for Generation Scheduling
The advent of quantum computing can potentially revolutionize how complex
problems are solved. This paper proposes a two-loop quantum-classical solution
algorithm for generation scheduling by infusing quantum computing, machine
learning, and distributed optimization. The aim is to facilitate employing
noisy near-term quantum machines with a limited number of qubits to solve
practical power system optimization problems such as generation scheduling. The
outer loop is a 3-block quantum alternative direction method of multipliers
(QADMM) algorithm that decomposes the generation scheduling problem into three
subproblems, including one quadratically unconstrained binary optimization
(QUBO) and two non-QUBOs. The inner loop is a trainable quantum approximate
optimization algorithm (T-QAOA) for solving QUBO on a quantum computer. The
proposed T-QAOA translates interactions of quantum-classical machines as
sequential information and uses a recurrent neural network to estimate
variational parameters of the quantum circuit with a proper sampling technique.
T-QAOA determines the QUBO solution in a few quantum-learner iterations instead
of hundreds of iterations needed for a quantum-classical solver. The outer
3-block ADMM coordinates QUBO and non-QUBO solutions to obtain the solution to
the original problem. The conditions under which the proposed QADMM is
guaranteed to converge are discussed. Two mathematical and three generation
scheduling cases are studied. Analyses performed on quantum simulators and
classical computers show the effectiveness of the proposed algorithm. The
advantages of T-QAOA are discussed and numerically compared with QAOA which
uses a stochastic gradient descent-based optimizer.Comment: 11 page
Augmented classification for electrical coil winding defects
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
Strategies for Early Learners
Welcome to learning about how to effectively plan curriculum for young children. This textbook will address: • Developing curriculum through the planning cycle • Theories that inform what we know about how children learn and the best ways for teachers to support learning • The three components of developmentally appropriate practice • Importance and value of play and intentional teaching • Different models of curriculum • Process of lesson planning (documenting planned experiences for children) • Physical, temporal, and social environments that set the stage for children’s learning • Appropriate guidance techniques to support children’s behaviors as the self-regulation abilities mature. • Planning for preschool-aged children in specific domains including o Physical development o Language and literacy o Math o Science o Creative (the visual and performing arts) o Diversity (social science and history) o Health and safety • Making children’s learning visible through documentation and assessmenthttps://scholar.utc.edu/open-textbooks/1001/thumbnail.jp
Defining Service Level Agreements in Serverless Computing
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%
Um modelo para suporte automatizado ao reconhecimento, extração, personalização e reconstrução de gráficos estáticos
Data charts are widely used in our daily lives, being present in regular media,
such as newspapers, magazines, web pages, books, and many others. A well constructed
data chart leads to an intuitive understanding of its underlying data
and in the same way, when data charts have wrong design choices, a redesign
of these representations might be needed. However, in most cases, these
charts are shown as a static image, which means that the original data are not
usually available. Therefore, automatic methods could be applied to extract the
underlying data from the chart images to allow these changes. The task of
recognizing charts and extracting data from them is complex, largely due to the
variety of chart types and their visual characteristics.
Computer Vision techniques for image classification and object detection are
widely used for the problem of recognizing charts, but only in images without
any disturbance. Other features in real-world images that can make this task
difficult are not present in most literature works, like photo distortions, noise,
alignment, etc. Two computer vision techniques that can assist this task and
have been little explored in this context are perspective detection and
correction. These methods transform a distorted and noisy chart in a clear
chart, with its type ready for data extraction or other uses. The task of
reconstructing data is straightforward, as long the data is available the
visualization can be reconstructed, but the scenario of reconstructing it on the
same context is complex.
Using a Visualization Grammar for this scenario is a key component, as these
grammars usually have extensions for interaction, chart layers, and multiple
views without requiring extra development effort.
This work presents a model for automated support for custom recognition, and
reconstruction of charts in images. The model automatically performs the
process steps, such as reverse engineering, turning a static chart back into its
data table for later reconstruction, while allowing the user to make modifications
in case of uncertainties. This work also features a model-based architecture
along with prototypes for various use cases. Validation is performed step by
step, with methods inspired by the literature. This work features three use
cases providing proof of concept and validation of the model.
The first use case features usage of chart recognition methods focused on
documents in the real-world, the second use case focus on vocalization of
charts, using a visualization grammar to reconstruct a chart in audio format,
and the third use case presents an Augmented Reality application that
recognizes and reconstructs charts in the same context (a piece of paper)
overlaying the new chart and interaction widgets. The results showed that with
slight changes, chart recognition and reconstruction methods are now ready for
real-world charts, when taking time, accuracy and precision into consideration.Os gráficos de dados são amplamente utilizados na nossa vida diária, estando
presentes nos meios de comunicação regulares, tais como jornais, revistas,
páginas web, livros, e muitos outros. Um gráfico bem construído leva a uma
compreensão intuitiva dos seus dados inerentes e da mesma forma, quando
os gráficos de dados têm escolhas de conceção erradas, poderá ser
necessário um redesenho destas representações. Contudo, na maioria dos
casos, estes gráficos são mostrados como uma imagem estática, o que
significa que os dados originais não estão normalmente disponíveis. Portanto,
poderiam ser aplicados métodos automáticos para extrair os dados inerentes
das imagens dos gráficos, a fim de permitir estas alterações. A tarefa de
reconhecer os gráficos e extrair dados dos mesmos é complexa, em grande
parte devido à variedade de tipos de gráficos e às suas características visuais.
As técnicas de Visão Computacional para classificação de imagens e deteção
de objetos são amplamente utilizadas para o problema de reconhecimento de
gráficos, mas apenas em imagens sem qualquer ruído. Outras características
das imagens do mundo real que podem dificultar esta tarefa não estão
presentes na maioria das obras literárias, como distorções fotográficas, ruído,
alinhamento, etc. Duas técnicas de visão computacional que podem ajudar
nesta tarefa e que têm sido pouco exploradas neste contexto são a deteção e
correção da perspetiva. Estes métodos transformam um gráfico distorcido e
ruidoso em um gráfico limpo, com o seu tipo pronto para extração de dados
ou outras utilizações. A tarefa de reconstrução de dados é simples, desde que
os dados estejam disponíveis a visualização pode ser reconstruída, mas o
cenário de reconstrução no mesmo contexto é complexo.
A utilização de uma Gramática de Visualização para este cenário é um
componente chave, uma vez que estas gramáticas têm normalmente
extensões para interação, camadas de gráficos, e visões múltiplas sem exigir
um esforço extra de desenvolvimento.
Este trabalho apresenta um modelo de suporte automatizado para o
reconhecimento personalizado, e reconstrução de gráficos em imagens
estáticas. O modelo executa automaticamente as etapas do processo, tais
como engenharia inversa, transformando um gráfico estático novamente na
sua tabela de dados para posterior reconstrução, ao mesmo tempo que
permite ao utilizador fazer modificações em caso de incertezas. Este trabalho
também apresenta uma arquitetura baseada em modelos, juntamente com
protótipos para vários casos de utilização. A validação é efetuada passo a
passo, com métodos inspirados na literatura. Este trabalho apresenta três
casos de uso, fornecendo prova de conceito e validação do modelo.
O primeiro caso de uso apresenta a utilização de métodos de reconhecimento
de gráficos focando em documentos no mundo real, o segundo caso de uso
centra-se na vocalização de gráficos, utilizando uma gramática de visualização
para reconstruir um gráfico em formato áudio, e o terceiro caso de uso
apresenta uma aplicação de Realidade Aumentada que reconhece e reconstrói
gráficos no mesmo contexto (um pedaço de papel) sobrepondo os novos
gráficos e widgets de interação. Os resultados mostraram que com pequenas
alterações, os métodos de reconhecimento e reconstrução dos gráficos estão
agora prontos para os gráficos do mundo real, tendo em consideração o
tempo, a acurácia e a precisão.Programa Doutoral em Engenharia Informátic
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