16,917 research outputs found
TransFusionOdom: Interpretable Transformer-based LiDAR-Inertial Fusion Odometry Estimation
Multi-modal fusion of sensors is a commonly used approach to enhance the
performance of odometry estimation, which is also a fundamental module for
mobile robots. However, the question of \textit{how to perform fusion among
different modalities in a supervised sensor fusion odometry estimation task?}
is still one of challenging issues remains. Some simple operations, such as
element-wise summation and concatenation, are not capable of assigning adaptive
attentional weights to incorporate different modalities efficiently, which make
it difficult to achieve competitive odometry results. Recently, the Transformer
architecture has shown potential for multi-modal fusion tasks, particularly in
the domains of vision with language. In this work, we propose an end-to-end
supervised Transformer-based LiDAR-Inertial fusion framework (namely
TransFusionOdom) for odometry estimation. The multi-attention fusion module
demonstrates different fusion approaches for homogeneous and heterogeneous
modalities to address the overfitting problem that can arise from blindly
increasing the complexity of the model. Additionally, to interpret the learning
process of the Transformer-based multi-modal interactions, a general
visualization approach is introduced to illustrate the interactions between
modalities. Moreover, exhaustive ablation studies evaluate different
multi-modal fusion strategies to verify the performance of the proposed fusion
strategy. A synthetic multi-modal dataset is made public to validate the
generalization ability of the proposed fusion strategy, which also works for
other combinations of different modalities. The quantitative and qualitative
odometry evaluations on the KITTI dataset verify the proposed TransFusionOdom
could achieve superior performance compared with other related works.Comment: Submitted to IEEE Sensors Journal with some modifications. This work
has been submitted to the IEEE for possible publication. Copyright may be
transferred without notice, after which this version may no longer be
accessibl
Examples of works to practice staccato technique in clarinet instrument
Klarnetin staccato tekniğini güçlendirme aşamaları eser çalışmalarıyla uygulanmıştır. Staccato
geçişlerini hızlandıracak ritim ve nüans çalışmalarına yer verilmiştir. Çalışmanın en önemli amacı
sadece staccato çalışması değil parmak-dilin eş zamanlı uyumunun hassasiyeti üzerinde de
durulmasıdır. Staccato çalışmalarını daha verimli hale getirmek için eser çalışmasının içinde etüt
çalışmasına da yer verilmiştir. Çalışmaların üzerinde titizlikle durulması staccato çalışmasının ilham
verici etkisi ile müzikal kimliğe yeni bir boyut kazandırmıştır. Sekiz özgün eser çalışmasının her
aşaması anlatılmıştır. Her aşamanın bir sonraki performans ve tekniği güçlendirmesi esas alınmıştır.
Bu çalışmada staccato tekniğinin hangi alanlarda kullanıldığı, nasıl sonuçlar elde edildiği bilgisine
yer verilmiştir. Notaların parmak ve dil uyumu ile nasıl şekilleneceği ve nasıl bir çalışma disiplini
içinde gerçekleşeceği planlanmıştır. Kamış-nota-diyafram-parmak-dil-nüans ve disiplin
kavramlarının staccato tekniğinde ayrılmaz bir bütün olduğu saptanmıştır. Araştırmada literatür
taraması yapılarak staccato ile ilgili çalışmalar taranmıştır. Tarama sonucunda klarnet tekniğin de
kullanılan staccato eser çalışmasının az olduğu tespit edilmiştir. Metot taramasında da etüt
çalışmasının daha çok olduğu saptanmıştır. Böylelikle klarnetin staccato tekniğini hızlandırma ve
güçlendirme çalışmaları sunulmuştur. Staccato etüt çalışmaları yapılırken, araya eser çalışmasının
girmesi beyni rahatlattığı ve istekliliği daha arttırdığı gözlemlenmiştir. Staccato çalışmasını yaparken
doğru bir kamış seçimi üzerinde de durulmuştur. Staccato tekniğini doğru çalışmak için doğru bir
kamışın dil hızını arttırdığı saptanmıştır. Doğru bir kamış seçimi kamıştan rahat ses çıkmasına
bağlıdır. Kamış, dil atma gücünü vermiyorsa daha doğru bir kamış seçiminin yapılması gerekliliği
vurgulanmıştır. Staccato çalışmalarında baştan sona bir eseri yorumlamak zor olabilir. Bu açıdan
çalışma, verilen müzikal nüanslara uymanın, dil atış performansını rahatlattığını ortaya koymuştur.
Gelecek nesillere edinilen bilgi ve birikimlerin aktarılması ve geliştirici olması teşvik edilmiştir.
Çıkacak eserlerin nasıl çözüleceği, staccato tekniğinin nasıl üstesinden gelinebileceği anlatılmıştır.
Staccato tekniğinin daha kısa sürede çözüme kavuşturulması amaç edinilmiştir. Parmakların
yerlerini öğrettiğimiz kadar belleğimize de çalışmaların kaydedilmesi önemlidir. Gösterilen azmin ve
sabrın sonucu olarak ortaya çıkan yapıt başarıyı daha da yukarı seviyelere çıkaracaktır
Deep Transfer Learning Applications in Intrusion Detection Systems: A Comprehensive Review
Globally, the external Internet is increasingly being connected to the
contemporary industrial control system. As a result, there is an immediate need
to protect the network from several threats. The key infrastructure of
industrial activity may be protected from harm by using an intrusion detection
system (IDS), a preventive measure mechanism, to recognize new kinds of
dangerous threats and hostile activities. The most recent artificial
intelligence (AI) techniques used to create IDS in many kinds of industrial
control networks are examined in this study, with a particular emphasis on
IDS-based deep transfer learning (DTL). This latter can be seen as a type of
information fusion that merge, and/or adapt knowledge from multiple domains to
enhance the performance of the target task, particularly when the labeled data
in the target domain is scarce. Publications issued after 2015 were taken into
account. These selected publications were divided into three categories:
DTL-only and IDS-only are involved in the introduction and background, and
DTL-based IDS papers are involved in the core papers of this review.
Researchers will be able to have a better grasp of the current state of DTL
approaches used in IDS in many different types of networks by reading this
review paper. Other useful information, such as the datasets used, the sort of
DTL employed, the pre-trained network, IDS techniques, the evaluation metrics
including accuracy/F-score and false alarm rate (FAR), and the improvement
gained, were also covered. The algorithms, and methods used in several studies,
or illustrate deeply and clearly the principle in any DTL-based IDS subcategory
are presented to the reader
Lift EVERY Voice and Sing: An Intersectional Qualitative Study Examining the Experiences of Lesbian, Gay, Bisexual, and Queer Faculty and Administrators at Historically Black Colleges and Universities
While there is minimal literature that address the experiences of lesbian, gay, bisexual, and trans* identified students at Historically Black Colleges and Universities (HBCUs), the experiences of Black, queer faculty and administrators at HBCUs has not been studied. This intersectional qualitative research study focused on the experiences of lesbian, gay, bisexual, and queer identified faculty and administrators who work at HBCUs. By investigating the intersections of religion, race, gender, and sexuality within a predominantly Black institution, this study aims to enhance diversity, equity, and inclusion efforts at HBCUs by sharing the experiences of the LGBQ faculty and administrators that previously or currently work at an HBCU as a full-time employee. The research questions that guided this study were 1) How have LGBQ faculty and staff negotiated/navigated their careers at HBCUs? and 2) How do LGBQ faculty and staff at HBCUs influence cultural (relating to LGBQ inclusion) change at the organizational level? The main theoretical framework used was intersectionality and it shaped the chosen methodology and methods. The Politics of Respectability was the second theoretical framework used to describe the intra-racial tensions within the Black/African American community. The study included 60-120 minute interviews with 12 participants. Using intersectionality as a guide, the data were coded and utilized for thematic analysis. Then, an ethnodramatic performance engages readers. The goals of this study were to encourage policy changes, promote inclusivity for LGBQ employees at HBCUs, and provide an expansion to the body of literature in the field pertaining to the experiences of LGBQ faculty and administrators in higher education
Animating potential for intensities and becoming in writing: challenging discursively constructed structures and writing conventions in academia through the use of storying and other post qualitative inquiries
Written for everyone ever denied the opportunity of fulfilling their academic potential, this is ‘Chloe’s story’. Using composite selves, a phrase chosen to indicate multiplicities and movement, to story both the initial event leading to ‘Chloe’s’ immediate withdrawal from a Further Education college and an imaginary second chance to support her whilst at university, this Deleuzo-Guattarian (2015a) ‘assemblage’ of post qualitative inquiries offers challenge to discursively constructed structures and writing conventions in academia. Adopting a posthuman approach to theorising to shift attention towards affects and intensities always relationally in action in multiple ‘assemblages’, these inquiries aim to decentre individual ‘lecturer’ and ‘student’ identities. Illuminating movements and moments quivering with potential for change, then, hoping thereby to generate second chances for all, different approaches to writing are exemplified which trouble those academic constraints by fostering inquiry and speculation: moving away from ‘what is’ towards ‘what if’.
With the formatting of this thesis itself also always troubling the rigid Deleuzo-Guattarian (2015a) ‘segmentary lines’ structuring orthodox academic practice, imbricated in these inquiries are attempts to exemplify Manning’s (2015; 2016) ‘artfulness’ through shifts in thinking within and around an emerging PhD thesis. As writing resists organising, the verb thesisising comes into play to describe the processes involved in creating this always-moving thesis. Using ‘landing sites’ (Arakawa and Gins, 2009) as a landscaping device, freely creating emerging ‘lines of flight’ (Deleuze and Guattari, 2015a) so often denied to students forced to adhere to strict academic conventions, this ‘movement-moving’ (Manning, 2014) opens up opportunities for change as in Manning’s (2016) ‘research-creation’. Arguing for a moving away from writing-representing towards writing-inquiring, towards a writing ‘that does’ (Wyatt and Gale, 2018: 127), and toward writing as immanent doing, it is hoped to animate potential for intensities and becoming in writing, offering opportunities and glimmerings of the not-yet-known
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
CREATING VALUE IN ADDITIVE MANUFACTURING – MODELING OF ECOSYSTEM DETERMINANTS
Despite the increasing managerial awareness for ecosystems to organize complex value propositions, little is known about how different roles can establish their business models (BM) in ecosystems. AM drives innovations in the product design and manufacturing fields predominantly across companies, indicating the eco-systemic organization of value creation without orchestrating and dominant keystone actors yet. This paper explores ecosystem determinants by analyzing the dynamic additive manufacturing (AM) paradigm. We conduct an empirical study with companies from the AM domain to visualize their value activities and define generic roles in the interdependent value creation process, adopting the e³-value methodology. By exploring these ecosystem determinants, our results aid practitioners in positioning their BMs in the AM domain and generate descriptive insights for the orchestrator BM design in a dynamic domain without orchestrating keystones
The determinants of value addition: a crtitical analysis of global software engineering industry in Sri Lanka
It was evident through the literature that the perceived value delivery of the global software
engineering industry is low due to various facts. Therefore, this research concerns global
software product companies in Sri Lanka to explore the software engineering methods and
practices in increasing the value addition. The overall aim of the study is to identify the key
determinants for value addition in the global software engineering industry and critically
evaluate the impact of them for the software product companies to help maximise the value
addition to ultimately assure the sustainability of the industry.
An exploratory research approach was used initially since findings would emerge while the
study unfolds. Mixed method was employed as the literature itself was inadequate to
investigate the problem effectively to formulate the research framework. Twenty-three face-to-face online interviews were conducted with the subject matter experts covering all the
disciplines from the targeted organisations which was combined with the literature findings as
well as the outcomes of the market research outcomes conducted by both government and nongovernment institutes. Data from the interviews were analysed using NVivo 12. The findings
of the existing literature were verified through the exploratory study and the outcomes were
used to formulate the questionnaire for the public survey. 371 responses were considered after
cleansing the total responses received for the data analysis through SPSS 21 with alpha level
0.05. Internal consistency test was done before the descriptive analysis. After assuring the
reliability of the dataset, the correlation test, multiple regression test and analysis of variance
(ANOVA) test were carried out to fulfil the requirements of meeting the research objectives.
Five determinants for value addition were identified along with the key themes for each area.
They are staffing, delivery process, use of tools, governance, and technology infrastructure.
The cross-functional and self-organised teams built around the value streams, employing a
properly interconnected software delivery process with the right governance in the delivery
pipelines, selection of tools and providing the right infrastructure increases the value delivery.
Moreover, the constraints for value addition are poor interconnection in the internal processes,
rigid functional hierarchies, inaccurate selections and uses of tools, inflexible team
arrangements and inadequate focus for the technology infrastructure. The findings add to the
existing body of knowledge on increasing the value addition by employing effective processes,
practices and tools and the impacts of inaccurate applications the same in the global software
engineering industry
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Co-design As Healing: Exploring The Experiences Of Participants Facing Mental Health Problems
This thesis is an exploration of the healing role of co-design in mental health. Although co-design projects conducted within mental health settings are rising, existing literature tends to focus on the object of design and its outcomes while the experiences of participants per se remain largely unexplored. The guiding research question of this study is not how we design things that improve mental health, but how co-designing, as an act, might do so.
The thesis presents two projects that were organized in collaboration with the mental health charity Islington Mind and the Psychosis Therapy Project (PTP) in London.
The project at Islington Mind used a structured design process inviting participants to design for wellbeing. A case study analysis provides insights on how participants were impacted, summarizing key challenges and opportunities.
The design at PTP worked towards creating a collective brief in an emergent fashion, finally culminating in a board game. The experiences of participants were explored through Interpretative Phenomenological Analysis (IPA), using semi-structured interview data. The analysis served to identify key themes characterising the experience of co-design such as contributing, connecting, thinking and intentioning. In addition, a mixed-methods analysis of questionnaires and interview data exploring participants' wellbeing, showed that all participants who engaged fairly consistently in the project improved after the project ended, although some participants' scores returned to baseline six months later.
Reflecting on both projects, an approach to facilitation within mental health is outlined, detailing how the dimensions of weaving and layered participation, nurturing mattering and facilitating attitudes interlace. This contribution raises awareness of tacit dimensions in the practice of facilitation, articulating the nuances of how to encourage and sustain meaningful and ethical engagement and offering insights into a range of tools. It highlights the importance of remaining reflexive in relation to attitudes and emotions and discusses practical methodological and ethical challenges and ways to resolve them which can be of benefit to researchers embarking on a similar journey.
The thesis also offers detailed insights on how methodologies from different fields were integrated into a whole, arguing for transparency and reflexivity about epistemological assumptions, and how underlying paradigms shift in an interdisciplinary context.
Based on the overall findings, the thesis makes a case for considering design as healing (or a designerly way of healing), highlighting implications at a systems, social and individual level. It makes an original contribution to our understanding of design, highlighting its healing character, and proposes a new way to support mental health. The participants in this study not only had increased their own wellbeing through co-designing, but were also empowered and contributed towards healing the world. Hence, the thesis argues for a unique, holistic perspective of design and mental health, recognizing the interconnectedness of the individual, social and systemic dimensions of the healing processes that are ignited
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