1,928 research outputs found
Click-click, who’s there? Acoustically derived estimates of sperm whale size distribution off western Ireland
Understanding the structure of populations is a critical element to the establishment of management and conservation measures. Sperm whales Physeter macrocephalus are characterised by a demographic spatial segregation, associated with a conspicuous sexual dimorphism reflected in their vocalisations. These characteristics make acoustic techniques very relevant to the study of sperm whale population structure, especially in remote, challenging environments. The reliability of using inter-pulse intervals of sperm whale clicks to infer body size has long been verified and extensively used. We provide the first size structure estimates of the sperm whale population in an area where assumptions on population structure mainly relied on sparse observations at sea, whaling records and stranding data. Over 10,000 hours of acoustic data collected using both static acoustic recorders and towed hydrophone arrays in Irish offshore waters were processed using a machine learning-based tool aimed at automatically extracting inter-pulse intervals from sperm whale recordings. Our analyses suggested that, unlike previously thought, large males would not account for the majority of the animals recorded in the area. We showed that adult females/juvenile males (length 9-12 m) were predominant, accounting for 49% (n = 788) of the number of individuals recorded (n = 1,595), while the proportions of immature individuals (length<9 m) and adult males (length >12 m) were well balanced, accounting for 25% (n = 394) and 26% (n = 413) of the recorded whales, respectively. Our data also suggested some size segregation may be occurring within the area, with smaller individuals to the south. The implications of such findings are crucial to the management of the population and provide an important baseline to monitor changes in population structure, particularly relevant under changing habitat conditions
A Survey of Imitation Learning: Algorithms, Recent Developments, and Challenges
In recent years, the development of robotics and artificial intelligence (AI)
systems has been nothing short of remarkable. As these systems continue to
evolve, they are being utilized in increasingly complex and unstructured
environments, such as autonomous driving, aerial robotics, and natural language
processing. As a consequence, programming their behaviors manually or defining
their behavior through reward functions (as done in reinforcement learning
(RL)) has become exceedingly difficult. This is because such environments
require a high degree of flexibility and adaptability, making it challenging to
specify an optimal set of rules or reward signals that can account for all
possible situations. In such environments, learning from an expert's behavior
through imitation is often more appealing. This is where imitation learning
(IL) comes into play - a process where desired behavior is learned by imitating
an expert's behavior, which is provided through demonstrations.
This paper aims to provide an introduction to IL and an overview of its
underlying assumptions and approaches. It also offers a detailed description of
recent advances and emerging areas of research in the field. Additionally, the
paper discusses how researchers have addressed common challenges associated
with IL and provides potential directions for future research. Overall, the
goal of the paper is to provide a comprehensive guide to the growing field of
IL in robotics and AI.Comment: 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
Reconstruction and Synthesis of Human-Scene Interaction
In this thesis, we argue that the 3D scene is vital for understanding, reconstructing, and synthesizing human motion. We present several approaches which take the scene into consideration in reconstructing and synthesizing Human-Scene Interaction (HSI). We first observe that state-of-the-art pose estimation methods ignore the 3D scene and hence reconstruct poses that are inconsistent with the scene. We address this by proposing a pose estimation method that takes the 3D scene explicitly into account. We call our method PROX for Proximal Relationships with Object eXclusion. We leverage the data generated using PROX and build a method to automatically place 3D scans of people with clothing in scenes. The core novelty of our method is encoding the proximal relationships between the human and the scene in a novel HSI model, called POSA for Pose with prOximitieS and contActs. POSA is limited to static HSI, however. We propose a real-time method for synthesizing dynamic HSI, which we call SAMP for Scene-Aware Motion Prediction. SAMP enables virtual humans to navigate cluttered indoor scenes and naturally interact with objects. Data-driven kinematic models, like SAMP, can produce high-quality motion when applied in environments similar to those shown in the dataset. However, when applied to new scenarios, kinematic models can struggle to generate realistic behaviors that respect scene constraints. In contrast, we present InterPhys which uses adversarial imitation learning and reinforcement learning to train physically-simulated characters that perform scene interaction tasks in a physical and life-like manner
Impacts of coffee fragmented landscapes on biodiversity and microclimate with emerging monitoring technologies
Habitat fragmentation and loss are causing biodiversity declines across the globe. As biodiversity is unevenly distributed, with many hotspots located in the tropics, conserving and protecting these areas is important to preserve as many species as possible. Chapter 2 presents an overview of the Ecology of the Atlantic Forest, a highly fragmented biodiversity hotspot. A major driver of habitat fragmentation is agriculture, and in the tropics coffee is major cash crop. Developing methods to monitor biodiversity effectively without labour intensive surveys can help us understand how communities are using fragmented landscapes and better inform management practices that promote biodiversity. Acoustic monitoring offers a promising set of tools to remotely monitor biodiversity. Developments in machine learning offer automatic species detection and classification in certain taxa. Chapters 3 and 4 use acoustic monitoring surveys conducted on fragmented landscapes in the Atlantic Forest to quantify bird and bat communities in forest and coffee matrix, respectively. Chapter 3 shows that acoustic composition can reflect local avian communities. Chapter 4 applies a convolutional neural network (CNN) optimised on UK bat calls to a Brazilian bat dataset to estimate bat diversity and show how bats preferentially use coffee habitats. In addition to monitoring biodiversity, monitoring microclimate forms a key part of climate smart agriculture for climate change mitigation. Coffee agriculture is limited to the tropics, overlapping with biodiverse regions, but is threatened by climate change. This presents a challenge to countries strongly reliant on coffee exports such as Brazil and Nicaragua. Chapter 5 uses data from microclimate weather stations in Nicaragua to demonstrate that sun-coffee management is vulnerable to supraoptimal temperature exposure regardless of local forest cover or elevation.Open Acces
Assessing prioritization measures for a private land conservation program in the U.S. Prairie Pothole Region
Private land conservation has become an important tool for protecting biodiversity and habitat, but methods for prioritizing and scheduling conservation on private land are still being developed. While return on investment methods have been suggested as a potential path forward, the different processes linking private landscapes to the socioeconomic systems in which they are embedded create unique challenges for scheduling conservation with this approach. We investigated a range of scheduling approaches within a return on investment framework for breeding waterfowl and broods in the Prairie Pothole Region of North Dakota, South Dakota, and Montana. Current conservation targeting for waterfowl in the region focuses mostly on the distribution and abundance of breeding waterfowl. We tested whether MaxGain approaches for waterfowl conservation differed from MinLoss approaches in terms of return on investment and which approach performed best in avoiding loss of waterfowl and broods separately. We also examined variation in results based upon the temporal scale of the abundance layers used for input and compared the region's current scheduling approach with results from our simulations. Our results suggested that MinLoss was the most efficient scheduling approach for both breeding waterfowl and broods and that using just breeding waterfowl to target areas for conservation programs might cause organizations to overlook important areas for broods, particularly over shorter timespans. The higher efficiency of MinLoss approaches in our simulations also indicated that incorporating probability of wetland drainage into decision-making improved the overall return on investment. We recommend that future conservation scheduling for easements in the region and for private land conservation in general include some form of return on investment or cost-effective analysis to make conservation more transparent
Mathematical Problems in Rock Mechanics and Rock Engineering
With increasing requirements for energy, resources and space, rock engineering projects are being constructed more often and are operated in large-scale environments with complex geology. Meanwhile, rock failures and rock instabilities occur more frequently, and severely threaten the safety and stability of rock engineering projects. It is well-recognized that rock has multi-scale structures and involves multi-scale fracture processes. Meanwhile, rocks are commonly subjected simultaneously to complex static stress and strong dynamic disturbance, providing a hotbed for the occurrence of rock failures. In addition, there are many multi-physics coupling processes in a rock mass. It is still difficult to understand these rock mechanics and characterize rock behavior during complex stress conditions, multi-physics processes, and multi-scale changes. Therefore, our understanding of rock mechanics and the prevention and control of failure and instability in rock engineering needs to be furthered. The primary aim of this Special Issue “Mathematical Problems in Rock Mechanics and Rock Engineering” is to bring together original research discussing innovative efforts regarding in situ observations, laboratory experiments and theoretical, numerical, and big-data-based methods to overcome the mathematical problems related to rock mechanics and rock engineering. It includes 12 manuscripts that illustrate the valuable efforts for addressing mathematical problems in rock mechanics and rock engineering
Soundscape in Urban Forests
This Special Issue of Forests explores the role of soundscapes in urban forested areas. It is comprised of 11 papers involving soundscape studies conducted in urban forests from Asia and Africa. This collection contains six research fields: (1) the ecological patterns and processes of forest soundscapes; (2) the boundary effects and perceptual topology; (3) natural soundscapes and human health; (4) the experience of multi-sensory interactions; (5) environmental behavior and cognitive disposition; and (6) soundscape resource management in forests
Tradition and Innovation in Construction Project Management
This book is a reprint of the Special Issue 'Tradition and Innovation in Construction Project Management' that was published in the journal Buildings
A Comprehensive Review of Data-Driven Co-Speech Gesture Generation
Gestures that accompany speech are an essential part of natural and efficient
embodied human communication. The automatic generation of such co-speech
gestures is a long-standing problem in computer animation and is considered an
enabling technology in film, games, virtual social spaces, and for interaction
with social robots. The problem is made challenging by the idiosyncratic and
non-periodic nature of human co-speech gesture motion, and by the great
diversity of communicative functions that gestures encompass. Gesture
generation has seen surging interest recently, owing to the emergence of more
and larger datasets of human gesture motion, combined with strides in
deep-learning-based generative models, that benefit from the growing
availability of data. This review article summarizes co-speech gesture
generation research, with a particular focus on deep generative models. First,
we articulate the theory describing human gesticulation and how it complements
speech. Next, we briefly discuss rule-based and classical statistical gesture
synthesis, before delving into deep learning approaches. We employ the choice
of input modalities as an organizing principle, examining systems that generate
gestures from audio, text, and non-linguistic input. We also chronicle the
evolution of the related training data sets in terms of size, diversity, motion
quality, and collection method. Finally, we identify key research challenges in
gesture generation, including data availability and quality; producing
human-like motion; grounding the gesture in the co-occurring speech in
interaction with other speakers, and in the environment; performing gesture
evaluation; and integration of gesture synthesis into applications. We
highlight recent approaches to tackling the various key challenges, as well as
the limitations of these approaches, and point toward areas of future
development.Comment: Accepted for EUROGRAPHICS 202
- …