24,386 research outputs found

    Grasping nothing: a study of minimal ontologies and the sense of music

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    If music were to have a proper sense – one in which it is truly given – one might reasonably place this in sound and aurality. I contend, however, that no such sense exists; rather, the sense of music takes place, and it does so with the impossible. To this end, this thesis – which is a work of philosophy and music – advances an ontology of the impossible (i.e., it thinks the being of what, properly speaking, can have no being) and considers its implications for music, articulating how ontological aporias – of the event, of thinking the absolute, and of sovereignty’s dismemberment – imply senses of music that are anterior to sound. John Cage’s Silent Prayer, a nonwork he never composed, compels a rerethinking of silence on the basis of its contradictory status of existence; Florian Hecker et al.’s Speculative Solution offers a basis for thinking absolute music anew to the precise extent that it is a discourse of meaninglessness; and Manfred Werder’s [yearn] pieces exhibit exemplarily that music’s sense depends on the possibility of its counterfeiting. Inso-much as these accounts produce musical senses that take the place of sound, they are also understood to be performances of these pieces. Here, then, thought is music’s organon and its instrument

    Copy-paste data augmentation for domain transfer on traffic signs

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    City streets carry a lot of information that can be exploited to improve the quality of the services the citizens receive. For example, autonomous vehicles need to act accordingly to all the element that are nearby the vehicle itself, like pedestrians, traffic signs and other vehicles. It is also possible to use such information for smart city applications, for example to predict and analyze the traffic or pedestrian flows. Among all the objects that it is possible to find in a street, traffic signs are very important because of the information they carry. This information can in fact be exploited both for autonomous driving and for smart city applications. Deep learning and, more generally, machine learning models however need huge quantities to learn. Even though modern models are very good at gener- alizing, the more samples the model has, the better it can generalize between different samples. Creating these datasets organically, namely with real pictures, is a very tedious task because of the wide variety of signs available in the whole world and especially because of all the possible light, orientation conditions and con- ditions in general in which they can appear. In addition to that, it may not be easy to collect enough samples for all the possible traffic signs available, cause some of them may be very rare to find. Instead of collecting pictures manually, it is possible to exploit data aug- mentation techniques to create synthetic datasets containing the signs that are needed. Creating this data synthetically allows to control the distribution and the conditions of the signs in the datasets, improving the quality and quantity of training data that is going to be used. This thesis work is about using copy-paste data augmentation to create synthetic data for the traffic sign recognition task

    Kurcuma: a kitchen utensil recognition collection for unsupervised domain adaptation

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    The use of deep learning makes it possible to achieve extraordinary results in all kinds of tasks related to computer vision. However, this performance is strongly related to the availability of training data and its relationship with the distribution in the eventual application scenario. This question is of vital importance in areas such as robotics, where the targeted environment data are barely available in advance. In this context, domain adaptation (DA) techniques are especially important to building models that deal with new data for which the corresponding label is not available. To promote further research in DA techniques applied to robotics, this work presents Kurcuma (Kitchen Utensil Recognition Collection for Unsupervised doMain Adaptation), an assortment of seven datasets for the classification of kitchen utensils—a task of relevance in home-assistance robotics and a suitable showcase for DA. Along with the data, we provide a broad description of the main characteristics of the dataset, as well as a baseline using the well-known domain-adversarial training of neural networks approach. The results show the challenge posed by DA on these types of tasks, pointing to the need for new approaches in future work.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported by the I+D+i project TED2021-132103A-I00 (DOREMI), funded by MCIN/AEI/10.13039/501100011033. Some of the computing resources were provided by the Generalitat Valenciana and the European Union through the FEDER funding program (IDIFEDER/2020/003). The second author is supported by grant APOSTD/2020/256 from “Programa I+D+i de la Generalitat Valenciana”

    Hard magnetics in ultra-soft magnetorheological elastomers enhance fracture toughness and delay crack propagation

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    Pre-existing flaws in highly stretchable elastomers trigger fracture under large deformations. For multifunctional materials, fracture mechanics may be influenced by additional physical phenomena. This work studies the implications of hard magnetics on the fracture behaviour of ultra-soft magnetorheological elastomers (MREs). We experimentally demonstrate that MREs with remanent magnetisation have up to a 50 % higher fracture toughness than non pre-magnetised samples. Moreover, we report crack closure due to the magnetic field as a mechanism that delays the opening of cracks in pre-magnetised MREs. To overcome experimental limitations and provide further understanding, a phase-field model for the fracture of MREs is conceptualised. The numerical model incorporates magneto-mechanical coupling to demonstrate that the stress concentration at the crack tip is smaller when the MRE is pre-magnetised. Overall, this work unveils intriguing applications for functional actuators, with better fracture behaviour and potential better performance under cyclic loading

    Vegetation responses to variations in climate: A combined ordinary differential equation and sequential Monte Carlo estimation approach

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    Vegetation responses to variation in climate are a current research priority in the context of accelerated shifts generated by climate change. However, the interactions between environmental and biological factors still represent one of the largest uncertainties in projections of future scenarios, since the relationship between drivers and ecosystem responses has a complex and nonlinear nature. We aimed to develop a model to study the vegetation’s primary productivity dynamic response to temporal variations in climatic conditions as measured by rainfall, temperature and radiation. Thus, we propose a new way to estimate the vegetation response to climate via a non-autonomous version of a classical growth curve, with a time-varying growth rate and carrying capacity parameters according to climate variables. With a Sequential Monte Carlo Estimation to account for complexities in the climate-vegetation relationship to minimize the number of parameters. The model was applied to six key sites identified in a previous study, consisting of different arid and semiarid rangelands from North Patagonia, Argentina. For each site, we selected the time series of MODIS NDVI, and climate data from ERA5 Copernicus hourly reanalysis from 2000 to 2021. After calculating the time series of the a posteriori distribution of parameters, we analyzed the explained capacity of the model in terms of the linear coefficient of determination and the parameters distribution variation. Results showed that most rangelands recorded changes in their sensitivity over time to climatic factors, but vegetation responses were heterogeneous and influenced by different drivers. Differences in this climate-vegetation relationship were recorded among different cases: (1) a marginal and decreasing sensitivity to temperature and radiation, respectively, but a high sensitivity to water availability; (2) high and increasing sensitivity to temperature and water availability, respectively; and (3) a case with an abrupt shift in vegetation dynamics driven by a progressively decreasing sensitivity to water availability, without any changes in the sensitivity either to temperature or radiation. Finally, we also found that the time scale, in which the ecosystem integrated the rainfall phenomenon in terms of the width of the window function used to convolve the rainfall series into a water availability variable, was also variable in time. This approach allows us to estimate the connection degree between ecosystem productivity and climatic variables. The capacity of the model to identify changes over time in the vegetation-climate relationship might inform decision-makers about ecological transitions and the differential impact of climatic drivers on ecosystems.Estación Experimental Agropecuaria BarilocheFil: Bruzzone, Octavio Augusto. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche; ArgentinaFil: Bruzzone, Octavio Augusto. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Perri, Daiana Vanesa. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Perri, Daiana Vanesa. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; ArgentinaFil: Easdale, Marcos Horacio. Instituto Nacional de Tecnologia Agropecuaria (INTA). Estación Experimental Agropecuaria Bariloche. Área de Recursos Naturales; ArgentinaFil: Easdale, Marcos Horacio. Consejo Nacional de Investigaciones Cientificas y Tecnicas. Instituto de Investigaciones Forestales y Agropecuarias Bariloche; Argentin

    Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries

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    Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-'cobot' master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.Comment: 21 pages, 12 figures, Submitted to Frontiers in Robotics and AI; Human-Robot Interactio

    Model Diagnostics meets Forecast Evaluation: Goodness-of-Fit, Calibration, and Related Topics

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    Principled forecast evaluation and model diagnostics are vital in fitting probabilistic models and forecasting outcomes of interest. A common principle is that fitted or predicted distributions ought to be calibrated, ideally in the sense that the outcome is indistinguishable from a random draw from the posited distribution. Much of this thesis is centered on calibration properties of various types of forecasts. In the first part of the thesis, a simple algorithm for exact multinomial goodness-of-fit tests is proposed. The algorithm computes exact pp-values based on various test statistics, such as the log-likelihood ratio and Pearson\u27s chi-square. A thorough analysis shows improvement on extant methods. However, the runtime of the algorithm grows exponentially in the number of categories and hence its use is limited. In the second part, a framework rooted in probability theory is developed, which gives rise to hierarchies of calibration, and applies to both predictive distributions and stand-alone point forecasts. Based on a general notion of conditional T-calibration, the thesis introduces population versions of T-reliability diagrams and revisits a score decomposition into measures of miscalibration, discrimination, and uncertainty. Stable and efficient estimators of T-reliability diagrams and score components arise via nonparametric isotonic regression and the pool-adjacent-violators algorithm. For in-sample model diagnostics, a universal coefficient of determination is introduced that nests and reinterprets the classical R2R^2 in least squares regression. In the third part, probabilistic top lists are proposed as a novel type of prediction in classification, which bridges the gap between single-class predictions and predictive distributions. The probabilistic top list functional is elicited by strictly consistent evaluation metrics, based on symmetric proper scoring rules, which admit comparison of various types of predictions

    Fully-Autonomous, Vision-based Traffic Signal Control: from Simulation to Reality

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    Ineffective traffic signal control is one of the major causes of congestion in urban road networks. Dynamically changing traffic conditions and live traffic state estimation are fundamental challenges that limit the ability of the existing signal infrastructure in rendering individualized signal control in real-time. We use deep reinforcement learning (DRL) to address these challenges. Due to economic and safety constraints associated training such agents in the real world, a practical approach is to do so in simulation before deployment. Domain randomisation is an effective technique for bridging the reality gap and ensuring effective transfer of simulation-trained agents to the real world. In this paper, we develop a fully-autonomous, vision-based DRL agent that achieve adaptive signal control in the face of complex, imprecise, and dynamic traffic environments. Our agent uses live visual data (i.e. a stream of real-time RGB footage) from an intersection to extensively perceive and subsequently act upon the traffic environment. Employing domain randomisation, we examine our agent’s generalisation capabilities under varying traffic conditions in both the simulation and the real-world environments. In a diverse validation set independent of training data, our traffic control agent reliably adapted to novel traffic situations and demonstrated a positive transfer to previously unseen real intersections despite being trained entirely in simulation

    Constraints on Incremental Assembly of Upper Crustal Igneous Intrusions, Mount Ellen, Henry Mountains, Utah

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    Magma systems within the shallow crust drive volcanic processes at the surface. Studying active magma systems directly poses significant difficulty but details of ancient magma systems can provide insight to modern systems. The ancient intrusions now exposed in the Henry Mountains of southern Utah provide an excellent opportunity to study the emplacement of igneous intrusions within the shallow crust. The five main intrusive centers of the Henry Mountains are Oligocene in age and preserve different stages in the development of an igneous system within the shallow crust. Recent studies worldwide have demonstrated that most substantial (> 0.5 km3) igneous intrusions in the shallow crust are incrementally assembled from multiple magma pulses. In the Henry Mountains, smaller component intrusions (< 0.5 km3) clearly demonstrate incremental assembly but an evaluation of incremental assembly for an entire intrusive center has yet to be performed. The Mount Ellen intrusive complex is the largest intrusive center (~ 100 km3, 15 – 20 km diameter) in the Henry Mountains. This thesis research provides constraints on the construction history and emplacement of Mount Ellen using a combination of multiple techniques, including fieldwork, whole-rock major and trace element geochemistry, anisotropy of magnetic susceptibility, and crystal size distribution analysis. Field work and anisotropy of magnetic susceptibility data suggest that Mount Ellen is a laccolith that in cross section is built a network of stacked igneous sheets. In map-view, the laccolith has an elliptical shape built from numerous igneous lobes radiating away from the central portion of the intrusion. Field observations suggest most lobes are texturally homogenous and likely emplaced from a single magma batch. Samples collected throughout Mount Ellen were divided into five groups based on a qualitative evaluation of texture. Possible distinctions between these textural groups were then tested using several different techniques. Geochemistry, anisotropy of magnetic susceptibility, and phenocryst crystal size distribution data are individually not sufficient to distinguish all five textural groups. However, limited datasets for two textures can be consistently distinguished using these techniques. These new results can be integrated with existing constraints to create a comprehensive model for the construction history of Mount Ellen. The intrusive center was constructed in approximately 1 million years at a time-averaged magma injection rate of 0.0004 km3 y-1. The laccolith geometry was built from a radiating network of stacked igneous sheets. The sheets are lobate in map-view (longer than they are wide) and were fed radially outward from a central feeder zone. These component intrusions were emplaced by a minimum of 5 texturally distinct magma pulses, with periods of little or no magmatism between sequential pulses
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