CINet: A Learning Based Approach to Incremental Context Modeling in Robots

There have been several attempts at modeling context in robots. However, either these attempts assume a fixed number of contexts or use a rule-based approach to determine when to increment the number of contexts. In this paper, we pose the task of when to increment as a learning problem, which we solve using a Recurrent Neural Network. We show that the network successfully (with 98\% testing accuracy) learns to predict when to increment, and demonstrate, in a scene modeling problem (where the correct number of contexts is not known), that the robot increments the number of contexts in an expected manner (i.e., the entropy of the system is reduced). We also present how the incremental model can be used for various scene reasoning tasks.Comment: The first two authors have contributed equally, 6 pages, 8 figures, International Conference on Intelligent Robots (IROS 2018

Cosmological signs in Quran: Twelve planets and the ultimate fate of the universe

The Quran contains many scientific signs about Astronomy and Cosmology. For example, the verse 12:4 indicates that there exist twelve planets around the Sun. The new order of the planets may therefore be as Mercury, Venus, Earth, Mars, Jupiter, Saturn, Uranus, Neptune, Pluto, Haumea, Makemake and Eris. A number of verses indicate that with respect to the Earth, there exist seven cosmic layers in the universe; first of which is the solar system. The remaining 6 layers seem to be as follows: Milky Way Galaxy, The Local Group, Local Supercluster, Virgo Supercluster, Laniakea Supercluster and Highest layer: remaining parts of the universe. The verse 51:47 indicates that we live in an expanding universe and all the matter, energy and space in the universe was once squeezed into a small volume. Other verses indicate that ultimate fate of the universe seems to be Big Rip (rupture) in which the matter of the universe, from galaxies and stars to atoms and subatomic particles would be progressively torn apart by the accelerated expansion of the universe. This separation, a "ripping" of stars, planets and atoms would leave the universe entirely devoid of structure but the Ether. With the conception that the Ether (superfluid or plasma in nature) is the primary form of all substance, it could also form the basis of the permanent element in the Eternal World

Internet of Things (IoT): The most up-to-date challenges, architectures, emerging trends and potential opportunities

Internet of Things (IoT) is nowadays the most profound buzzword in Information Technology science. IoT is the evolution of Information Technology which aims to build a mutual infrastructure that integrates, connects and telecommunicates every ‘Things’ (Objects) with each other on the face of the earth. This interconnected infrastructure provides humans with fully control of things. Projections and potential estimates about incomings of IoT are spectacular for future directions. IoT encompasses such a wide range of spectrum that its influences are anyone’s guess. Not only the profits of IoT but also the forfeits and fears of IoT are unpredictable for yet. However, with the increase in research, academic studies and technological developments the atmosphere will be clear for IoT. This research paper proposes a novel comprehensive reference source for those who are interested in IoT, ubiquitous sensing, pervasive computing and smart objects. The paper explains IoT emergence and IoT history in detail, current IoT usage areas, the most up-to-date potential opportunities and future IoT directions, overall IoT architecture and well-liked architectures, security and privacy concerns about IoT. The latest ongoing IoT projects are discussed and the latest burning issues are presented. Critical and turning points of IoT are given in tabular. As compared to similar survey papers in the area, to the best of our knowledge contributions of this paper are unique

Pulses in the Sand: Impulse Response Analysis of Wireless Underground Channel

Wireless underground sensor networks (WUSNs) are becoming ubiquitous in many areas and designing robust systems requires extensive understanding of the underground (UG) channel characteristics. In this paper, UG channel impulse response is modeled and validated via extensive experiments in indoor and field testbed settings. Three distinct types of soils are selected with sand and clay contents ranging from 13% to 86% and 3% to 32%, respectively. Impacts of changes in soil texture and soil moisture are investigated with more than 1,200 measurements in a novel UG testbed that allows flexibility in soil moisture control. Time domain characteristics of channel such as RMS delay spread, coherence bandwidth, and multipath power gain are analyzed. The analysis of the power delay profile validates the three main components of the UG channel: direct, reflected, and lateral waves. It is shown that RMS delay spread follows a log-normal distribution. The coherence bandwidth ranges between 650 kHz and 1.15MHz for soil paths of up to 1m and decreases to 418 kHz for distances above 10m. Soil moisture is shown to affect RMS delay spread non-linearly, which provides opportunities for soil moisture-based dynamic adaptation techniques. The model and analysis paves the way for tailored solutions for data harvesting, UG sub-carrier communication, and UG beamforming

A Statistical Impulse Response Model Based on Empirical Characterization of Wireless Underground Channel

Wireless underground sensor networks (WUSNs) are becoming ubiquitous in many areas. The design of robust systems requires extensive understanding of the underground (UG) channel characteristics. In this paper, an UG channel impulse response is modeled and validated via extensive experiments in indoor and field testbed settings. The three distinct types of soils are selected with sand and clay contents ranging from $13\%$ to $86\%$ and $3\%$ to $32\%$, respectively. The impacts of changes in soil texture and soil moisture are investigated with more than $1,200$ measurements in a novel UG testbed that allows flexibility in soil moisture control. Moreover, the time-domain characteristics of the channel such as the the RMS delay spread, coherence bandwidth, and multipath power gain are analyzed. The analysis of the power delay profile validates the three main components of the UG channel: direct, reflected, and lateral waves. Furthermore, it is shown that the RMS delay spread follows a log-normal distribution. The coherence bandwidth ranges between \SI{650}{kHz} and \SI{1.15}{MHz} for soil paths of up to \SI{1}{m} and decreases to \SI{418}{kHz} for distances above \SI{10}{m}. Soil moisture is shown to affect the RMS delay spread non-linearly, which provides opportunities for soil moisture-based dynamic adaptation techniques. Based on the measurements and the analysis, a statistical channel model for wireless underground channel has been developed. The statistical model shows good agreement with the measurement data. The model and analysis paves the way for tailored solutions for data harvesting, UG sub-carrier communication, and UG beamforming

Pulses in the Sand: Impulse Response Analysis of Wireless Underground Channel

Wireless underground sensor networks (WUSNs) are becoming ubiquitous in many areas and designing robust systems requires extensive understanding of the underground (UG) channel characteristics. In this paper, UG channel impulse response is modeled and validated via extensive experiments in indoor and field testbed settings. Three distinct types of soils are selected with sand and clay contents ranging from 13% to 86% and 3% to 32%, respectively. Impacts of changes in soil texture and soil moisture are investigated with more than 1,200 measurements in a novel UG testbed that allows flexibility in soil moisture control. Time domain characteristics of channel such as RMS delay spread, coherence bandwidth, and multipath power gain are analyzed. The analysis of the power delay profile validates the three main components of the UG channel: direct, reflected, and lateral waves. It is shown that RMS delay spread follows a log-normal distribution. The coherence bandwidth ranges between 650 kHz and 1.15MHz for soil paths of up to 1m and decreases to 418 kHz for distances above 10m. Soil moisture is shown to affect RMS delay spread non-linearly, which provides opportunities for soil moisture-based dynamic adaptation techniques. The model and analysis paves the way for tailored solutions for data harvesting, UG sub-carrier communication, and UG beamforming

Internet of Underground Things: Sensing and Communications on the Field for Precision Agriculture

The projected increases in World population and need for food have recently motivated adoption of information technology solutions in crop fields within precision agriculture approaches. Internet of underground things (IOUT), which consists of sensors and communication devices, partly or completely buried underground for real-time soil sensing and monitoring, emerge from this need. This new paradigm facilitates seamless integration of underground sensors, machinery, and irrigation systems with the complex social network of growers, agronomists, crop consultants, and advisors. In this paper, state-of-the-art communication architectures are reviewed, and underlying sensing technology and communication mechanisms for IOUT are presented. Recent advances in the theory and applications of wireless underground communication are also reported. Major challenges in IOUT design and implementation are identified

Connecting Soil to the Cloud: A Wireless Underground Sensor Network Testbed

In this demo, a novel underground communication system and an online underground sensor network testbed is demonstrated. The underground communication system, developed in the Cyber-physical Networking (CPN) Laboratory at the University of Nebraska-Lincoln, includes an underground antenna that is tailored to mitigate the adverse effects of soil on underground communication. An online connection is established with the CPN underground sensor network testbed that is located at Clay Center, Nebraska. The underground sensor network testbed consists of a network of underground communication systems equipped with soil moisture sensors and a mobile data harvesting unit equipped with cellular communication capabilities. Real-time soil moisture data delivery from Nebraska to Korea is demonstrated

Internet of underground things in precision agriculture: Architecture and technology aspects

The projected increases in World population and need for food have recently motivated adoption of information technology solutions in crop fields within precision agriculture approaches. Internet Of Underground Things (IOUT), which consists of sensors and communication devices, partly or completely buried underground for real-time soil sensing and monitoring, emerge from this need. This new paradigm facilitates seamless integration of underground sensors, machinery, and irrigation systems with the complex social network of growers, agronomists, crop consultants, and advisors. In this paper, state-of-the-art communication architectures are reviewed, and underlying sensing technology and communication mechanisms for IOUT are presented. Moreover, recent advances in the theory and applications of wireless underground communication are also reported. Finally, major challenges in IOUT design and implementation are identified

Görsel peyzaj kalitesi yönünden cadde ağaçlandirmasinda farkli bitkisel tasarim kompozisyonlarının değerlendirilmesi

Street greening in urban settings fails due to several extreme conditions or inappropriate plant species and compositions. In recent years, urban transformations have been carried out in Erzurum, one of the most important cities of the Eastern Anatolia Region of Turkey. Seventeen different planting design compositions produced by digital simulation for the Cumhuriyet Street, the most important street and trade center of the city, were evaluated using visual landscape quality method. The Design Scenarios was sorted by a questioners which was held by 150 participants for sorting color size and form and the results were evaluated in the SPSS statistic software. The most preferred plant designs for the street had spherical form, pink color, slight texture and 1.5-2 meters tall. In addition, the proportion of closure in the plant designs produced in our study was computed and it was compared with the results of the analysis. The results are important in putting the outcomes into practice regarding the participation of public in the reformation of urban living areas.Kentlerde cadde ağaçlandırmaları; uygunsuz bitki türleri kullanımları ve ekstrem koşullardan dolayı çoğu zaman başarısız olur. Türkiye’nin Doğu Anadolu Bölgesi’nin önemli kentlerinden olan Erzurum kenti son yıllarda kentsel dönüşüm süreci içerisine girmiştir. Şehir merkezinde önemli bir odak noktası olan Cumhuriyet Caddesi üzerinde simulasyon tekniği kullanılarak ana aksda 17 farklı bitkisel tasarım çalışması yapılmıştır. Bitkilerle form, ölçü, doku ve renk özelliklerine göre farklı kompozisyonlar oluşturularak alanı kullanan 150 kişi ile birebir anket çalışması yapılmıştır. Anketlerin değerlendirilmesinde SPSS istatistik yazılımı kullanılarak varyans analizi yapılmıştır. Sonuçta en çok yuvarlak/küresel formlu, 1,5-2m uzunluğunda, pembe renkli, hafif tekstürlü ağaçların oluşturduğu bitki kompozisyonu tercih edilmiştir. Buna ilaveten bitkilerin kapalılık oranları hesaplanarak çıkan analiz sonuçları ile karşılaştırılmıştır. Sonuçlar kentsel alan yenileme çalışmalarında halkın katılımının sağlanması açısından önemlidir