An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, push-and-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.Comment: Accepted submission to Robotics: Science and Systems conference 2019. 9 pages, 12 figure

AVEC 2016 – Depression, mood, and emotion recognition workshop and challenge

The Audio/Visual Emotion Challenge and Workshop (AVEC 2016) "Depression, Mood and Emotion" will be the sixth competition event aimed at comparison of multimedia processing and machine learning methods for automatic audio, visual and physiological depression and emotion analysis, with all participants competing under strictly the same conditions. The goal of the Challenge is to provide a common benchmark test set for multi-modal information processing and to bring together the depression and emotion recognition communities, as well as the audio, video and physiological processing communities, to compare the relative merits of the various approaches to depression and emotion recognition under well-defined and strictly comparable conditions and establish to what extent fusion of the approaches is possible and beneficial. This paper presents the challenge guidelines, the common data used, and the performance of the baseline system on the two tasks

Carbon storage in soil size-density fractions after 20 years of compost fertilization

Fractionation by particle size provides a rough differentiation between young active, and older intermediate and passive soil organic matter. Soil samples from three treatments of a 20 years` fertilization experiment, C2 which had been fertilized with 10 t ha-1 (wet wt.) compost per year on average, N2 with mineral N fertilizer at 32 kg N ha-1 year-1, and the unfertilized control (O) were subjected to particle size fractionation and to density fractionation. After low-energy sonication the samples were separated into the size fractions coarse sand (200-200 µm), fine sand (200-63 µm) silt (63-2 µm) and clay (2-0,1 µm). Density fractionation using Na-polytungstate with 1.8 g cm-3 density was applied to separate particulate organic matter (POM) from the sand-sized fraction. Compost fertilization resulted in an increase in Corg in all size and density fractions. In total, the Corg content was 10 % higher with compost fertilization than in the unfertilized control. Approximately 40 % of the additional soil carbon was located in the POM, 56 % in the silt-sized fraction and 3 % in the clay-sized fraction. With mineral N fertilization the sum of Corg contents of all fractions was about the same as without fertilization, with an increase of POM-Corg and a decrease of Corg in the silt and clay-sized fraction.Keywords: fractionation, particulate organic matter, POM, soil organic matte

AVEC 2017--Real-life depression, and affect recognition workshop and challenge

The Audio/Visual Emotion Challenge and Workshop (AVEC 2017) “Real-life depression, and affect” will be the seventh competition event aimed at comparison of multimedia processing and machine learning methods for automatic audiovisual depression and emotion analysis, with all participants competing under strictly the same conditions. .e goal of the Challenge is to provide a common benchmark test set for multimodal information processing and to bring together the depression and emotion recognition communities, as well as the audiovisual processing communities, to compare the relative merits of the various approaches to depression and emotion recognition from real-life data. .is paper presents the novelties introduced this year, the challenge guidelines, the data used, and the performance of the baseline system on the two proposed tasks: dimensional emotion recognition (time and value-continuous), and dimensional depression estimation (value-continuous)

Long-Baseline Neutrino Facility (LBNF) and Deep Underground Neutrino Experiment (DUNE) Conceptual Design Report Volume 2: The Physics Program for DUNE at LBNF

The Physics Program for the Deep Underground Neutrino Experiment (DUNE) at the Fermilab Long-Baseline Neutrino Facility (LBNF) is described

Recognising realistic emotions and affect in speech: State of the art and lessons learnt from the first challenge

More than a decade has passed since research on automatic recognition of emotion from speech has become a new field of research in line with its 'big brothers' speech and speaker recognition. This article attempts to provide a short overview on where we are today, how we got there and what this can reveal us on where to go next and how we could arrive there. In a first part, we address the basic phenomenon reflecting the last fifteen years, commenting on databases, modelling and annotation, the unit of analysis and prototypicality. We then shift to automatic processing including discussions on features, classification, robustness, evaluation, and implementation and system integration. From there we go to the first comparative challenge on emotion recognition from speech-the INTERSPEECH 2009 Emotion Challenge, organised by (part of) the authors, including the description of the Challenge's database, Sub-Challenges, participants and their approaches, the winners, and the fusion of results to the actual learnt lessons before we finally address the ever-lasting problems and future promising attempts. (C) 2011 Elsevier B.V. All rights reserved.Schuller B., Batliner A., Steidl S., Seppi D., ''Recognising realistic emotions and affect in speech: state of the art and lessons learnt from the first challenge'', Speech communication, vol. 53, no. 9-10, pp. 1062-1087, November 2011.status: publishe

First results on ProtoDUNE-SP liquid argon time projection chamber performance from a beam test at the CERN Neutrino Platform

The ProtoDUNE-SP detector is a single-phase liquid argon time projection chamber with an active volume of 7.2× 6.1× 7.0 m3. It is installed at the CERN Neutrino Platform in a specially-constructed beam that delivers charged pions, kaons, protons, muons and electrons with momenta in the range 0.3 GeV/c to 7 GeV/c. Beam line instrumentation provides accurate momentum measurements and particle identification. The ProtoDUNE-SP detector is a prototype for the first far detector module of the Deep Underground Neutrino Experiment, and it incorporates full-size components as designed for that module. This paper describes the beam line, the time projection chamber, the photon detectors, the cosmic-ray tagger, the signal processing and particle reconstruction. It presents the first results on ProtoDUNE-SP\u27s performance, including noise and gain measurements, dE/dx calibration for muons, protons, pions and electrons, drift electron lifetime measurements, and photon detector noise, signal sensitivity and time resolution measurements. The measured values meet or exceed the specifications for the DUNE far detector, in several cases by large margins. ProtoDUNE-SP\u27s successful operation starting in 2018 and its production of large samples of high-quality data demonstrate the effectiveness of the single-phase far detector design

Long-Baseline Neutrino Facility (LBNF) and Deep Underground Neutrino Experiment (DUNE) Conceptual Design Report Volume 1: The LBNF and DUNE Projects

This document presents the Conceptual Design Report (CDR) put forward by an international neutrino community to pursue the Deep Underground Neutrino Experiment at the Long-Baseline Neutrino Facility (LBNF/DUNE), a groundbreaking science experiment for long-baseline neutrino oscillation studies and for neutrino astrophysics and nucleon decay searches. The DUNE far detector will be a very large modular liquid argon time-projection chamber (LArTPC) located deep underground, coupled to the LBNF multi-megawatt wide-band neutrino beam. DUNE will also have a high-resolution and high-precision near detector

Long-Baseline Neutrino Facility (LBNF) and Deep Underground Neutrino Experiment (DUNE) Conceptual Design Report Volume 2: The Physics Program for DUNE at LBNF

The Physics Program for the Deep Underground Neutrino Experiment (DUNE) at the Fermilab Long-Baseline Neutrino Facility (LBNF) is described