IPC-Net: 3D point-cloud segmentation using deep inter-point convolutional layers

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one of the most popular representations to store a digital description of 3D shapes. However, point-clouds are stored in irregular and unordered structures, which limits the direct use of segmentation algorithms such as Convolutional Neural Networks. The objective of our work is twofold: First, we aim to provide a full analysis of the PointNet architecture to illustrate which features are being extracted from the point-clouds. Second, to propose a new network architecture called IPC-Net to improve the state-of-the-art point cloud architectures. We show that IPC-Net extracts a larger set of unique features allowing the model to produce more accurate segmentations compared to the PointNet architecture. In general, our approach outperforms PointNet on every family of 3D geometries on which the models were tested. A high generalisation improvement was observed on every 3D shape, especially on the rockets dataset. Our experiments demonstrate that our main contribution, inter-point activation on the network's layers, is essential to accurately segment 3D point-clouds

Opponent Learning Awareness and Modelling in Multi-Objective Normal Form Games

Many real-world multi-agent interactions consider multiple distinct criteria, i.e. the payoffs are multi-objective in nature. However, the same multi-objective payoff vector may lead to different utilities for each participant. Therefore, it is essential for an agent to learn about the behaviour of other agents in the system. In this work, we present the first study of the effects of such opponent modelling on multi-objective multi-agent interactions with non-linear utilities. Specifically, we consider two-player multi-objective normal form games with non-linear utility functions under the scalarised expected returns optimisation criterion. We contribute novel actor-critic and policy gradient formulations to allow reinforcement learning of mixed strategies in this setting, along with extensions that incorporate opponent policy reconstruction and learning with opponent learning awareness (i.e., learning while considering the impact of one's policy when anticipating the opponent's learning step). Empirical results in five different MONFGs demonstrate that opponent learning awareness and modelling can drastically alter the learning dynamics in this setting. When equilibria are present, opponent modelling can confer significant benefits on agents that implement it. When there are no Nash equilibria, opponent learning awareness and modelling allows agents to still converge to meaningful solutions that approximate equilibria.Comment: Under review since 14 November 202

A practical guide to multi-objective reinforcement learning and planning

Real-world sequential decision-making tasks are generally complex, requiring trade-offs between multiple, often conflicting, objectives. Despite this, the majority of research in reinforcement learning and decision-theoretic planning either assumes only a single objective, or that multiple objectives can be adequately handled via a simple linear combination. Such approaches may oversimplify the underlying problem and hence produce suboptimal results. This paper serves as a guide to the application of multi-objective methods to difficult problems, and is aimed at researchers who are already familiar with single-objective reinforcement learning and planning methods who wish to adopt a multi-objective perspective on their research, as well as practitioners who encounter multi-objective decision problems in practice. It identifies the factors that may influence the nature of the desired solution, and illustrates by example how these influence the design of multi-objective decision-making systems for complex problems. © 2022, The Author(s)

A Practical Guide to Multi-Objective Reinforcement Learning and Planning

Real-world decision-making tasks are generally complex, requiring trade-offs between multiple, often conflicting, objectives. Despite this, the majority of research in reinforcement learning and decision-theoretic planning either assumes only a single objective, or that multiple objectives can be adequately handled via a simple linear combination. Such approaches may oversimplify the underlying problem and hence produce suboptimal results. This paper serves as a guide to the application of multi-objective methods to difficult problems, and is aimed at researchers who are already familiar with single-objective reinforcement learning and planning methods who wish to adopt a multi-objective perspective on their research, as well as practitioners who encounter multi-objective decision problems in practice. It identifies the factors that may influence the nature of the desired solution, and illustrates by example how these influence the design of multi-objective decision-making systems for complex problems

Wind turbine drivetrains:State-of-the-art technologies and future development trends

This paper presents the state-of-the-art technologies and development trends of wind turbine drivetrains – the system that converts kinetic energy of the wind to electrical energy – in different stages of their life cycle: design, manufacturing, installation, operation, lifetime extension, decommissioning and recycling. Offshore development and digitalization are also a focal point in this study. Drivetrain in this context includes the whole power conversion system: main bearing, shafts, gearbox, generator and power converter. The main aim of this article is to review the drivetrain technology development as well as to identify future challenges and research gaps. The main challenges in drivetrain research identified in this paper include drivetrain dynamic responses in large or floating turbines, aerodynamic and farm control effects, use of rare-earth material in generators, improving reliability through prognostics, and use of advances in digitalization. These challenges illustrate the multidisciplinary aspect of wind turbine drivetrains, which emphasizes the need for more interdisciplinary research and collaboration

Worldwide trends in hypertension prevalence and progress in treatment and control from 1990 to 2019: a pooled analysis of 1201 population-representative studies with 104 million participants.

BACKGROUND: Hypertension can be detected at the primary health-care level and low-cost treatments can effectively control hypertension. We aimed to measure the prevalence of hypertension and progress in its detection, treatment, and control from 1990 to 2019 for 200 countries and territories. METHODS: We used data from 1990 to 2019 on people aged 30-79 years from population-representative studies with measurement of blood pressure and data on blood pressure treatment. We defined hypertension as having systolic blood pressure 140 mm Hg or greater, diastolic blood pressure 90 mm Hg or greater, or taking medication for hypertension. We applied a Bayesian hierarchical model to estimate the prevalence of hypertension and the proportion of people with hypertension who had a previous diagnosis (detection), who were taking medication for hypertension (treatment), and whose hypertension was controlled to below 140/90 mm Hg (control). The model allowed for trends over time to be non-linear and to vary by age. FINDINGS: The number of people aged 30-79 years with hypertension doubled from 1990 to 2019, from 331 (95% credible interval 306-359) million women and 317 (292-344) million men in 1990 to 626 (584-668) million women and 652 (604-698) million men in 2019, despite stable global age-standardised prevalence. In 2019, age-standardised hypertension prevalence was lowest in Canada and Peru for both men and women; in Taiwan, South Korea, Japan, and some countries in western Europe including Switzerland, Spain, and the UK for women; and in several low-income and middle-income countries such as Eritrea, Bangladesh, Ethiopia, and Solomon Islands for men. Hypertension prevalence surpassed 50% for women in two countries and men in nine countries, in central and eastern Europe, central Asia, Oceania, and Latin America. Globally, 59% (55-62) of women and 49% (46-52) of men with hypertension reported a previous diagnosis of hypertension in 2019, and 47% (43-51) of women and 38% (35-41) of men were treated. Control rates among people with hypertension in 2019 were 23% (20-27) for women and 18% (16-21) for men. In 2019, treatment and control rates were highest in South Korea, Canada, and Iceland (treatment >70%; control >50%), followed by the USA, Costa Rica, Germany, Portugal, and Taiwan. Treatment rates were less than 25% for women and less than 20% for men in Nepal, Indonesia, and some countries in sub-Saharan Africa and Oceania. Control rates were below 10% for women and men in these countries and for men in some countries in north Africa, central and south Asia, and eastern Europe. Treatment and control rates have improved in most countries since 1990, but we found little change in most countries in sub-Saharan Africa and Oceania. Improvements were largest in high-income countries, central Europe, and some upper-middle-income and recently high-income countries including Costa Rica, Taiwan, Kazakhstan, South Africa, Brazil, Chile, Turkey, and Iran. INTERPRETATION: Improvements in the detection, treatment, and control of hypertension have varied substantially across countries, with some middle-income countries now outperforming most high-income nations. The dual approach of reducing hypertension prevalence through primary prevention and enhancing its treatment and control is achievable not only in high-income countries but also in low-income and middle-income settings. FUNDING: WHO