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Neuromorphic computing aims to mimic the computational principles of the brain in silico and has motivated research into event-based vision and spiking neural networks (SNNs). Event cameras (ECs) capture local, independent changes in brightness, and offer superior power consumption, response latencies, and dynamic ranges compared to frame-based cameras. SNNs replicate neuronal dynamics observed in biological neurons and propagate information in sparse sequences of ”spikes”. Apart from biological fidelity, SNNs have demonstrated potential as an alternative to conventional artificial neural networks (ANNs), such as in reducing energy expenditure and inference time in visual classification. Although potentially beneficial for robotics, the novel event-driven and spike-based paradigms remain scarcely explored outside the domain of aerial robots.
To investigate the utility of brain-inspired sensing and data processing in a robotics application, we developed a neuromorphic approach to real-time, online obstacle avoidance on a manipulator with an onboard camera. Our approach adapts high-level trajectory plans with reactive maneuvers by processing emulated event data in a convolutional SNN, decoding neural activations into avoidance motions, and adjusting plans in a dynamic motion primitive formulation. We conducted simulated and real experiments with a Kinova Gen3 arm performing simple reaching tasks involving static and dynamic obstacles. Our implementation was systematically tuned, validated, and tested in sets of distinct task scenarios, and compared to a non-adaptive baseline through formalized quantitative metrics and qualitative criteria.
The neuromorphic implementation facilitated reliable avoidance of imminent collisions in most scenarios, with 84% and 92% median success rates in simulated and real experiments, where the baseline consistently failed. Adapted trajectories were qualitatively similar to baseline trajectories, indicating low impacts on safety, predictability and smoothness criteria. Among notable properties of the SNN were the correlation of processing time with the magnitude of perceived motions (captured in events) and robustness to different event emulation methods. Preliminary tests with a DAVIS346 EC showed similar performance, validating our experimental event emulation method. These results motivate future efforts to incorporate SNN learning, utilize neuromorphic processors, and target other robot tasks to further explore this approach.
Machine learning-based solutions are frequently adapted in several applications that require big data in operations. The performance of a model that is deployed into operations is subject to degradation due to unanticipated changes in the flow of input data. Hence, monitoring data drift becomes essential to maintain the model’s desired performance. Based on the conducted review of the literature on drift detection, statistical hypothesis testing enables to investigate whether incoming data is drifting from training data. Because Maximum Mean Discrepancy (MMD) and Kolmogorov-Smirnov (KS) have shown to be reliable distance measures between multivariate distributions in the literature review, both were selected from several existing techniques for experimentation. For the scope of this work, the image classification use case was experimented with using the Stream-51 dataset. Based on the results from different drift experiments, both MMD and KS showed high Area Under Curve values. However, KS exhibited faster performance than MMD with fewer false positives. Furthermore, the results showed that using the pre-trained ResNet-18 for feature extraction maintained the high performance of the experimented drift detectors. Furthermore, the results showed that the performance of the drift detectors highly depends on the sample sizes of the reference (training) data and the test data that flow into the pipeline’s monitor. Finally, the results also showed that if the test data is a mixture of drifting and non-drifting data, the performance of the drift detectors does not depend on how the drifting data are scattered with the non-drifting ones, but rather their amount in the test set
In the last two decades, studies that analyse the political economy of sustainable energy transitions have increasingly become available. Yet very few attempts have been made to synthesize the factors discussed in the growing literature. This paper reviews the extant empirical literature on the political economy of sustainable energy transitions. Using a well-defined search strategy, a total of 36 empirical contributions covering the period 2008 to 2022 are reviewed full text. Overall, the findings highlight the role of vested interest, advocacy coalitions and green constituencies, path dependency, external shocks, policy and institutional environment, political institutions and fossil fuel resource endowments as major political economy factors influencing sustainable energy transitions across both high income countries, and low and middle income countries. In addition, the paper highlights and discusses some critical knowledge gaps in the existing literature and provides suggestions for a future research agenda.
Airborne and spaceborne platforms are the primary data sources for large-scale forest mapping, but visual interpretation for individual species determination is labor-intensive. Hence, various studies focusing on forests have investigated the benefits of multiple sensors for automated tree species classification. However, transferable deep learning approaches for large-scale applications are still lacking. This gap motivated us to create a novel dataset for tree species classification in central Europe based on multi-sensor data from aerial, Sentinel-1 and Sentinel-2 imagery. In this paper, we introduce the TreeSatAI Benchmark Archive, which contains labels of 20 European tree species (i.e., 15 tree genera) derived from forest administration data of the federal state of Lower Saxony, Germany. We propose models and guidelines for the application of the latest machine learning techniques for the task of tree species classification with multi-label data. Finally, we provide various benchmark experiments showcasing the information which can be derived from the different sensors including artificial neural networks and tree-based machine learning methods. We found that residual neural networks (ResNet) perform sufficiently well with weighted precision scores up to 79 % only by using the RGB bands of aerial imagery. This result indicates that the spatial content present within the 0.2 m resolution data is very informative for tree species classification. With the incorporation of Sentinel-1 and Sentinel-2 imagery, performance improved marginally. However, the sole use of Sentinel-2 still allows for weighted precision scores of up to 74 % using either multi-layer perceptron (MLP) or Light Gradient Boosting Machine (LightGBM) models. Since the dataset is derived from real-world reference data, it contains high class imbalances. We found that this dataset attribute negatively affects the models' performances for many of the underrepresented classes (i.e., scarce tree species). However, the class-wise precision of the best-performing late fusion model still reached values ranging from 54 % (Acer) to 88 % (Pinus). Based on our results, we conclude that deep learning techniques using aerial imagery could considerably support forestry administration in the provision of large-scale tree species maps at a very high resolution to plan for challenges driven by global environmental change. The original dataset used in this paper is shared via Zenodo (https://doi.org/10.5281/zenodo.6598390, Schulz et al., 2022). For citation of the dataset, we refer to this article.
Trueness and precision of milled and 3D printed root-analogue implants: A comparative in vitro study
(2023)
A company's financial documents use tables along with text to organize the data containing key performance indicators (KPIs) (such as profit and loss) and a financial quantity linked to them. The KPI’s linked quantity in a table might not be equal to the similarly described KPI's quantity in a text. Auditors take substantial time to manually audit these financial mistakes and this process is called consistency checking. As compared to existing work, this paper attempts to automate this task with the help of transformer-based models. Furthermore, for consistency checking it is essential for the table's KPIs embeddings to encode the semantic knowledge of the KPIs and the structural knowledge of the table. Therefore, this paper proposes a pipeline that uses a tabular model to get the table's KPIs embeddings. The pipeline takes input table and text KPIs, generates their embeddings, and then checks whether these KPIs are identical. The pipeline is evaluated on the financial documents in the German language and a comparative analysis of the cell embeddings' quality from the three tabular models is also presented. From the evaluation results, the experiment that used the English-translated text and table KPIs and Tabbie model to generate table KPIs’ embeddings achieved an accuracy of 72.81% on the consistency checking task, outperforming the benchmark, and other tabular models.
When dialogues with voice assistants (VAs) fall apart, users often become confused or even frustrated. To address these issues and related privacy concerns, Amazon recently introduced a feature allowing Alexa users to inquire about why it behaved in a certain way. But how do users perceive this new feature? In this paper, we present preliminary results from research conducted as part of a three-year project involving 33 German households. This project utilized interviews, fieldwork, and co-design workshops to identify common unexpected behaviors of VAs, as well as users’ needs and expectations for explanations. Our findings show that, contrary to its intended purpose, the new feature actually exacerbates user confusion and frustration instead of clarifying Alexa's behavior. We argue that such voice interactions should be characterized as explanatory dialogs that account for VA’s unexpected behavior by providing interpretable information and prompting users to take action to improve their current and future interactions.
This paper presents the preliminary results of the Socialist Republic of Vietnam country case study conducted as part of the research project Sustainable Labour Migration implemented by the University of Applied Science Bonn-Rhein-Sieg. The project focuses on stakeholder perspectives on countries of origin benefits and the sustainability of different transnational skill partnership schemes. Existing and ongoing small-scale initiatives indicate that opportunities exist for all three types of labour mobility pathways, from recruiting youth for apprenticeships and subsequent skilled work to recruitment and recognition of skilled 'professionals' certificates for direct work contracts to initial vocational education and training programs in a dual-track approach. While the latter has the highest potential to be more beneficial than other approaches, pursuing and supporting the scaling up of all three pathways in parallel will have additional, mutually reinforcing and supporting effects. The potential for benefits over and above those already realised by existing skill partnerships appears high, especially considering the favourable framework conditions specific to the long-standing German-Vietnamese relationship. If the potential of well-managed skill partnerships was realised, such sustainable models of skilled labour migration could serve as a unique selling point in the international competition for skilled labour.
LiDAR-based Indoor Localization with Optimal Particle Filters using Surface Normal Constraints
(2023)
The transport of carbon dioxide through pipelines is one of the important components of Carbon dioxide Capture and Storage (CCS) systems that are currently being developed. If high flow rates are desired a transportation in the liquid or supercritical phase is to be preferred. For technical reasons, the transport must stay in that phase, without transitioning to the gaseous state. In this paper, a numerical simulation of the stationary process of carbon dioxide transport with impurities and phase transitions is considered. We use the Homogeneous Equilibrium Model (HEM) and the GERG-2008 thermodynamic equation of state to describe the transport parameters. The algorithms used allow to solve scenarios of carbon dioxide transport in the liquid or supercritical phase, with the detection of approaching the phase transition region. Convergence of the solution algorithms is analyzed in connection with fast and abrupt changes of the equation of state and the enthalpy function in the region of phase transitions.
A biodegradable blend of PBAT—poly(butylene adipate-co-terephthalate)—and PLA—poly(lactic acid)—for blown film extrusion was modified with four multi-functional chain extending cross-linkers (CECL). The anisotropic morphology introduced during film blowing affects the degradation processes. Given that two CECL increased the melt flow rate (MFR) of tris(2,4-di-tert-butylphenyl)phosphite (V1) and 1,3-phenylenebisoxazoline (V2) and the other two reduced it (aromatic polycarbodiimide (V3) and poly(4,4-dicyclohexylmethanecarbodiimide) (V4)), their compost (bio-)disintegration behavior was investigated. It was significantly altered with respect to the unmodified reference blend (REF). The disintegration behavior at 30 and 60 °C was investigated by determining changes in mass, Young’s moduli, tensile strengths, elongations at break and thermal properties. In order to quantify the disintegration behavior, the hole areas of blown films were evaluated after compost storage at 60 °C to calculate the kinetics of the time dependent degrees of disintegration. The kinetic model of disintegration provides two parameters: initiation time and disintegration time. They quantify the effects of the CECL on the disintegration behavior of the PBAT/PLA compound. Differential scanning calorimetry (DSC) revealed a pronounced annealing effect during storage in compost at 30 °C, as well as the occurrence of an additional step-like increase in the heat flow at 75 °C after storage at 60 °C. The disintegration consists of processes which affect amorphous and crystalline phase of PBAT in different manner that cannot be understood by a hydrolytic chain degradation only. Furthermore, gel permeation chromatography (GPC) revealed molecular degradation only at 60 °C for the REF and V1 after 7 days of compost storage. The observed losses of mass and cross-sectional area seem to be attributed more to mechanical decay than to molecular degradation for the given compost storage times.
Representing 3D surfaces as level sets of continuous functions over R3 is the common denominator of neural implicit representations, which recently enabled remarkable progress in geometric deep learning and computer vision tasks. In order to represent 3D motion within this framework, it is often assumed (either explicitly or implicitly) that the transformations which a surface may undergo are homeomorphic: this is not necessarily true, for instance, in the case of fluid dynamics. In order to represent more general classes of deformations, we propose to apply this theoretical framework as regularizers for the optimization of simple 4D implicit functions (such as signed distance fields). We show that our representation is capable of capturing both homeomorphic and topology-changing deformations, while also defining correspondences over the continuously-reconstructed surfaces.
Solar photovoltaic power output is modulated by atmospheric aerosols and clouds and thus contains valuable information on the optical properties of the atmosphere. As a ground-based data source with high spatiotemporal resolution it has great potential to complement other ground-based solar irradiance measurements as well as those of weather models and satellites, thus leading to an improved characterisation of global horizontal irradiance. In this work several algorithms are presented that can retrieve global tilted and horizontal irradiance and atmospheric optical properties from solar photovoltaic data and/or pyranometer measurements. The method is tested on data from two measurement campaigns that took place in the Allgäu region in Germany in autumn 2018 and summer 2019, and the results are compared with local pyranometer measurements as well as satellite and weather model data. Using power data measured at 1 Hz and averaged to 1 min resolution along with a non-linear photovoltaic module temperature model, global horizontal irradiance is extracted with a mean bias error compared to concurrent pyranometer measurements of 5.79 W m−2 (7.35 W m−2) under clear (cloudy) skies, averaged over the two campaigns, whereas for the retrieval using coarser 15 min power data with a linear temperature model the mean bias error is 5.88 and 41.87 W m−2 under clear and cloudy skies, respectively.
During completely overcast periods the cloud optical depth is extracted from photovoltaic power using a lookup table method based on a 1D radiative transfer simulation, and the results are compared to both satellite retrievals and data from the Consortium for Small-scale Modelling (COSMO) weather model. Potential applications of this approach for extracting cloud optical properties are discussed, as well as certain limitations, such as the representation of 3D radiative effects that occur under broken-cloud conditions. In principle this method could provide an unprecedented amount of ground-based data on both irradiance and optical properties of the atmosphere, as long as the required photovoltaic power data are available and properly pre-screened to remove unwanted artefacts in the signal. Possible solutions to this problem are discussed in the context of future work.
Solar photovoltaic power output is modulated by atmospheric aerosols and clouds and thus contains valuable information on the optical properties of the atmosphere. As a ground-based data source with high spatiotemporal resolution it has great potential to complement other ground-based solar irradiance measurements as well as those of weather models and satellites, thus leading to an improved characterisation of global horizontal irradiance. In this work several algorithms are presented that can retrieve global tilted and horizontal irradiance and atmospheric optical properties from solar photovoltaic data and/or pyranometer measurements. Specifically, the aerosol (cloud) optical depth is inferred during clear sky (completely overcast) conditions. The method is tested on data from two measurement campaigns that took place in Allgäu, Germany in autumn 2018 and summer 2019, and the results are compared with local pyranometer measurements as well as satellite and weather model data. Using power data measured at 1 Hz and averaged to 1 minute resolution, the hourly global horizontal irradiance is extracted with a mean bias error compared to concurrent pyranometer measurements of 11.45 W m−2, averaged over the two campaigns, whereas for the retrieval using coarser 15 minute power data the mean bias error is 16.39 W m−2.
During completely overcast periods the cloud optical depth is extracted from photovoltaic power using a lookup table method based on a one-dimensional radiative transfer simulation, and the results are compared to both satellite retrievals as well as data from the COSMO weather model. Potential applications of this approach for extracting cloud optical properties are discussed, as well as certain limitations, such as the representation of 3D radiative effects that occur under broken cloud conditions. In principle this method could provide an unprecedented amount of ground-based data on both irradiance and optical properties of the atmosphere, as long as the required photovoltaic power data are available and are properly pre-screened to remove unwanted artefacts in the signal. Possible solutions to this problem are discussed in the context of future work.
When optimizing the process parameters of the acidic ethanolic organosolv process, the aim is usually to maximize the delignification and/or lignin purity. However, process parameters such as temperature, time, ethanol and catalyst concentration, respectively, can also be used to vary the structural properties of the obtained organosolv lignin, including the molecular weight and the ratio of aliphatic versus phenolic hydroxyl groups, among others. This review particularly focuses on these influencing factors and establishes a trend analysis between the variation of the process parameters and the effect on lignin structure. Especially when larger data sets are available, as for process temperature and time, correlations between the distribution of depolymerization and condensation reactions are found, which allow direct conclusions on the proportion of lignin's structural features, independent of the diversity of the biomass used. The newfound insights gained from this review can be used to tailor organosolv lignins isolated for a specific application.