SnapCheck Automated Testing for Snap Programs

Programming environments such as Snap, Scratch, and Processing engage students by allowing them to create programming artifacts such as apps and games, with visual and interactive output . Learning programming with such amedia-focused context has shown to increase retention and success rate .…

CFNet LiDAR Camera Registration Using Calibration Flow Network

LiDAR-camera calibration is critical for autonomous vehicles and robot navigation . EPnP algorithm within the RANdom SAmpleConsensus (RANSAC) scheme is applied to estimate the extrinsic parameters with2D-3D correspondences constructed by the calibration flow . We propose a semantic initializational algorithm with the introduction of instance centroids (ICs) The code will bepublicly available at https://://://github.com/LvXudong-HIT/CFNet.…

COMTEST Project A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance

This work presents a system to benchmark humanoid posture control and balanceperformances under perturbed conditions . System includes a motion platform used toprovide the perturbation, an innovative body-tracking system suitable for robots, humans and exoskeletons . The design of the system is modularity: all its components can be replaced or extended according to experimental needs .…

MILIOM Tightly Coupled Multi Input Lidar Inertia Odometry and Mapping

In this paper we investigate a tightly coupled Lidar-Inertia Odometry andMapping (LIOM) scheme . We devise a time-synchronizedscheme to combine extracted features from separate lidars into a singlepointcloud . These coefficients, along with IMUpreinteration observations, are then used to construct a factor graph that will be optimized to produce an estimate of the sliding window trajectory .…

Privacy as a Planned Behavior Effects of Situational Factors on Privacy Perceptions and Plans

To account for privacy perceptions and preferences in user models and developpersonalized privacy systems, we need to understand how users make privacy decisions in various contexts . We conducted a survey onMechanical Turk (N=401) based on the theory of planned behavior (TPB) to measure the way users’ perceptions of privacy factors and intent to disclose are affected by three situational factors embodied by hypothetical scenarios: information type, recipients’ role, and trust source .…

Task Offloading Optimization in NOMA Enabled Multi hop Mobile Edge Computing System Using Conflict Graph

Resource allocation is investigated for offloading computational-intensive tasks in multi-hop mobile edge computing (MEC) system . The envisioned system has both the cooperative access points (AP) with the computing capability and the MEC servers . A user-device (UD) uploads a computing task to the nearest AP, and the AP can either locally process the received task oroffload to MEC server .…

Additive Schwarz methods for serendipity elements

Serendipity elements allow us to obtain the same order of accuracy as rectangular tensor-product elements with many fewer degrees offreedom (DOFs) To realize the possible computational savings, we develop someadditive Schwarz methods (ASM) based on solving local patch problems . We prove that patchsmoothers give conditioning estimates independent of the polynomial degree for a model problem .…

Adaptive Sampling Algorithmic vs Human Waypoint Selection

A paper compares the performance of humans versus adaptiveinformative sampling algorithms for selecting informative waypoints . The results show that the robot can on average perform better than the average human, and approximately as good as the best human, when the model assumptions don’t correspond to the characteristics of the field .…

On system rollback and totalised fields

In system operations it is commonly assumed that arbitrary changes to asystem can be reversed or ‘rolled back’, when errors of judgement and procedureoccur . We point out that this view is flawed and provide an alternative approach to determining the outcome of changes .…

Probabilistic Rainfall Estimation from Automotive Lidar

Work presents a probabilistichierarchical Bayesian Bayesian model that infers rainfall rate from automotive lidarpoint cloud sequences with high accuracy and reliability . The model achieves RMSE 2.42 mm/hafter filtering out uncertain predictions . The error is comparable to the meanrainfall rate change of 3.5 mm/h between measurements .…

Tractability of Quantified Temporal Constraints To The Max

A temporal constraint language is a set of relations that are first-orderdefinable over (Q;<) We show that several temporal constraint languages whoseconstraint satisfaction problem is maximally tractable are also maximallytractable for the more expressive quantified constraint satisfaction problem . We also present syntactic characterizations of therelations in these languages . …

OCRTOC A Cloud Based Competition and Benchmark for Robotic Grasping and Manipulation

The OCRTOC benchmark focuses on the objectrearrangement problem, specifically table organization tasks . We provide a set of identical real robot setups and facilitate remote experiments of standardized table organization scenarios in varying difficulties . We aim to lower the barrier of reproducible research on robotic grasping and manipulation andaccelerate progress in this field .…

Graph Neural Network Reinforcement Learning for Autonomous Mobility on Demand Systems

Autonomous mobility-on-demand (AMoD) systems represent a rapidly developing mode of transportation . We propose a deep reinforcement learning framework to control the rebalancing of AMoD systems through graph neural networks . We show how the learned policies exhibit promising zero-shot transfer capabilities when faced with critical portability tasks such as inter-city generalization, service area expansion, and adaptation topotentially complex urban topologies.…

Model Checking for Verification of Quantum Circuits

Quantum assertions are specified by a temporal extension of Birkhoff-vonNeumann quantum logic . Algorithms for reachability analysis and model checking of quantum circuits are developed based on contraction of tensor networks . We observe that many optimisation techniques for computing relational products used inBDD-based model checking algorithms can be generalised for contracting tensornetworks of quantum circuit circuits .…

Towards Automated Acceptance testing for industrial robots

Industrial robots are important machines applied in numerous modern industries that execute repetitive tasks with high accuracy . Automated AcceptanceTesting improves reliability for industrial robot program. We present theresearch question, the motivation for this study, our hypothesis and future research efforts.…

A field guide to cultivating computational biology

Biomedical research centers can empower basic discovery and novel therapeutic strategies by leveraging their large-scale datasets from experiments and patients . This data, together with new technologies to create and analyze it, has ushered in an era of data-driven discovery which requires moving beyond thetraditional individual, single-discipline investigator research model .…

How to help university students to manage their interruptions and improve their attention and time management

Technology has changed both our way of life and the way in which we learn . Problems arise when students’ social networks are opened on their computers and they receive notifications that interrupt their work . We set up a workshop regarding time, thoughts and attention management with the objective of teaching our students techniques that would allow them to manage interruptions, concentrate better and definitively make better use of their time .…

UAV Communications with WPT aided Cell Free Massive MIMO Systems

Cell-free (CF) massive multiple-input multiple- input multiple-output (MIMO) is a promisingsolution to provide uniform good performance for unmanned aerial vehicle (UAV) communications . The harvested energy from the downlink WPT is used to support both uplink data and pilottransmission . The maximum SE can be achieved by changing the time-splitting fraction of UAVs.…

Algebraic combinatory models

We introduce an equationally definable counterpart of the notion ofcombinatory model . The new notion, called an algebraic combinatory model, is weaker than that of a Lambda algebra but is strong enough to interpret lambdacalculus . The resulting axiomatisation of Lambda algebras with the seven equations corresponds to that of Selinger [J.…

PyArmadillo a streamlined linear algebra library for Python

PyArmadillo aims to provide a high-level syntax and functionality deliberately similar to Matlab/Octave . Objects for matrices and cubes are provided, as well as over 200 functions for manipulating data stored in the objects . Various matrix factorisations are provided through integration with LAPACK or one of its high performancedrop-in replacements such as Intel MKL or OpenBLAS .…

DeepSpectrumLite A Power Efficient Transfer Learning Framework for Embedded Speech and Audio Processing from Decentralised Data

DeepSpectrumLite is an open-source, lightweight transfer learningframework for on-device speech and audio recognition using pre-trained imageconvolutional neural networks (CNNs) The framework creates and augments Mel-spectrogram plots on-the-fly from raw audio signals . The whole pipeline can be run in real-time with a mean inferencelag of 242.0 ms when a DenseNet121 model is used on a consumer-grade Motorolamoto e7 plus smartphone .…

Earnings 21 A Practical Benchmark for ASR in the Wild

Commonly used speech corpora inadequately challenge academic and commercial ASR systems . In response, we present Earnings-21, a 39-hour corpus of earnings calls containing entity-dense speech from nine differentfinancial sectors . This corpus is intended to benchmarkASR systems in the wild with special attention towards named entity recognition .…

Reconstructing Speech from Real Time Articulatory MRI Using Neural Vocoders

Magnetic resonance imaging (MRI) is morecostly than other approaches, such as ultrasound tongue imaging and surface electromyography . Recent developments in this area now allow the recording of real-time MRI videos of the articulators with anacceptable resolution . Here, we experiment with the reconstruction of the speech signal from a real time MRI recording using deep neural networks .…

ESResNe X t fbsp Learning Robust Time Frequency Transformation of Audio

Environmental Sound Classification (ESC) is a rapidly evolving field that demonstrated advantages of application of visual domain techniquesto the audio-related tasks . We present a new time-frequency transformation layer that is based on complex frequency B-spline (fbsp) wavelets . The proposed fbsp-layer provides an accuracy improvement over the previously used Short-Time Fourier Transform (STFT) on standard datasets .…

Improving Hierarchy Storage for Video Streaming in Cloud

Storing several videostream formats imposes a high cost on video stream providers using the oldclassical way . Alternatively, cloud providers offer a high flexibility of using their services and at a low cost relatively. Therefore, video stream companies have adopted cloud technology to store their video streams .…