Aspect based sentiment analysis (ABSA) deals with the identification of the sentiment polarity of a review sentence towards a given aspect. Deep Learning sequential models like RNN, LSTM, and GRU are current state-of-the-art methods for inferring the sentiment polarity. These methods work well to capture the contextual relationship between the words of a review sentence. However, these methods are insignificant in capturing long-term dependencies. Attention mechanism plays a significant role by focusing only on the most crucial part of the sentence. In the case of ABSA, aspect position plays a vital role. Words near to aspect contribute more while determining the sentiment towards the aspect. Therefore, we propose a method that captures the position based information using dependency parsing tree and helps attention mechanism. Using this type of position information over a simple word-distance-based position enhances the deep learning model's performance. We performed the experiments on SemEval'14 dataset to demonstrate the effect of dependency parsing relation-based attention for ABSA.
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (SSM) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.
During applying data-oriented diagnosis systems to distinguishing the type of and evaluating the severity of nuclear power plant initial events, it is of vital importance to decide which parameters to be used as the system input. However, although several diagnosis systems have already achieved acceptable performance in diagnosis precision and speed, hardly have the researchers discussed the method of monitoring point choosing and its layout. For this reason, redundant measuring data are used to train the diagnostic model, leading to high uncertainty of the classification, extra training time consumption, and higher probability of overfitting while training. In this study, a method of choosing thermal hydraulics parameters of a nuclear power plant is proposed, using the theory of post-hoc interpretability theory in deep learning. At the start, a novel Time-sequential Residual Convolutional Neural Network (TRES-CNN) diagnosis model is introduced to identify the position and hydrodynamic diameter of breaks in LOCA, using 38 parameters manually chosen on HPR1000 empirically. Afterwards, post-hoc interpretability methods are applied to evaluate the attributions of diagnosis model's outputs, deciding which 15 parameters to be more decisive in diagnosing LOCA details. The results show that the TRES-CNN based diagnostic model successfully predicts the position and size of breaks in LOCA via selected 15 parameters of HPR1000, with 25% of time consumption while training the model compared the process using total 38 parameters. In addition, the relative diagnostic accuracy error is within 1.5 percent compared with the model using parameters chosen empirically, which can be regarded as the same amount of diagnostic reliability.
For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector can reject the large error in global position sensing, and system uncertainty can be estimated by the observer, even the existence of stochastic non-Gaussian noise. The corrector and observer are applied to a UAV navigation and control for large-error corrections in position/attitude angle and the uncertainties estimation in the UAV flight dynamics. The control laws are designed according to the correction-estimation results. Finally, experiments demonstrate the effectiveness of the proposed method.
Orchard automation has attracted the attention of researchers recently due to the shortage of global labor force. To automate tasks in orchards such as pruning, thinning, and harvesting, a detailed understanding of the tree structure is required. However, occlusions from foliage and fruits can make it challenging to predict the position of occluded trunks and branches. This work proposes a regression-based deep learning model, Hallucination of Occluded Branch Convolutional Neural Network (HOB-CNN), for tree branch position prediction in varying occluded conditions. We formulate tree branch position prediction as a regression problem towards the horizontal locations of the branch along the vertical direction or vice versa. We present comparative experiments on Y-shaped trees with two state-of-the-art baselines, representing common approaches to the problem. Experiments show that HOB-CNN outperform the baselines at predicting branch position and shows robustness against varying levels of occlusion. We further validated HOB-CNN against two different types of 2D trees, and HOB-CNN shows generalization across different trees and robustness under different occluded conditions.
A 3D caricature is an exaggerated 3D depiction of a human face. The goal of this paper is to model the variations of 3D caricatures in a compact parameter space so that we can provide a useful data-driven toolkit for handling 3D caricature deformations. To achieve the goal, we propose an MLP-based framework for building a deformable surface model, which takes a latent code and produces a 3D surface. In the framework, a SIREN MLP models a function that takes a 3D position on a fixed template surface and returns a 3D displacement vector for the input position. We create variations of 3D surfaces by learning a hypernetwork that takes a latent code and produces the parameters of the MLP. Once learned, our deformable model provides a nice editing space for 3D caricatures, supporting label-based semantic editing and point-handle-based deformation, both of which produce highly exaggerated and natural 3D caricature shapes. We also demonstrate other applications of our deformable model, such as automatic 3D caricature creation.
A novel sparse array synthesis method for non-uniform planar arrays is proposed, which belongs to compressive sensing (CS)-based systhesis. Particularly, we propose an off-grid refinement technique to simultaneously optimize the antenna element positions and excitations with a low complexity, in response to the antenna position optimization problem that is difficult for standard CS. More importantly, we take into account the minimum inter-element spacing constraint for ensuring the physically realizable solution. Specifically, the off-grid Orthogonal Match Pursuit (OMP) algorithm is first proposed with low complexity and then off-grid Look Ahead Orthogonal Match Pursuit (LAOMP) is designed with better synthesis performance but higher complexity. In addition, simulation results have shown the proposed schemes have more advantages in computational complexity and synthesis performances compared with the related method.
Due to the complex layouts of documents, it is challenging to extract information for documents. Most previous studies develop multimodal pre-trained models in a self-supervised way. In this paper, we focus on the embedding learning of word blocks containing text and layout information, and propose UTel, a language model with Unified TExt and Layout pre-training. Specifically, we propose two pre-training tasks: Surrounding Word Prediction (SWP) for the layout learning, and Contrastive learning of Word Embeddings (CWE) for identifying different word blocks. Moreover, we replace the commonly used 1D position embedding with a 1D clipped relative position embedding. In this way, the joint training of Masked Layout-Language Modeling (MLLM) and two newly proposed tasks enables the interaction between semantic and spatial features in a unified way. Additionally, the proposed UTel can process arbitrary-length sequences by removing the 1D position embedding, while maintaining competitive performance. Extensive experimental results show UTel learns better joint representations and achieves superior performance than previous methods on various downstream tasks, though requiring no image modality. Code is available at \url{https://github.com/taosong2019/UTel}.
Impressive performance of Transformer has been attributed to self-attention, where dependencies between entire input in a sequence are considered at every position. In this work, we reform the neural $n$-gram model, which focuses on only several surrounding representations of each position, with the multi-head mechanism as in Vaswani et al.(2017). Through experiments on sequence-to-sequence tasks, we show that replacing self-attention in Transformer with multi-head neural $n$-gram can achieve comparable or better performance than Transformer. From various analyses on our proposed method, we find that multi-head neural $n$-gram is complementary to self-attention, and their combinations can further improve performance of vanilla Transformer.
This work utilizes a particle swarm optimizer (PSO) for initial orbit determination for a chief and deputy scenario in the circular restricted three-body problem (CR3BP). The PSO is used to minimize the difference between actual and estimated observations and knowledge of the chief's position with known CR3BP dynamics to determine the deputy's initial state. Convergence is achieved through limiting particle starting positions to feasible positions based on the known chief position, and sensor constraints. Parallel and GPU processing methods are used to improve computation time and provide an accurate initial state estimate for a variety of cislunar orbit geometries.
Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human understandable description of the object's behavior, and it could describe an object's past and future status in an amazingly brief way. Therefore it is a fundamental method for tasks such as risk detection, environment understanding, and decision making. In this paper, we propose RSG-Net (Road Scene Graph Net): a graph convolutional network designed to predict potential semantic relationships from object proposals, and produces a graph-structured result, called "Road Scene Graph". The experimental results indicate that this network, trained on Road Scene Graph dataset, could efficiently predict potential semantic relationships among objects around the ego-vehicle.
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is connected with Second order PI (Proportional+Integral) sliding mode controller, which is designed to improve the performance for nonlinear state differential equations with unknown parameters. This paper throws light on the sliding surface design and highlights the important features of multiplexing sliding mode control inputs resulting in robustness and higher convergence of output, through extensive mathematical modeling. Simulations and experimental application is done on the system to evaluate the controller for performance, complexity of implementation and also on the impact of the nonlinear IP system on its stability.
Graph Machine Learning (GraphML), whereby classical machine learning is generalized to irregular graph domains, has enjoyed a recent renaissance, leading to a dizzying array of models and their applications in several domains. With its growing applicability to sensitive domains and regulations by governmental agencies for trustworthy AI systems, researchers have started looking into the issues of transparency and privacy of graph learning. However, these topics have been mainly investigated independently. In this position paper, we provide a unified perspective on the interplay of privacy and transparency in GraphML. In particular, we describe the challenges and possible research directions for a formal investigation of privacy-transparency tradeoffs in GraphML.
Working with big data using data mining tools is rapidly becoming a trend in education industry. The combination of the current capacity to collect, store, manage and process data in a timely manner, and data from online educational platforms represents an unprecedented opportunity for educational institutes, learners, educators, and researchers. In this position paper, we consider some basic concepts as well as most popular tools, methods and techniques regarding Educational Data Mining and Learning Analytics, and discuss big data applications in language learning, in particular.
Direct localization (DLOC) methods, which use the observed data to localize a source at an unknown position in a one-step procedure, generally outperform their indirect two-step counterparts (e.g., using time-difference of arrivals). However, underwater acoustic DLOC methods require prior knowledge of the environment, and are computationally costly, hence slow. We propose, what is to the best of our knowledge, the first data-driven DLOC method. Inspired by classical and contemporary optimal model-based DLOC solutions, and leveraging the capabilities of convolutional neural networks (CNNs), we devise a holistic CNN-based solution. Our method includes a specifically-tailored input structure, architecture, loss function, and a progressive training procedure, which are of independent interest in the broader context of machine learning. We demonstrate that our method outperforms attractive alternatives, and asymptotically matches the performance of an oracle optimal model-based solution.
In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach for detecting objects and estimating relative positions inside the soccer field. Prior knowledge from the environment is exploited by assuming objects lay on the ground, and the onboard camera has its position fixed on the robot. We implemented the proposed method on an NVIDIA Jetson Nano and employed SSD MobileNet v2 for 2D Object Detection with TensorRT optimization, detecting balls, robots, and goals with distances up to 3.5 meters. Ball localization evaluation shows that the proposed solution overcomes the currently used SSL vision system for positions closer than 1 meter to the onboard camera with a Root Mean Square Error of 14.37 millimeters. In addition, the proposed method achieves real-time performance with an average processing speed of 30 frames per second.
We propose united implicit functions (UNIF), a part-based method for clothed human reconstruction and animation with raw scans and skeletons as the input. Previous part-based methods for human reconstruction rely on ground-truth part labels from SMPL and thus are limited to minimal-clothed humans. In contrast, our method learns to separate parts from body motions instead of part supervision, thus can be extended to clothed humans and other articulated objects. Our Partition-from-Motion is achieved by a bone-centered initialization, a bone limit loss, and a section normal loss that ensure stable part division even when the training poses are limited. We also present a minimal perimeter loss for SDF to suppress extra surfaces and part overlapping. Another core of our method is an adjacent part seaming algorithm that produces non-rigid deformations to maintain the connection between parts which significantly relieves the part-based artifacts. Under this algorithm, we further propose "Competing Parts", a method that defines blending weights by the relative position of a point to bones instead of the absolute position, avoiding the generalization problem of neural implicit functions with inverse LBS (linear blend skinning). We demonstrate the effectiveness of our method by clothed human body reconstruction and animation on the CAPE and the ClothSeq datasets.
This paper presents a factor graph formulation and particle-based sum-product algorithm (SPA) for robust sequential localization in multipath-prone environments. The proposed algorithm jointly performs data association, sequential estimation of a mobile agent position, and adapts all relevant model parameters. We derive a novel non-uniform false alarm (FA) model that captures the delay and amplitude statistics of the multipath radio channel. This model enables the algorithm to indirectly exploit position-related information contained in the multipath components (MPCs) for the estimation of the agent position without using any prior information such as floorplan information or training data. Using simulated and real measurements in different channel conditions, we demonstrate that the algorithm can provide high-accuracy position estimates even in fully obstructed line-of-sight (OLOS) situations and show that the performance of our algorithm constantly attains the posterior Cramer-Rao lower bound (P-CRLB), facilitating the additional information contained in the presented FA model. The algorithm is shown to provide robust estimates in both, dense multipath channels as well as channels showing specular, resolved MPCs, significantly outperforming state-of-the-art radio-based localization methods.
The continuously increasing bandwidth and antenna aperture available in wireless networks laid the foundation for developing competitive positioning solutions relying on communications standards and hardware. However, poor propagation conditions such as non-line of sight (NLOS) and rich multipath still pose many challenges due to outlier measurements that significantly degrade the positioning performance. In this work, we introduce an iterative positioning method that reweights the time of arrival (ToA) and angle of arrival (AoA) measurements originating from multiple locators in order to efficiently remove outliers. In contrast to existing approaches that typically rely on a single locator to set the time reference for the time difference of arrival (TDoA) measurements corresponding to the remaining locators, and whose measurements may be unreliable, the proposed iterative approach does not rely on a reference locator only. The resulting robust position estimate is then used to initialize a computationally efficient gradient search to perform maximum likelihood position estimation. Our proposal is validated with an experimental setup at 3.75 GHz with 5G numerology in an indoor factory scenario, achieving an error of less than 50 cm in 95% of the measurements. To the best of our knowledge, this paper describes the first proof of concept for 5G-based joint ToA and AoA localization.
The application of radio-based positioning systems is ever increasing. In light of the dissemination of the Internet of Things and location-aware communication systems, the demands on localization architectures and amount of possible use cases steadily increases. While traditional radio-based localization is performed by utilizing stationary nodes, whose positions are absolutely referenced, collaborative auto-positioning methods aim to estimate location information without any a-priori knowledge of the node distribution. The usage of auto-positioning decreases the installation efforts of localization systems and therefore allows their market-wide dissemination. Since observations and position information in this scenario are correlated, the uncertainties of all nodes need to be considered. In this paper we propose a discrete Bayesian method based on a multi-dimensional histogram filter to solve the task of robust auto-positioning, allowing to propagate historical positions and estimated position uncertainties, as well as lowering the demands on observation availability when compared to conventional closed-form approaches. The proposed method is validated utilizing different multipath-, outlier and failure-corrupted ranging measurements in a static environment, where we obtain at least 58% higher positioning accuracy compared to a baseline closed-form auto-positioning approach.