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Multimodal Sensor Fusion with Differentiable Filters

Multimodal Sensor Fusion with Differentiable Filters

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2020 ieee/RSJ International conference on Intelligent Robots and Systems (IROS)

作者： Michelle A. Lee Brent Yi Roberto Martín-Martín Silvio Savarese Jeannette Bohg Stanford Artificial Intelligence Lab (SAIL) Stanford University

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Leveraging multimodal information with recursive Bayesian filters improves performance and robustness of state estimation, as recursive filters can combine different modalities according to their uncertainties. Prior work has studied how to optimally fuse different sensor modalities with analytical state estimation algorithms. However, deriving the dynamics and measurement models along with their noise profile can be difficult or lead to intractable models. Differentiable filters provide a way to learn these models end-to-end while retaining the algorithmic structure of recursive filters. This can be especially helpful when working with sensor modalities that are high dimensional and have very different characteristics. In contact-rich manipulation, we want to combine visual sensing (which gives us global information) with tactile sensing (which gives us local information). In this paper, we study new differentiable filtering architectures to fuse heterogeneous sensor information. As case studies, we evaluate three tasks: two in planar pushing (simulated and real) and one in manipulating a kinematically constrained door (simulated). In extensive evaluations, we find that differentiable filters that leverage crossmodal sensor information reach comparable accuracies to unstructured LSTM models, while presenting interpretability benefits that may be important for safety-critical systems. We also release an open-source library for creating and training differentiable Bayesian filters in PyTorch, which can be found on our project website: https://***/view/multimodalfilter.

关键词： Visualization Heuristic algorithms Filtering algorithms Information filters Robot sensing systems State estimation Task analysis

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Variational Quantum Neural Network for Modeling and Solving Heat and Mass Transfer Problems Occurring in Electric Contact Phenomena

Variational Quantum Neural Network for Modeling and Solving ...

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ieee Holm conference on Electrical Contacts

作者： Merey M. Sarsengeldin Zeeshan Ahmad Ulas Bagci Department of Mathematics University of Central Florida Orlando Florida USA Sigma Labs LLC Orlando Florida USA Department of Radiology Machine & Hybrid Intelligence Lab Northwestern University Chicago Illianois USA

ISBN: (数字)9798331529079

ISBN: (纸本)9798331529086

In this study we present a hybrid quantum-classical neural network (variational quantum Algorithm) to model and solve heat and mass transfer problems that occur in electrical contacts. The underlying Equations responsible for modeling diverse electric contact phenomena like arcing, bridging, welding etc. are Stefan Type Problems. These problems are nonlinear and hard to solve analytically. We build a Hybrid Quantum-Classical Neural Network for modeling and solving such kind Heat and Mass transfer problems occurring in Electric Contacts. We benefit from computational power of Quantum Computing to solve the Stefan Type problems and utilize neural network as a universal function approximator for the Heat function and Moving Phase boundary. On the basis of the Variational Quantum Neural Network, we have developed methodological framework and software artifact which might be of interest and beneficial for researchers and engineers working in the field of modeling electric contact phenomena. The proposed framework and artifact are beyond the field of modeling and solving Heat and Mass transfer problems occurring in electric contacts and can be applied in diverse phase transient phenomena such as tumor growth and spreading (biomedicine), material deformation and failure under stress (material science) etc. Methodology and source code for the framework is publicly available on our GitHub account https://***/Schrodinger-cat-kz/***.

关键词： Computational modeling Contacts Neural networks Quantum mechanics Computer architecture Mathematical models Computational efficiency Transient analysis Heat transfer Resistance heating

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Kernel-U-Net: Multivariate Time Series Forecasting using Custom Kernels

Kernel-U-Net: Multivariate Time Series Forecasting using Cus...

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ieee International Symposium on Innovations in Intelligent Systems and Applications (INISTA)

作者： Jiang You Arben Cela René Natowicz Jacob Ouanounou Patrick Siarry Université Paris-Est Créteil Île-de-France France Laboratoire Images Signaux et Systèmes Intelligents (LISSI) Université Paris-Est Créteil Île-de-France France Département Informatique et Télécommunication ESIEE Paris-Université Gustave Eiffel Île-de-France France HN-Services Île-de-France France ESIEE Paris-UGE Île-de-France France Artificial Intelligence Laboratory UMT Tirana Albanie

ISBN: (数字)9798350368130

ISBN: (纸本)9798350368147

Time series forecasting task predicts future trends based on historical information. Transformer-based U-Net architectures, despite their success in medical image segmentation, have limitations in both expressiveness and computation efficiency in time series forecasting as evidenced in YFormer. To tackle these challenges, we introduce Kernel-U-Net, a flexible and kernel-customizable U-shape neural network architecture. The kernel-U-Net encoder compresses the input series into latent vectors, and its symmetric decoder subsequently expands these vectors into output series. Specifically, Kernel-U-Net separates the procedure of partitioning input time series into patches from kernel manipulation, thereby providing the convenience of executing customized kernels. Our method offers two primary advantages: 1) Flexibility in kernel customization to adapt to specific datasets; and 2) Enhanced computational efficiency, with the complexity of the Transformer layer reduced to linear. Experiments on seven real-world datasets, demonstrate that Kernel-U-Net’s performance either exceeds or meets that of the existing state-of-the-art model in the majority of cases in channel-independent settings. The source code for Kernel-U-Net will be made publicly available for further research and application.

关键词： Adaptation models Technological innovation source coding Time series analysis Computer architecture Transformers Vectors

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Opening the Valve on Pure-Data: Usage Patterns and Programming Practices of a Data-Flow Based Visual Programming Language

Opening the Valve on Pure-Data: Usage Patterns and Programmi...

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International Mining Software Repositories, MSR

作者： Anisha Islam Kalvin Eng Abram Hindle University of Alberta Edmonton Canada

ISBN: (数字)9798400705878

ISBN: (纸本)9798350363982

Pure Data (PD), a data-flow based visual programming language utilized for music and sound synthesis, remains underexplored in software engineering research. Existing literature fails to address the nuanced programming practices within PD, prompting the need to investigate how end-users manipulate nodes and edges in this visual language. This paper systematically extracts and analyzes 6,534 publicly available PD projects from GitHub. Employing source code parsing, pattern matching, and statistical analysis, we unveil usage patterns of PD by the end-user programmers. We found that most revisions of the PD files are small and simple, with fewer than 64 nodes, 51 connections, and 3 revisions. Most PD projects have less than 17 PD files, 31 commits, and only 1 author working on the PD files. The median differences in the number of nodes and edges between each commit and its parents, modifying the same file, are 3 and 0, respectively, implying small changes across various revisions of a PD file. Our findings contribute a valuable dataset for future studies, addressing the dearth of research in PD. By unraveling usage patterns, we provide insights that empower scholars and practitioners to optimize the programming experience for end-users in the realm of visual programming *** CONCEPTS• Software and its engineering → Visual languages.

关键词： Visualization Computer languages source coding Collaboration Programming Metadata Software

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Enhancing Performance in Heterogeneous Computing: A Comparative Study of CUDA on GPUs and CPUs

Enhancing Performance in Heterogeneous Computing: A Comparat...

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International conference on Advances in Electronics, Computers and Communications (ICAECC)

作者： Mitul N. Takodara Parth Parmar R N Ravikumar Sivakumar N Rohit Kumar Tiwari Dept. of Computer Engineering Marwadi University Rajkot India School of Computer Science & IT Jain (Deemed to be University) Banglore India School of Computer Engineering KIIT Deemed to be University Bhubaneswar India

ISBN: (数字)9798350305449

ISBN: (纸本)9798350305456

Heterogeneous computing, in which Graphics Processing Units (GPUs) serve as coprocessors to CPUs for arithmetic-intensive data-parallel tasks, has become increasingly popular due to the pressing demand for higher computational efficiency in science and engineering. When it comes to heterogeneous computing on NVIDIA GPUs, the emerging standard is CUDA, or Compute Unified Device Architecture. The primary objective of CUDA is to free developers from the burden of implementing parallel algorithms and instead allow them to concentrate on the work at hand. The main objective of the work is to obtain the performance gain in execution speed for the dynamic algorithms which generally are complex and takes a very long time for execution and compare results on different GPU processors and CPU and have a comparative study of algorithms. This work is mainly concentrated on working with dynamic algorithms such as Knapsack, Binary Search, Longest Common Subsequence, Kruskal's Algorithm on GTX 480 and Tesla C2070 GPUs. Also, the work consists of preliminary sorting algorithms such as Insertion Sort, Selection Sort, and Bubble Sort. Report contains study of the NVIDIA CUDA architecture, CUDA SDK tool kit and different methods to get performance benefit, implementation of intermediate tool to find out functions and their dependencies from the source code and the implementation of the complete algorithm, testing and obtaining statistics for the same. The performance of such algorithms was improved by a factor of 2X to 64X when implemented on GPU as opposed to CPU.

关键词： Heuristic algorithms source coding Graphics processing units Computer architecture Heterogeneous networks Central Processing Unit Task analysis

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Alignment of Teaching and Electronic Exams and Empirical Classification of Errors for an Introductory Programming Class

Alignment of Teaching and Electronic Exams and Empirical Cla...

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conference on Software Engineering Education & Training (CSEE&T)

作者： Axel Böttcher Veronika Thurner Daniela Zehetmeier Munich University of Applied Sciences Munich Germany

ISBN: (纸本)9781728168074

Over the last years, electronic exams have received increasing attention, as they offer far more potential than simply replacing paper-based questions by electronically supported multiple choice questions, or replacing blank paper by text fields in a web-browser or PDF form. Especially in the area of software development and software engineering, both students and teachers expect to benefit from an exam environment where students can utilize the same set of tools that they are used to from working on their homework exercises. Furthermore, teachers expect that electronic exams provide support with respect to automatic assessment. In this paper, we investigate applying electronic exams to introductory programming courses. In these exams, students have to solve programming problems using an integrated development environment, and hand in source code as their solution. This, however, requires a shift in formulating exam tasks, in order to align these tasks with learning objectives. It also requires careful investigation into the students' ability to cope with the environment and the rigorous supervision by a compiler and other checkers under time restrictions and, possibly, the nerves of an exam situation. To achieve this, we discuss how programming tasks can be designed in a manner that allows addressing all levels of Bloom's taxonomy of learning objectives, in order to implement constructive alignment. Furthermore we analyze our students' behavior during exams and their perception of this kind of exam. As well, we analyze the resulting solutions and identify typical error patterns that occur.

关键词： Education Task analysis Programming profession Software Taxonomy Testing

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Enhanced Visualization of Method Invocations by Extending Reverse-engineered Sequence Diagrams

Enhanced Visualization of Method Invocations by Extending Re...

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ieee International Workshop on Visualizing Software for Understanding and analysis (VISSOFT)

作者： Taher Ahmed Ghaleb Khalid Aljasser Musab A. Alturki School of Computing Queen’s University Kingston Ontario Canada King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

ISBN: (数字)9781728199146

ISBN: (纸本)9781728199153

Software} maintainers employ reverse-engineered sequence diagrams to visually understand software behavior, especially when software documentation is absent or outdated. Much research has studied the adoption of reverse-engineered sequence diagrams to visualize program interactions. However, due to the forward-engineering nature of sequence diagrams, visualizing more complex programming scenarios can be challenging. In particular, sequence diagrams represent method invocations as unidirectional arrows. However, in practice, source code may contain compound method invocations that share values/objects implicitly. For example, method invocations can be nested, e.g., fun (foo ()), or chained, e.g., fun (). foo (). The standard notation of sequence diagrams does not have enough expressive power to precisely represent compound scenarios of method invocations. Understanding the flow of information between method invocations simplifies debugging, inspection, and exception handling operations for software maintainers. Despite the research invested to address the limitations of UML sequence diagrams, previous approaches fail to visualize compound scenarios of method invocations. In this paper, we propose sequence diagram extensions to enhance the visualization of (i) three widely used types of compound method invocations in practice (i.e., nested, chained, and recursive) and (ii) lifelines of objects returned from method invocations. We aim through our extensions to increase the level of abstraction and expressiveness of method invocation code. We develop a tool to reverse engineer compound method invocations and generate the corresponding extended sequence diagrams. We evaluate how our proposed extensions can improve the understandability of program interactions using a controlled experiment. We find that program interactions are significantly more comprehensible when visualized using our extensions.

关键词： Visualization Unified modeling language Tools Software Compounds Task analysis Standards

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Coupled CFD and electromagnetic analysis of an ONAN distribution transformer cooled with mineral oil and biodegradable esters

Coupled CFD and electromagnetic analysis of an ONAN distribu...

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ieee International conference on Dielectrics (ICD)

作者： Gustavo Ríos Rodríguez Luciano Garelli Mario A. Storti Krzysztof Kubiczek Pawel Lasek Mariusz Stepien Michal Stebel Bartlomiej Melka Jakub Bodys Michal Haida Michal Palacz Jacek Smolka Francisco Pessolani Mauro Amadei Centro de Investigacio’ n de Me ’todos Computacionales CIMEC (UNL - CONICET) Santa Fe Argentine Faculty of Electrical Engineering Silesian University of Technology Gliwice Poland Institute of Thermal Technology Silesian University of Technology Gliwice Poland Tadeo Czerweny S.A. Ga’lvez Argentine

ISBN: (数字)9781728189833

ISBN: (纸本)9781728189840

This work describes the electromagnetic and coupled thermo-fluid dynamic analysis of an oil-natural air-natural (ONAN) distribution transformer with the main objective of studying the changes in the heat dissipation performance when the fluid employed to cool the machine is a biodegradable ester instead of mineral oil. The distribution transformer under analysis has a rated power of 315 kVA with a voltage ratio of 13.2 kV / 0.4 kV. The heat losses in the magnetic core and the windings are computed with the ANSYS Maxwell software on suitable finite element meshes. These heat losses are then transferred as volume heat source terms to appropriate finite volume meshes which are used to compute the heat conduction in the core and windings, then the heat dissipates to the oil by convection, afterwards to the walls of the oil tank and to the radiators panels and finally to the surrounding air. In the thermo-fluid dynamic model, the natural convection of the fluid flow is taken into account using a temperature-dependent density. Moreover, the heat conduction through the metal sheet of the oil tank and the radiators panels are considered. The coupled thermo-hydraulic problem is solved with code_Satume software. The experimental data of the total power losses provided by the unit manufacturer were employed to validate the electro- magnetic model. Because the thermo-fluid dynamic numerical model is computationally expensive, only one quarter of the transformer is modelled. In addition, equivalent anisotropic thermal conductivity in the core and windings are calculated to simplify the heat conduction model in the active parts. The differences in the temperature distribution and oil flow observed between the transformer working with a standard mineral oil and a biodegradable ester are discussed. This work is carried out as part of the EU Horizon 2020 BIOTRAFO project.

关键词： Oils Computational modeling Windings Oil insulation Numerical models Minerals Power transformers

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