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cognitive Approach to Hierarchical Task Selection for Human-Robot Interaction in Dynamic Environments

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arXiv 2023年

作者： Bukhari, Syed Tanweer Shah Anima, Bashira Akter Feil-Seifer, David Qazi, Wajahat Mahmood Cognitive Robotics Group Faculty of IT and CS University of Central Punjab Lahore Pakistan Intelligent Machines & Robotics Group Department of Computer Science COMSATS University Islamabad Lahore Campus Pakistan Socially Assistive Robotics Group Department of Computer Science & Engineering University of Nevada Reno RenoNV89557 United States

In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying "what to do" in such cases requires an agent to have the ability to construct associations between objects, their actions, and the effect of actions on the environment. In this regard, semantic memory is being introduced to understand the explicit cues and their relationships with available objects and required skills to make "tea" and "sandwich". We have extended our previous hierarchical robot control architecture to add the capability to execute the most appropriate task based on both feedback from the user and the environmental context. To validate this system, two types of skills were implemented in the hierarchical task tree: 1) Tea making skills and 2) Sandwich making skills. During the conversation between the robot and the human, the robot was able to determine the hidden context using ontology and began to act accordingly. For instance, if the person says "I am thirsty" or "It is cold outside" the robot will start to perform the tea-making skill. In contrast, if the person says, "I am hungry" or "I need something to eat", the robot will make the sandwich. A humanoid robot Baxter was used for this experiment. We tested three scenarios with objects at different positions on the table for each skill. We observed that in all cases, the robot used only objects that were relevant to the skill. © 2023, CC BY.

关键词： Anthropomorphic robots

Magnetoelastic coupling driven magnon gap in a honeycomb antiferromagnet

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Physical Review B 2024年第10期110卷 104419页

作者： Jeongheon Choe Andrey Baydin Gaihua Ye Bowen Ma Cynthia Nnokwe Martin Rodriguez-Vega David Lujan Swati Chaudhary Fuyang Tay Jiaming He Hiroyuki Nojiri Jianshi Zhou Gregory A. Fiete Junichiro Kono Rui He Xiaoqin Li Department of Physics Center of Complex Quantum Systems Center for Dynamics and Control of Materials Department of Electrical and Computer Engineering Smalley–Curl Institute Department of Physics Applied Physics Graduate Program Smalley–Curl Institute Department of Mechanical Engineering Institute for Materials Research Department of Physics and Astronomy Department of Materials Science and NanoEngineering

Cobalt titanate, CoTiO3, is a honeycomb antiferromagnet recently confirmed experimentally to host Dirac magnons, topological spin-orbit excitons, and chiral phonons. Here, we investigate a magnon gap at the zone center which calls for a refined spin Hamiltonian. We propose a microscopic model for the magnon gap and attribute it to a lattice-distortion (phonon)-induced higher-order spin interaction. Strong magnetoelastic coupling in CoTiO3 is also evident in Raman spectra, in which the magnetic order exerts a stronger influence on phonons corresponding to in-plane ionic motions than those with out-of-plane motions. We further examine the evolution of the zone-center magnons in a high magnetic field up to 18.5 T via THz absorption spectroscopy measurements. Based on this field dependence, we propose a spin Hamiltonian that not only agrees with magnon dispersion measured by inelastic neutron scattering but also includes fewer exchange constants and a realistic anisotropy term. Our work highlights the broad implications of magnetoelastic coupling in the study of topologically protected bosonic excitations.

关键词： Magnetism Magnons Topological materials Raman spectroscopy Terahertz spectroscopy

CIMulator: Evaluating Neuromorphic Accelerators with HZO FefinFET-Based Synaptic Device

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CIMulator: Evaluating Neuromorphic Accelerators with HZO Fef...

International Conference on Green Technology and Sustainable Development (GTSD)

作者： Hoang-Hiep Le Hao-Yu Lu Md. Aftab Baig Sourav De Ing-Chao Lin Darsen D. Lu Department of Computer Science and Information Engineering Minghsin University of Science and Technology Hsinchu Taiwan R.O.C Intelligent Computing Industrial Doctorate Program National ChengKung University Tainan Taiwan R.O.C Institute of Microelectronics National ChengKung University Tainan Taiwan R.O.C Department of Computer Science and Information Engineering National ChengKung University Tainan Taiwan R.O.C

ISBN: (数字)9798350386073

ISBN: (纸本)9798350386080

In this study, we use the CIMulator platform to evaluate the performance of neuromorphic accelerators with novel Hf 0.5 Zr 0.5 O 2 (HZO) ferroelectric fin field-effect transistor (FefinFET) as synaptic device. The MNIST handwritten digit dataset is used for training and inference processes in multilayer perceptron (MLP) neural networks. With the highly optimized synaptic device, the results demonstrate high training and inference accuracy, achieving up to 97% for the MLP, approaching the accuracy of software implementations.

关键词： Training Performance evaluation Energy consumption Accuracy Neuromorphic engineering Neural networks Multilayer perceptrons

Multi-layer network modelling of genomic and transcriptomic data to investigate the response to checkpoint inhibitors in NSCLC

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Multi-layer network modelling of genomic and transcriptomic ...

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Davide Mascolo Lorenzo Farina Manuela Petti MSc Program in Data Science Sapienza University of Rome Rome Italy Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

Recent innovations and developments in molecular biology and biotechnology have made it possible to acquire and store large omics datasets. In particular genomics, transcriptomics and the study of their relationship represent the key elements to understand how genotype influences phenotype. In this work we investigate the potential of multi-layer network modeling in integrating genomic and transcriptomic data of 152 advanced non-small cell lung cancer (NSCLC) patients treated with anti-PD-(L)1 therapy. For the transcriptomic layer, we performed differential expression and differential co-expression analyses in order to identify a subset of key genes in differentiating responder patients from non-responders. Adding to the genomic-transcriptomic model other three layers related to immune, myeloid and curated immunotherapy-based literature signatures we obtained a 5-layer Patient Similarity Network. The application of Similarity Network Fusion algorithm revealed a statistically significant stratification of patients (p-value ≤ 0.05) which allows the identification of two clusters characterized by patients responding and not responding to immunotherapy.

关键词：

STATISTICAL INFERENCE FOR GAUSSIAN WHITTLE-MATÉRN FIELDS ON METRIC GRAPHS

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arXiv 2023年

作者： Bolin, David Simas, Alexandre B. Wallin, Jonas Statistics Program Computer Electrical and Mathematical Sciences and Engineering Division King Abdullah University of Science and Technology Saudi Arabia Department of Statistics Lund University Sweden

Whittle-Matérn fields are a recently introduced class of Gaussian processes on metric graphs, which are specified as solutions to a fractional-order stochastic differential equation. Unlike earlier covariance-based approaches for specifying Gaussian fields on metric graphs, the Whittle-Matérn fields are well-defined for any compact metric graph and can provide Gaussian processes with differentiable sample paths. We derive the main statistical properties of the model class, particularly the consistency and asymptotic normality of maximum likelihood estimators of model parameters and the necessary and sufficient conditions for asymptotic optimality properties of linear prediction based on the model with misspecified parameters. The covariance function of the Whittle-Matérn fields is generally unavailable in closed form, and they have therefore been challenging to use for statistical inference. However, we show that for specific values of the fractional exponent, when the fields have Markov properties, likelihood-based inference and spatial prediction can be performed exactly and computationally efficiently. This facilitates using the Whittle-Matérn fields in statistical applications involving big datasets without the need for any approximations. The methods are illustrated via an application to modeling of traffic data, where allowing for differentiable processes dramatically improves the *** Codes Primary 62M30, secondary 62M05, 60G60, 35R02 Copyright © 2023, The Authors. All rights reserved.

关键词： Gaussian distribution

Time-Domain Speech Enhancement for Robust Automatic Speech Recognition

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arXiv 2022年

作者： Yang, Yufeng Pandey, Ashutosh Wang, DeLiang Department of Computer Science and Engineering The Ohio State University United States Center for Cognitive and Brain Sciences The Ohio State University United States

It has been shown that the intelligibility of noisy speech can be improved by speech enhancement algorithms. However, speech enhancement has not been established as an effective frontend for robust automatic speech recognition (ASR) in noisy conditions compared to an ASR model trained on noisy speech directly. The divide between speech enhancement and ASR impedes the progress of robust ASR systems especially as speech enhancement has made big strides in recent years. In this work, we focus on eliminating this divide with an ARN (attentive recurrent network) based time-domain enhancement model. The proposed system fully decouples speech enhancement and an acoustic model trained only on clean speech. Results on the CHiME-2 corpus show that ARN enhanced speech translates to improved ASR results. The proposed system achieves 6.28% average word error rate, outperforming the previous best by 19.3% relatively. Copyright © 2022, The Authors. All rights reserved.

关键词： Speech enhancement

Dark Web Analytics: A Comparative Study of Feature Selection and Prediction Algorithms 3

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Dark Web Analytics: A Comparative Study of Feature Selection...

3rd International Conference on Intelligent Data science Technologies and Applications, IDSTA 2022

作者： Al-Omari, Ahmad Allhusen, Andrew Wahbeh, Abdullah Al-Ramahi, Mohammad Alsmadi, Izzat Our Lady of the Lake University Cis and Security Program San AntonioTX United States Syracuse University Engineering & Computer Science SyracuseNY United States Slippery Rock University Dept. of Computer Science Slippery RockPA United States Texas A&M San Antonio Dept. of Computing and Cyber Security San AntonioTX United States

ISBN: (数字)9781665499606

ISBN: (纸本)9781665499606

The value and size of information exchanged through dark-web pages are remarkable. Recently Many researches showed values and interests in using machine-learning methods to extract security-related useful knowledge from those dark-web pages. In this scope, our goals in this research focus on evaluating best prediction models while analyzing traffic level data coming from the dark web. Results and analysis showed that feature selection played an important role when trying to identify the best models. Sometimes the right combination of features would increase the model's accuracy. For some feature set and classifier combinations, the Src Port and Dst Port both proved to be important features. When available, they were always selected over most other features. When absent, it resulted in many other features being selected to compensate for the information they provided. The Protocol feature was never selected as a feature, regardless of whether Src Port and Dst Port were available. © 2022 IEEE.

关键词： Websites

Experimental Evaluation of a Checklist-Based Inspection Technique to Verify the Compliance of Software Systems with the Brazilian General Data Protection Law

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arXiv 2023年

作者： Cerqueira, Diego André de Mello, Rafael Maiani Travassos, Guilherme Horta Systems Engineering and Computer Science Graduate Program Federal University of Rio de Janeiro Brazil Computing Institute Federal University of Rio de Janeiro Brazil

Background/Context: Recent laws to ensure the security and protection of personal data establish new software requirements. Consequently, new technologies are needed to guarantee software quality under the perception of privacy and protection of personal data. Therefore, we created a checklist-based inspection technique (LGPDCheck) to support the identification of defects in software artifacts based on the principles established by the Brazilian General Data Protection Law (LGPD). Objective/Aim: To evaluate the effectiveness and efficiency of LGPDCheck for verifying privacy and data protection (PDP) in software artifacts compared to ad-hoc techniques. Method: To assess LGPDCheck and ad-hoc techniques experimentally through a quasi-experiment (two factors, five treatments). The data will be collected from IoT-based health software systems built by software engineering students from the Federal University of Rio de Janeiro. The data analyses will compare results from ad-hoc and LGPDCheck inspections, the participant's effectiveness and efficiency in each trial, defects' variance and standard deviation, and time spent with the reviews. The data will be screened for outliers, and normality and homoscedasticity will be verified using the Shapiro-Wilk and Levene tests. Nonparametric or parametric tests, such as the Wilcoxon or Student's t-tests, will be applied as appropriate. © 2023, CC BY-NC-ND.

关键词： Data privacy

Double-SP Method to Enhance Privacy and Security of Smart City Applications 10

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Double-SP Method to Enhance Privacy and Security of Smart Ci...

17th INDIACom;2023 10th International Conference on Computing for Sustainable Global Development, INDIACom 2023

作者： Bahbouh, Nour Mahmoud Hakami, Abdulelah Alhussain Hassan Aljohani, Yaser Mohammed Sen, Adnan Ahmed Abi Alkhodre, Ahmad Alsughayyir, Aeshah Granada University Department of Information and Communication Sciences Granada Spain Saudi Electronic University Al-Madinah Saudi Arabia YasRef Program Yanbu Saudi Arabia Computing and Information Technology Islamic University Al-Madinah Saudi Arabia Islamic University Faculty of Computer and Information Systems Al-Madinah Saudi Arabia College of Computer Science and Engineering Taibah University Al-Madinah Saudi Arabia

ISBN: (纸本)9789380544472

Smart cities promise a lot of well-being to their users in all areas of life through millions of applications and services. Smart services rely heavily on collecting data and the preferences of users. But on the dark side, the users' information is posed to threat and penetration during transmission or stored far in the clouds. Depending on encryption only is not sufficient if the attacker has strong resources or if the attacker is the service provider (SP) itself. In addition, changing data before sending is not a practical solution in many systems because of the adverse impact on the quality of a main service. This research presented a new idea to address the issue of protection. The proposed method enhanced the privacy and security of users' data without affecting the accuracy of service. The core of the suggested solution relies on a knowledge base of services that are managed by experts. Also, the solution depends on fog nodes to measure the level of security and privacy of users' queries without delay. Moreover, the fog nodes manage contact with SPs. Finally, the proposed method divided the SP into two, one for user queries and the other for user data. The simulation and analytical discussion on a practical case in smart cities demonstrated the superiority of the proposed approach over previous methods in the level of protection by maintaining the quality of services, and the resistance to attacks. © 2023 Bharati Vidyapeeth, New Delhi.

关键词： Fog