scholarly journals State of the Art of Underwater Active Optical 3D Scanners

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5161 ◽  
Author(s):  
Miguel Castillón ◽  
Albert Palomer ◽  
Josep Forest ◽  
Pere Ridao
Keyword(s):  
State Of The Art ◽  
Robotic Systems ◽  
Underwater Imaging ◽  
Maintenance And Repair ◽  
Safety Issues ◽  
Domain Specific ◽  
Light Sensing ◽  
Vision Sensors ◽  
3D Scanners ◽  
Quantitative Performance

Underwater inspection, maintenance and repair (IMR) operations are being increasingly robotized in order to reduce safety issues and costs. These robotic systems rely on vision sensors to perform fundamental tasks, such as navigation and object recognition and manipulation. Especially, active optical 3D scanners are commonly used due to the domain-specific challenges of underwater imaging. This paper presents an exhaustive survey on the state of the art of optical 3D underwater scanners. A literature review on light projection and light-sensing technologies is presented. Moreover, quantitative performance comparisons of underwater 3D scanners present in the literature and commercial products are carried out.

scholarly journals A Survey of Robots in Healthcare

Technologies ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 8 ◽  
Author(s):  
Maria Kyrarini ◽  
Fotios Lygerakis ◽  
Akilesh Rajavenkatanarayanan ◽  
Christos Sevastopoulos ◽  
Harish Ram Nambiappan ◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
State Of The Art ◽  
The Elderly ◽  
Robotic Systems ◽  
Care Hospital ◽  
Robotic Technology ◽  
Persons With Disabilities ◽  
Survey Paper ◽  
Recent Advances ◽  
Art Research

In recent years, with the current advancements in Robotics and Artificial Intelligence (AI), robots have the potential to support the field of healthcare. Robotic systems are often introduced in the care of the elderly, children, and persons with disabilities, in hospitals, in rehabilitation and walking assistance, and other healthcare situations. In this survey paper, the recent advances in robotic technology applied in the healthcare domain are discussed. The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots. The paper also discusses the open challenges healthcare robots face to be integrated into our society.

scholarly journals BioALBERT: A Simple and Effective Pre-trained Language Model for Biomedical Named Entity Recognition

2020 ◽  
Author(s):  
Usman Naseem ◽  
Matloob Khushi ◽  
Vinay Reddy ◽  
Sakthivel Rajendran ◽  
Imran Razzak ◽  
...  
Keyword(s):  
State Of The Art ◽  
Language Model ◽  
Named Entity Recognition ◽  
Training Data ◽  
Entity Recognition ◽  
Future Research ◽  
Named Entity ◽  
Domain Specific ◽  
Context Dependent ◽  
Biomedical Named Entity Recognition

Abstract Background: In recent years, with the growing amount of biomedical documents, coupled with advancement in natural language processing algorithms, the research on biomedical named entity recognition (BioNER) has increased exponentially. However, BioNER research is challenging as NER in the biomedical domain are: (i) often restricted due to limited amount of training data, (ii) an entity can refer to multiple types and concepts depending on its context and, (iii) heavy reliance on acronyms that are sub-domain specific. Existing BioNER approaches often neglect these issues and directly adopt the state-of-the-art (SOTA) models trained in general corpora which often yields unsatisfactory results. Results: We propose biomedical ALBERT (A Lite Bidirectional Encoder Representations from Transformers for Biomedical Text Mining) - bioALBERT - an effective domain-specific pre-trained language model trained on huge biomedical corpus designed to capture biomedical context-dependent NER. We adopted self-supervised loss function used in ALBERT that targets on modelling inter-sentence coherence to better learn context-dependent representations and incorporated parameter reduction strategies to minimise memory usage and enhance the training time in BioNER. In our experiments, BioALBERT outperformed comparative SOTA BioNER models on eight biomedical NER benchmark datasets with four different entity types. The performance is increased for; (i) disease type corpora by 7.47% (NCBI-disease) and 10.63% (BC5CDR-disease); (ii) drug-chem type corpora by 4.61% (BC5CDR-Chem) and 3.89 (BC4CHEMD); (iii) gene-protein type corpora by 12.25% (BC2GM) and 6.42% (JNLPBA); and (iv) Species type corpora by 6.19% (LINNAEUS) and 23.71% (Species-800) is observed which leads to a state-of-the-art results. Conclusions: The performance of proposed model on four different biomedical entity types shows that our model is robust and generalizable in recognizing biomedical entities in text. We trained four different variants of BioALBERT models which are available for the research community to be used in future research.

Feature Matching-based Approaches to Improve the Robustness of Android Visual GUI Testing

2022 ◽  
Vol 31 (2) ◽  
pp. 1-32
Author(s):  
Luca Ardito ◽  
Andrea Bottino ◽  
Riccardo Coppola ◽  
Fabrizio Lamberti ◽  
Francesco Manigrasso ◽  
...  
Keyword(s):  
Computer Vision ◽  
Feature Matching ◽  
State Of The Art ◽  
Design Of Algorithms ◽  
Computational Burden ◽  
Domain Specific ◽  
Gui Testing ◽  
Wide Range ◽  
Full Screen ◽  
Feature Based

In automated Visual GUI Testing (VGT) for Android devices, the available tools often suffer from low robustness to mobile fragmentation, leading to incorrect results when running the same tests on different devices. To soften these issues, we evaluate two feature matching-based approaches for widget detection in VGT scripts, which use, respectively, the complete full-screen snapshot of the application ( Fullscreen ) and the cropped images of its widgets ( Cropped ) as visual locators to match on emulated devices. Our analysis includes validating the portability of different feature-based visual locators over various apps and devices and evaluating their robustness in terms of cross-device portability and correctly executed interactions. We assessed our results through a comparison with two state-of-the-art tools, EyeAutomate and Sikuli. Despite a limited increase in the computational burden, our Fullscreen approach outperformed state-of-the-art tools in terms of correctly identified locators across a wide range of devices and led to a 30% increase in passing tests. Our work shows that VGT tools’ dependability can be improved by bridging the testing and computer vision communities. This connection enables the design of algorithms targeted to domain-specific needs and thus inherently more usable and robust.

Word Sense Disambiguation

2013 ◽  
pp. 22-51
Author(s):  
Pushpak Bhattacharyya ◽  
Mitesh Khapra
Keyword(s):  
State Of The Art ◽  
Word Sense Disambiguation ◽  
Current Trend ◽  
General Purpose ◽  
Word Sense ◽  
Domain Specific ◽  
Knowledge Based ◽  
Current State ◽  
Sense Disambiguation ◽  
State Of Affairs

This chapter discusses the basic concepts of Word Sense Disambiguation (WSD) and the approaches to solving this problem. Both general purpose WSD and domain specific WSD are presented. The first part of the discussion focuses on existing approaches for WSD, including knowledge-based, supervised, semi-supervised, unsupervised, hybrid, and bilingual approaches. The accuracy value for general purpose WSD as the current state of affairs seems to be pegged at around 65%. This has motivated investigations into domain specific WSD, which is the current trend in the field. In the latter part of the chapter, we present a greedy neural network inspired algorithm for domain specific WSD and compare its performance with other state-of-the-art algorithms for WSD. Our experiments suggest that for domain-specific WSD, simply selecting the most frequent sense of a word does as well as any state-of-the-art algorithm.

State of the Art and Key Design Challenges of Telesurgical Robotics

2019 ◽  
pp. 1100-1111
Author(s):  
Sajid Nisar ◽  
Osman Hasan
Keyword(s):  
State Of The Art ◽  
Robotic Systems ◽  
Future Research ◽  
Research Directions ◽  
Remote Locations ◽  
Comprehensive Survey ◽  
Future Research Directions ◽  
Surgical System ◽  
Surgical Operations ◽  
Design Challenges

Telesurgical robotic systems allow surgeons to perform surgical operations from remote locations with enhanced comfort and dexterity. Introduction of robotic technology has revolutionized operation theaters but its multidisciplinary nature and high associated costs pose significant challenges. This chapter provides a comprehensive survey of the current progress in the field of surgical robotics with a detailed discussion on various state-of-the-art telesurgical robotic systems. The key design approaches and challenges are identified, and their solutions are recommended. A set of parameters that can be used to assess usefulness of a telesurgical robot are discussed. Finally, guidelines for selection of a suitable surgical system and the future research directions are described.

scholarly journals A RESTful middleware for AI controlled sensors, actuators and smart devices

2019 ◽  
Vol 11 (7) ◽  
pp. 2963-2986 ◽  
Author(s):  
Nikos Dipsis ◽  
Kostas Stathis
Keyword(s):  
Smart Home ◽  
Learning Algorithm ◽  
State Of The Art ◽  
Smart Devices ◽  
Machine Learning Algorithm ◽  
Concrete Case ◽  
Domain Specific ◽  
Sensor Actuator ◽  
Current State

Abstract The numerous applications of internet of things (IoT) and sensor networks combined with specialized devices used in each has led to a proliferation of domain specific middleware, which in turn creates interoperability issues between the corresponding architectures and the technologies used. But what if we wanted to use a machine learning algorithm to an IoT application so that it adapts intelligently to changes of the environment, or enable a software agent to enrich with artificial intelligence (AI) a smart home consisting of multiple and possibly incompatible technologies? In this work we answer these questions by studying a framework that explores how to simplify the incorporation of AI capabilities to existing sensor-actuator networks or IoT infrastructures making the services offered in such settings smarter. Towards this goal we present eVATAR+, a middleware that implements the interactions within the context of such integrations systematically and transparently from the developers’ perspective. It also provides a simple and easy to use interface for developers to use. eVATAR+ uses JAVA server technologies enhanced by mediator functionality providing interoperability, maintainability and heterogeneity support. We exemplify eVATAR+ with a concrete case study and we evaluate the relative merits of our approach by comparing our work with the current state of the art.

scholarly journals Lost in the Woods? Place Recognition for Navigation in Difficult Forest Environments

2020 ◽  
Vol 7 ◽  
Author(s):  
James Garforth ◽  
Barbara Webb
Keyword(s):  
State Of The Art ◽  
Robotic Systems ◽  
Place Recognition ◽  
Challenging Problem ◽  
Data Set ◽  
Loop Closure ◽  
Urban Scenes ◽  
Feature Correspondences ◽  
Recognition Systems ◽  
Crucial Part

Forests present one of the most challenging environments for computer vision due to traits, such as complex texture, rapidly changing lighting, and high dynamicity. Loop closure by place recognition is a crucial part of successfully deploying robotic systems to map forests for the purpose of automating conservation. Modern CNN-based place recognition systems like NetVLAD have reported promising results, but the datasets used to train and test them are primarily of urban scenes. In this paper, we investigate how well NetVLAD generalizes to forest environments and find that it out performs state of the art loop closure approaches. Finally, integrating NetVLAD with ORBSLAM2 and evaluating on a novel forest data set, we find that, although suitable locations for loop closure can be identified, the SLAM system is unable to resolve matched places with feature correspondences. We discuss additional considerations to be addressed in future to deal with this challenging problem.

SECOND LANGUAGE EPISTEMOLOGY

2009 ◽  
Vol 31 (2) ◽  
pp. 291-321 ◽  
Author(s):  
Laurent Dekydtspotter
Keyword(s):  
Second Language ◽  
State Of The Art ◽  
Native Language ◽  
Universal Grammar ◽  
Domain Specificity ◽  
Domain Specific ◽  
Language Knowledge

This article presents evidence that supports the claim that second language (L2) grammars arise in a domain-specific, informationally encapsulated module with contents provided by Universal Grammar and enriched by native language knowledge, as entertained by Schwartz (1986, 1987, 1999) contra Bley-Vroman (1990). I consider state-of-the-art evidence representative of a body of research on the poverty of the stimulus (POS) that argues for the domain-specificity of L2 representations, with a main focus on interpretation. Then I examine interpretive evidence relevant to the role of informational encapsulation and compositionality in SLA. I seek to demonstrate that the acquisition of syntax-linked interpretive properties where the POS is severe provides opportunities for a type of fingerprinting of mental organization that can inform a variety of epistemologically relevant questions.

Intelligent Robot Systems for Manipulation of Non-Rigid Objects

2017 ◽  
Vol 260 ◽  
pp. 20-29 ◽  
Author(s):  
Nikos A. Aspragathos
Keyword(s):  
Main Part ◽  
State Of The Art ◽  
Robotic Manipulation ◽  
Robotic Systems ◽  
Elastic Behavior ◽  
Intelligent Robot ◽  
Bending Rigidity ◽  
Future Directions ◽  
Rigid Objects ◽  
Robot Systems

In this paper, methodologies are presented for the development of intelligent robot systems for the manipulation of linear and sheet like objects with low and/or very low bending rigidity. In the introduction the non-rigid objects are defined and classified considering their shape, bending rigidity and extensibility. The industrial and service applications of these systems are presented and the state of the art approaches for the manipulation of various categories of the non-rigid objects are presented. A brief State-of the-Art on the manipulation of the deformable objects with relatively low bending rigidity and presenting elastic behavior like foam, sheet metal is presented as well.The main part of the paper is devoted to the robotic manipulation of the sheet-like objects with very low rigidity such as fabrics and leather. Laboratory demonstrators accompany the presentation of the developed intelligent robotic systems for manipulation of non-rigid objects and the paper concludes with hints for the future directions of the research and development in robotic systems for handling non-rigid objects.

scholarly journals Stepping Stones to Inductive Synthesis of Low-Level Looping Programs

2019 ◽  
Vol 33 ◽  
pp. 2362-2370 ◽  
Author(s):  
Christopher D. Rosin
Keyword(s):  
State Of The Art ◽  
Assembly Language ◽  
Program Synthesis ◽  
Input Output ◽  
Stepping Stones ◽  
Inductive Synthesis ◽  
Low Level ◽  
Domain Specific ◽  
Assembly Language Programming ◽  
Algorithmic Form

Inductive program synthesis, from input/output examples, can provide an opportunity to automatically create programs from scratch without presupposing the algorithmic form of the solution. For induction of general programs with loops (as opposed to loop-free programs, or synthesis for domain-specific languages), the state of the art is at the level of introductory programming assignments. Most problems that require algorithmic subtlety, such as fast sorting, have remained out of reach without the benefit of significant problem-specific background knowledge. A key challenge is to identify cues that are available to guide search towards correct looping programs. We present MAKESPEARE, a simple delayed-acceptance hillclimbing method that synthesizes low-level looping programs from input/output examples. During search, delayed acceptance bypasses small gains to identify significantly-improved stepping stone programs that tend to generalize and enable further progress. The method performs well on a set of established benchmarks, and succeeds on the previously unsolved “Collatz Numbers” program synthesis problem. Additional benchmarks include the problem of rapidly sorting integer arrays, in which we observe the emergence of comb sort (a Shell sort variant that is empirically fast). MAKESPEARE has also synthesized a record-setting program on one of the puzzles from the TIS100 assembly language programming game.

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