Virtual Reality Aided High-Quality 3D Reconstruction by Remote Drones

Artificial intelligence including deep learning and 3D reconstruction methods is changing the daily life of people. Now, an unmanned aerial vehicle that can move freely in the air and avoid harsh ground conditions has been commonly adopted as a suitable tool for 3D reconstruction. The traditional 3D reconstruction mission based on drones usually consists of two steps: image collection and offline post-processing. But there are two problems: one is the uncertainty of whether all parts of the target object are covered, and another is the tedious post-processing time. Inspired by modern deep learning methods, we build a telexistence drone system with an onboard deep learning computation module and a wireless data transmission module that perform incremental real-time dense reconstruction of urban cities by itself. Two technical contributions are proposed to solve the preceding issues. First, based on the popular depth fusion surface reconstruction framework, we combine it with a visual-inertial odometry estimator that integrates the inertial measurement unit and allows for robust camera tracking as well as high-accuracy online 3D scan. Second, the capability of real-time 3D reconstruction enables a new rendering technique that can visualize the reconstructed geometry of the target as navigation guidance in the HMD. Therefore, it turns the traditional path-planning-based modeling process into an interactive one, leading to a higher level of scan completeness. The experiments in the simulation system and our real prototype demonstrate an improved quality of the 3D model using our artificial intelligence leveraged drone system.

CAT: Centerness-Aware Anchor-Free Tracker

Accurate and robust scale estimation in visual object tracking is a challenging task. To obtain a scale estimation of the target object, most methods rely either on a multi-scale searching scheme or on refining a set of predefined anchor boxes. These methods require heuristically selected parameters, such as scale factors of the multi-scale searching scheme, or sizes and aspect ratios of the predefined candidate anchor boxes. On the contrary, a centerness-aware anchor-free tracker (CAT) is designed in this work. First, the location and scale of the target object are predicted in an anchor-free fashion by decomposing tracking into parallel classification and regression problems. The proposed anchor-free design obviates the need for hyperparameters related to the anchor boxes, making CAT more generic and flexible. Second, the proposed centerness-aware classification branch can identify the foreground from the background while predicting the normalized distance from the location within the foreground to the target center, i.e., the centerness. The proposed centerness-aware classification branch improves the tracking accuracy and robustness significantly by suppressing low-quality state estimates. The experiments show that our centerness-aware anchor-free tracker, with its appealing features, achieves salient performance in a wide variety of tracking scenarios.

Strengthening the Role of Women in Empowering Mosque Functions After the Covid 19 Pandemic with a Social Entrepreneurship Approach

This service aims to increase women's awareness and capacity in managing the function of an economy-based mosque through Zakat, Infak, Shodaqoh, and Waqf (Ziswaf) funds. This departs from the fact in the community around the assisted mosque that in every majlis of women-based religious activities there is an economic sector that is built and developed with a savings and loan cooperative system. especially during the COVID-19 pandemic, the community's need for social institutions like this is very high, this can be seen from the number of borrowers at one of the women's ta'lim majlis which has increased sharply. Therefore, it is important to help increase their role and capacity, in the process of social change and improving people's welfare. Thus, institutionally mosques and mosque congregations as a community of the nation-state can contribute optimally in the national development process. The ability to master mosque empowerment strategies by developing zakat, infaq, shadaqah, and waqaf (ZISWAF) instruments is important to be mastered by mosque welfare officials and women driving economic activity in majlis ta'lim. The method applied in this program is Participatory Rural Appraisal (PRA) which prioritizes critical dialogue using object/community-based disclosure, to obtain a real perspective in the minds of the target object and at the same time fulfil the paradigmatic alignment as mentioned above. The approach taken in this program is a social entrepreneurship approach, which combines increasing the value of resources economically and streamlining social goals and missions. This approach aims to improve social aspects, as well as implement strategies that are integrated between social and economic aspects.

Pemetaan Potensi Desa Ngesrepbalong Berbasis Masyarakat

Ngesrepbalong Village (Kendal) is considered feasible to be developed as a UNNES Assisted Village because it has various natural, social, economic, infrastructure, and institutional potentials. However, information about these potentials is still lacking. This community service activity aims to map the potential of the Ngesrepbalong Village area to be used for various interests, especially for development planning in the village. This service activity is carried out with a group-based approach (participatory mapping). The activities consist of socialization, increasing understanding and competence, implementing mapping activities, and handover mapping results. Mapping results show that the prominent potential in Ngesrepbalong Village is tourism potential. However, the problem of accessibility is one of the inhibiting factors for the development of this potential. The data and information obtained from the mapping of the potential of Ngesrepbalong Village can be used as material for consideration in preparing development plans or as the next target object for the implementation of further community service activities. Desa Ngesrepbalong (Kendal) dinilai layak untuk dikembangkan sebagai Desa Binaan UNNES karena memiliki beragam potensi alam, sosial, ekonomi, infrastruktur dan kelembagaan. Akan tetapi, informasi mengenai potensi-potensi tersebut masih kurang. Kegiatan pengabdian kepada masyarakat ini bertujuan untuk memetakan potensi wilayah Desa Ngesrepbalong agar dapat dimanfaatkan untuk berbagai kepentingan, terutama untuk perencanaan pembangunan di desa tersebut. Kegiatan pengabdian ini dilaksanakan dengan pendekatan berbasis kelompok, berbasis potensi lokal dan komprehensif. Tahapan kegiatan yang dilaksanakan meliputi sosialisasi, peningkatan pemahaman dan kompetensi, pelaksanaan kegiatan pemetaan, serta penyerahan hasil pemetaan. Hasil pemetaan menunjukkan bahwa potensi yang menonjol di Desa Ngesrepbalong adalah potensi wisata. Namun, permasalahan aksesibilitas menjadi salah satu faktor penghambat untuk pengembangan potensi tersebut. Data dan informasi yang diperoleh dari hasil pemetaan potensi Desa Ngesrepbalong dapat digunakan sebagai bahan pertimbangan untuk menyusun rencana pembangunan ataupun menjadi obyek sasaran berikutnya bagi pelaksanaan kegiatan pengabdian selanjutnya.

SEMANTIC DEVELOPMENT IN ARABIC LANGUAGE (AN ANALYTICAL STUDY ON DIWAN ABI TAMMAM) / التطور الدلالي فى اللغة العربية (دراسة تحليلية عن ديوان أبي تمام)

This study aims to determine the development of Arabic semantics in Diwan Abi Tammam book. Abu Tammam is a modern Arabic poet. He has poetry books which have been printed several times and all of his poetry is collected in a book that is known as Diwan Abi Tammam. This research is limited to the types of semantic development. The method used was content analysis. This study begins with an analysis of semantic development in Arabic and then its application in the Diwan Abi Tammam book. The results of this study indicate that the types of semantic development in Diwan Abi Tammam are grammatical and phonemic semantics. The grammatical semantic elements include the meaning of a sentence based on the elements of imagination, aesthetics, stylistic and rhetoric. Whereas, the semantic phonemic elements include the meaning of characteristics of several composed sounds and these sounds have a meaning role in a word such as the differences in the use of halqi, ra’, and sin, and their influence on the meaning of the target object.

APPLICATION OF THE ATTITUDE IDENTIFICATION MODEL TO THE OBJECT BASED ON THE SOCIAL MEDIA PUBLICATIONS ANALYSIS FOR SOLVING APPLIED PROBLEMS IN ASSESSING THE EFFECTIVENESS OF THE ACTIVITIES OF SENIOR RUSSIAN FEDERATION SUBJECTS OFFICIALS

В статье изложена оценка эффективности модели идентификации отношения к целевому объекту на основе публикаций в социальных сетях, использующей искусственные показатели публикаций социальных сетей, полученные на основе структурно-временных характеристик последних. The article evaluates the effectiveness of the attitude identification model to the target object based on social networks publications, using social network publications artificial indicators obtained on their structural and temporal characteristics basis.

Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification

Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father–Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruise and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra-inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by a tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquire the image information of the target object with the aid of the camera, and also to identify the target object. Finally, verification experiments are conducted in an indoor water tank and outdoor swimming pool conditions to verify the effectiveness of the proposed in this paper.

Theoretical investigation of active listening behavior based on the echolocation of CF-FM bats

Bats perceive the three-dimensional (3D) environment by emitting ultrasound pulses from their nose or mouth and receiving echoes through both ears. To detect the position of a target object, it is necessary to know the distance and direction of the target. Certain bat species synchronize the movement of their pinnae with pulse emission, and it is this behavior that enables 3D direction detection. However, the significance of bats’ ear motions remains unclear. In this study, we construct a model of an active listening system including the motion of the ears, and conduct mathematical investigations to clarify the importance of ear motion in 3D direction detection. The theory suggests that only certain ear motions, namely three-axis rotation, accomplish accurate and robust 3D direction detection. Our theoretical analysis also strongly supports the behavior whereby bats move their pinnae in the antiphase mode. In addition, we provide the conditions for ear motions to ensure accurate and robust direction detection, suggesting that simple shaped hearing directionality and well-selected uncomplicated ear motions are sufficient to achieve precise and robust 3D direction detection. Our findings and mathematical approach have the potential to be used in the design of active sensing systems in various engineering fields.

Influence of Vibrotactile Random Noise on the Smoothness of the Grasp Movement in Patients in Chemotherapy-Induced Peripheral Neuropathy

Background Patients with chemotherapy-induced peripheral neuropathy (CIPN) often suffer from sensorimotor dysfunction of the distal portion of the extremities (e.g., loss of somatosensory sensation, numbness/tingling, difficulty typing on a keyboard, or difficulty undoing or doing up a button). The present study aimed to reveal the effects of subthreshold vibrotactile random noise stimulation on sensorimotor dysfunction in CIPN patients without exacerbating symptoms. Methods Twenty-five patients with CIPN and 28 age-matched healthy adults participated in this study. To reveal the effects of subthreshold vibrotactile random noise stimulation on sensorimotor function, participants were asked to perform grasp movement tasks during random noise stimulation delivered to the volar and dorsal wrist. We set three intensity conditions of the vibrotactile random noise: 0%, 60%, and 120% of the sensory threshold (Noise 0%, Noise 60%, and Noise 120% conditions). In the grasp movement task, the distance between the thumb and index finger was recorded while the participant attempted to grasp a target object, and the smoothness of the grasp movement was quantified by calculating normalized jerk in each experimental condition. The experimental data were compared using two-way repeated-measures analyses of variance with two binary factors: experimental condition (Noise 0%, 60%, 120%) × group (Healthy controls, CIPN patients).Results The smoothness of the grasp movement was only improved in the Noise 60% condition without exacerbating numbness/tingling in CIPN patients and healthy controls. Conclusions The current study suggested that the development of treatment devices using stochastic resonance can improve sensorimotor function for CIPN patients.Trial registration UMIN Clinical Trials Registry（UMIN-CTR）No. UMIN000024776https://rctportal.niph.go.jp/s/detail/um?trial_id=UMIN000024776#

What are you looking at? Gaze following with and without target objects in ASD and typical development

Children with autism spectrum disorder (ASD) display difficulties with response to joint attention in natural settings but often perform comparably to typically developing (TD) children in experimental studies of gaze following. Previous work comparing infants at elevated likelihood for ASD versus TD infants has manipulated aspects of the gaze cueing stimulus (e.g. eyes only versus head and eyes together), but the role the peripheral object being attended to is not known. In this study of infants at elevated likelihood of ASD ( N = 97) and TD infants ( N = 29), we manipulated whether or not a target object was present in the cued area. Performance was assessed at 10, 14, and 18 months, and diagnostic assessment was conducted at age 3 years. The results showed that although infants with later ASD followed gaze to the same extent as TD infants in all conditions, they displayed faster latencies back to the model’s face when (and only when) a peripheral object was absent. These subtle atypicalities in the gaze behaviors directly after gaze following may implicate a different appreciation of the communicative situation in infants with later ASD, despite their ostensively typical gaze following ability. Lay abstract During the first year of life, infants start to align their attention with that of other people. This ability is called joint attention and facilitates social learning and language development. Although children with autism spectrum disorder (ASD) are known to engage less in joint attention compared to other children, several experimental studies have shown that they follow other’s gaze (a requirement for visual joint attention) to the same extent as other children. In this study, infants’ eye movements were measured at age 10, 14, and 18 months while watching another person look in a certain direction. A target object was either present or absent in the direction of the other person’s gaze. Some of the infants were at elevated likelihood of ASD, due to having an older autistic sibling. At age 3 years, infants were assessed for a diagnosis of ASD. Results showed that infants who met diagnostic criteria at 3 years followed gaze to the same extent as other infants. However, they then looked back at the model faster than typically developing infants when no target object was present. When a target object was present, there was no difference between groups. These results may be in line with the view that directly after gaze following, infants with later ASD are less influenced by other people’s gaze when processing the common attentional focus. The study adds to our understanding of both the similarities and differences in looking behaviors between infants who later receive an ASD diagnosis and other infants.