LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control

In this study, the teleoperation robot control on a mobile robot with 2D SLAM and object localization using LPWAN is proposed. The mobile robot is a technology gaining popularity due to flexibility and robustness in a variety of terrains. In search and rescue activities, the mobile robots can be used to perform some missions, assist and preserve human life. However, teleoperation control becomes a challenging problem for this implementation. The robust wireless communication not only allows the operator to stay away from dangerous area, but also increases the mobility of the mobile robot itself. Most of teleoperation mobile robots use Wi-Fi having high-bandwidth, yet short communication range. LoRa as LPWAN, on the other hand, has much longer range but low-bandwidth communication speed. Therefore, the combination of them complements each other’s weaknesses. The use of a two-LoRa configuration also enhances the teleoperation capabilities. All information from the mobile robot can be sent to the PC controller in relatively fast enough for real-time SLAM implementation. Furthermore, the mobile robot is also capable of real-time object detection, localization, and transmitting images. Another problem of LoRa communication is a timeout. We apply timeout recovery algorithms to handle this issue, resulting in more stable data. All data have been confirmed by real-time trials and the proposed method can approach the Wi-Fi performance with a low waiting time or delay.

Epistatic Net allows the sparse spectral regularization of deep neural networks for inferring fitness functions

Despite recent advances in high-throughput combinatorial mutagenesis assays, the number of labeled sequences available to predict molecular functions has remained small for the vastness of the sequence space combined with the ruggedness of many fitness functions. While deep neural networks (DNNs) can capture high-order epistatic interactions among the mutational sites, they tend to overfit to the small number of labeled sequences available for training. Here, we developed Epistatic Net (EN), a method for spectral regularization of DNNs that exploits evidence that epistatic interactions in many fitness functions are sparse. We built a scalable extension of EN, usable for larger sequences, which enables spectral regularization using fast sparse recovery algorithms informed by coding theory. Results on several biological landscapes show that EN consistently improves the prediction accuracy of DNNs and enables them to outperform competing models which assume other priors. EN estimates the higher-order epistatic interactions of DNNs trained on massive sequence spaces-a computational problem that otherwise takes years to solve.