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In this study, the creation of a database consisting of images obtained as a result of deformation in the images recorded by these cameras by injecting errors into the robot camera nodes and the alternative uses of this database are explained. The study is based on an existing camera fault injection software that injects faults into the cameras of the ROKOS robot arms while the system is running and collects the normal and faulty images recorded during this injection. The database obtained in the study is a source for detecting anomalies that may occur in robotic systems. The ROKOS system has been developed on the inspection of the parts in a bus body-in-white with the help of the cameras on the ROKOS robot arms, right and left. The simulation-based robot verification testing tool (SRVT) system is a system that has emerged by simulating these robots and the chassis in the Gazebo environment, performing and implementing the trajectory planning with the MoveIt planner, and integrating the ROS Smach structure and mission communication. This system is being developed within the scope of the VALU3S project to create a V&V system in the robotics field. Within the scope of this study, a database of 10000 images was created, consisting of 5000 normal and 5000 faulty images. Faulty pictures were obtained by injecting seven different image fault types, including erosion, dilusion, opening, closing, gradient, motion-blur and partial loss, at different times when the robot was in operation. This database consists of images taken by the ROKOS system from the vehicle during a bus chassis inspection mission.

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to achieve possible optimal or suboptimal path from the initial position to the target according to the robot's constrains in practice. This report investigates path planning and control strategies for mobile robots with machine learning techniques, including ground mobile robots and flying UAVs. In this report, the hybrid reactive collision-free navigation problem under an unknown static environment is investigated firstly. By combining both the reactive navigation and Q-learning method, we intend to keep the good characteristics of reactive navigation algorithm and Q-learning and overcome the shortcomings of only relying on one of them. The proposed method is then extended into 3D environments. The performance of the mentioned strategies are verified by extensive computer simulations, and good results are obtained. Furthermore, the more challenging dynamic environment situation is taken into our consideration. We tackled this problem by developing a new path planning method that utilizes the integrated environment representation and reinforcement learning. Our novel approach enables to find the optimal path to the target efficiently and avoid collisions in a cluttered environment with steady and moving obstacles. The performance of these methods is compared with other different aspects.

ComOpT is an open-source research tool for coverage-driven testing of autonomous driving systems, focusing on planning and control. Starting with (i) a meta-model characterizing discrete conditions to be considered and (ii) constraints specifying the impossibility of certain combinations, ComOpT first generates constraint-feasible abstract scenarios while maximally increasing the coverage of k-way combinatorial testing. Each abstract scenario can be viewed as a conceptual equivalence class, which is then instantiated into multiple concrete scenarios by (1) randomly picking one local map that fulfills the specified geographical condition, and (2) assigning all actors accordingly with parameters within the range. Finally, ComOpT evaluates each concrete scenario against a set of KPIs and performs local scenario variation via spawning a new agent that might lead to a collision at designated points. We use ComOpT to test the Apollo~6 autonomous driving software stack. ComOpT can generate highly diversified scenarios with limited test budgets while uncovering problematic situations such as inabilities to make simple right turns, uncomfortable accelerations, and dangerous driving patterns. ComOpT participated in the 2021 IEEE AI Autonomous Vehicle Testing Challenge and won first place among more than 110 contending teams.

In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters identification schemes. To this end, the implicit dynamic of SPRs is first formulated using the principle of virtual work in task-space, and then by using an extension, their explicit dynamic formulation is derived. The dynamic equation is then analytically reformulated into linear and S-L regression form with respect to the inertial parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique and closed-form structure. Finally, to illustrate the effectiveness of the proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR, are examined as the case studies. The obtained results are verified by using the MSC-ADAMS software, and are shared to interested audience for public access.

The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the friction between the robot and the environment as well as the drag force from the tether play a significant role during the motion control of the capsule. Moreover, these forces especially the friction force are typically hard to model beforehand. In this paper, we first designed a magnet-actuated tethered capsule robot, where the driving magnet is mounted on the end of a robotic arm. Then, we proposed a learning-based approach to model the friction force between the capsule and the environment, with the goal of increasing the control accuracy of the whole system. Finally, several real robot experiments are demonstrated to showcase the effectiveness of our proposed approach.

dentifying associations among biological variables is a major challenge in modern quantitative biological research, particularly given the systemic and statistical noise endemic to biological systems. Drug sensitivity data has proven to be a particularly challenging field for identifying associations to inform patient treatment. To address this, we introduce two semi-parametric variations on the commonly used concordance index: the robust concordance index and the kernelized concordance index (rCI, kCI), which incorporate measurements about the noise distribution from the data. We demonstrate that common statistical tests applied to the concordance index and its variations fail to control for false positives, and introduce efficient implementations to compute p-values using adaptive permutation testing. We then evaluate the statistical power of these coefficients under simulation and compare with Pearson and Spearman correlation coefficients. Finally, we evaluate the various statistics in matching drugs across pharmacogenomic datasets. We observe that the rCI and kCI are better powered than the concordance index in simulation and show some improvement on real data. Surprisingly, we observe that the Pearson correlation was the most robust to measurement noise among the different metrics.

In this work, we report on the results and lessons learned from different disciplines while researching the loosely-defined problem of hearing a city. We present Xenakis, a tool for the musification of urban data, which is able to capture some features of a city's topology through the distribution of street orientations, and turn it into a (very) small piece of music, a loop, which can be used as building block for compositions. Besides providing complementary visual and auditory channels to interface with this data, we also allow the piping of \textit{midi} signals to other applications. This concept was developed by visualization researchers collaborating with musicians using design study methodologies in an open-ended way. Our results include musical tracks, and we take advantage of the scope of alt.VIS to communicate our research in a sincere, humorous, and engaging format.

User engagement is a critical metric for evaluating the quality of open-domain dialogue systems. Prior work has focused on conversation-level engagement by using heuristically constructed features such as the number of turns and the total time of the conversation. In this paper, we investigate the possibility and efficacy of estimating utterance-level engagement and define a novel metric, {\em predictive engagement}, for automatic evaluation of open-domain dialogue systems. Our experiments demonstrate that (1) human annotators have high agreement on assessing utterance-level engagement scores; (2) conversation-level engagement scores can be predicted from properly aggregated utterance-level engagement scores. Furthermore, we show that the utterance-level engagement scores can be learned from data. These scores can improve automatic evaluation metrics for open-domain dialogue systems, as shown by correlation with human judgements. This suggests that predictive engagement can be used as a real-time feedback for training better dialogue models.

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing the community from obtaining an accurate picture of the state-of-the-art. Our key contribution is a novel pipeline for acquiring accurate ground truth poses of real objects w.r.t a Kinect V2 sensor by using a commercial motion capture system. A total of 100 calibrated sequences of real objects are acquired in three different scenarios to evaluate the performance of trackers in various scenarios: stability, robustness to occlusion and accuracy during challenging interactions between a person and the object. We conduct an extensive study of a deep 6-DOF tracking architecture and determine a set of optimal parameters. We enhance the architecture and the training methodology to train a 6-DOF tracker that can robustly generalize to objects never seen during training, and demonstrate favorable performance compared to previous approaches trained specifically on the objects to track.

With the ever-growing volume, complexity and dynamicity of online information, recommender system has been an effective key solution to overcome such information overload. In recent years, deep learning's revolutionary advances in speech recognition, image analysis and natural language processing have gained significant attention. Meanwhile, recent studies also demonstrate its effectiveness in coping with information retrieval and recommendation tasks. Applying deep learning techniques into recommender system has been gaining momentum due to its state-of-the-art performances and high-quality recommendations. In contrast to traditional recommendation models, deep learning provides a better understanding of user's demands, item's characteristics and historical interactions between them. This article aims to provide a comprehensive review of recent research efforts on deep learning based recommender systems towards fostering innovations of recommender system research. A taxonomy of deep learning based recommendation models is presented and used to categorize the surveyed articles. Open problems are identified based on the analytics of the reviewed works and potential solutions discussed.