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Anahita is an autonomous underwater vehicle which is currently being developed by interdisciplinary team of students at Indian Institute of Technology(IIT) Kanpur with aim to provide a platform for research in AUV to undergraduate students. This is the second vehicle which is being designed by AUV-IITK team to participate in 6th NIOT-SAVe competition organized by the National Institute of Ocean Technology, Chennai. The Vehicle has been completely redesigned with the major improvements in modularity and ease of access of all the components, keeping the design very compact and efficient. New advancements in the vehicle include, power distribution system and monitoring system. The sensors include the inertial measurement units (IMU), hydrophone array, a depth sensor, and two RGB cameras. The current vehicle features hot swappable battery pods giving a huge advantage over the previous vehicle, for longer runtime.

Road-vehicle accidents are mostly due to human errors, and many such accidents could be avoided by continuously monitoring the driver. Driver monitoring (DM) is a topic of growing interest in the automotive industry, and it will remain relevant for all vehicles that are not fully autonomous, and thus for decades for the average vehicle owner. The present paper focuses on the first step of DM, which consists in characterizing the state of the driver. Since DM will be increasingly linked to driving automation (DA), this paper presents a clear view of the role of DM at each of the six SAE levels of DA. This paper surveys the state of the art of DM, and then synthesizes it, providing a unique, structured, polychotomous view of the many characterization techniques of DM. Informed by the survey, the paper characterizes the driver state along the five main dimensions--called here "(sub)states"--of drowsiness, mental workload, distraction, emotions, and under the influence. The polychotomous view of DM is presented through a pair of interlocked tables that relate these states to their indicators (e.g., the eye-blink rate) and the sensors that can access each of these indicators (e.g., a camera). The tables factor in not only the effects linked directly to the driver, but also those linked to the (driven) vehicle and the (driving) environment. They show, at a glance, to concerned researchers, equipment providers, and vehicle manufacturers (1) most of the options they have to implement various forms of advanced DM systems, and (2) fruitful areas for further research and innovation.

We model the risk posed by a malicious cyber-attacker seeking to induce grid insecurity by means of a load redistribution attack, while explicitly acknowledging that such an actor would plausibly base its decision strategy on imperfect information. More specifically, we introduce a novel formulation for the cyber-attacker's decision-making problem and analyze the distribution of decisions taken with randomly inaccurate data on the grid branch admittances or capacities, and the distribution of their respective impact. Our findings indicate that inaccurate admittance values most often lead to suboptimal cyber-attacks that still compromise the grid security, while inaccurate capacity values result in notably less effective attacks. We also find common attacked cyber-assets and common affected physical-assets between all (random) imperfect cyber-attacks, which could be exploited in a preventive and/or corrective sense for effective cyber-physical risk management.

Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost, robust, easily deployable and simple to control. The current work proposes a complete pipeline for solving packing tasks for cuboid objects, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing or dragging finger. The pipeline integrates perception for detecting the objects and planning so as to properly pick and place objects. The key challenges correspond to sensing noise and failures in execution, which appear at multiple steps of the process. To achieve robustness, three uncertainty-reducing manipulation primitives are proposed, which take advantage of the end-effector's and the workspace's compliance, to successfully and tightly pack multiple cuboid objects. The overall solution is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated in extensive real-world experiments by considering different versions of the pipeline. Furthermore, an open-source simulation framework is provided for modeling such packing operations. Ablation studies are performed within this simulation environment to evaluate features of the proposed primitives.

With the development of new technologies and applications, such as Internet of Things, smart cities, 5G and edge computing, traditional IP-based networks have exposed many problems. Information-Centric Networking (ICN), Named Data Networking (NDN) and Content-Centric Networking (CCN) are therefore proposed as an alternative for future network. However, unlike IP-based networks, the routing of CCN is not deterministic and hard to be optimized due to the frequent replacement of in-network caching. This paper presents a novel probe-based routing algorithm that real-time explores in-network caching to ensure the routing table storing the optimal paths to the nearest content provider up to date. Effective probe-selections, PIT probe and FIB probe are discussed and analyzed by simulation with different performance measurements. Compared with the basic CCN, in the aspect of qualitative analysis, the additional computational overhead of our approach are O(NCS + Nrt + NFIB) and O(NFIB) on processing interest packets and data packets, respectively. However, in the aspect of quantitative analysis, our approach reduces the number of timeout interest by 6% and reduces the average response time by 0.6 seconds. In addition, in the aspect of QoS, although basic CCN and our approach are in the same QoS category, our approach performs better in terms of real values. In summary, the results demonstrate that compared to basic CCN, our probe-based routing approach raises FIB accuracy and reduces network congestion and response time that achieves efficient routing.

Solving inverse problems, such as parameter estimation and optimal control, is a vital part of science. Many experiments repeatedly collect data and employ machine learning algorithms to quickly infer solutions to the associated inverse problems. We find that state-of-the-art training techniques are not well-suited to many problems that involve physical processes since the magnitude and direction of the gradients can vary strongly. We propose a novel hybrid training approach that combines higher-order optimization methods with machine learning techniques. We replace the gradient of the physical process by a new construct, referred to as the physical gradient. This also allows us to introduce domain knowledge into training by incorporating priors about the solution space into the gradients. We demonstrate the capabilities of our method on a variety of canonical physical systems, showing that physical gradients yield significant improvements on a wide range of optimization and learning problems.

Discussions is a new feature of GitHub for asking questions or discussing topics outside of specific Issues or Pull Requests. Before being available to all projects in December 2020, it had been tested on selected open source software projects. To understand how developers use this novel feature, how they perceive it, and how it impacts the development processes, we conducted a mixed-methods study based on early adopters of GitHub discussions from January until July 2020. We found that: (1) errors, unexpected behavior, and code reviews are prevalent discussion categories; (2) there is a positive relationship between project member involvement and discussion frequency; (3) developers consider GitHub Discussions useful but face the problem of topic duplication between Discussions and Issues; (4) Discussions play a crucial role in advancing the development of projects; and (5) positive sentiment in Discussions is more frequent than in Stack Overflow posts. Our findings are a first step towards data-informed guidance for using GitHub Discussions, opening up avenues for future work on this novel communication channel.

Human mobility similarity comparison plays a critical role in mobility estimation/prediction model evaluation, mobility clustering and mobility matching, which exerts an enormous impact on improving urban mobility, accessibility, and reliability. By expanding origin-destination matrix, we propose a concept named mobility tableau, which is an aggregated tableau representation to the population flow distributed between different location pairs of a study site and can be represented by a vector graph. Compared with traditional OD matrix-based mobility comparison, mobility tableau comparison provides high-dimensional similarity information, including volume similarity, spatial similarity, mass inclusiveness and structure similarity. A novel mobility tableaus similarity measurement method is proposed by optimizing the least spatial cost of transforming the vector graph for one mobility tableau into the other and is optimized to be efficient. The robustness of the measure is supported through several sensitive analysis on GPS based mobility tableau. The better performance of the approach compared with traditional mobility comparison methods in two case studies demonstrate the practicality and superiority, while one study is estimated mobility tableaus validation and the other is different cities' mobility tableaus comparison.

Digitalization is changing how people visit museums and explore the artifacts they house. Museums, as important educational venues outside classrooms, need to actively explore the application of digital interactive media, including games that can balance entertainment and knowledge acquisition. In this paper, we introduce RelicVR, a virtual reality (VR) game that encourages players to discover artifacts through physical interaction in a game-based approach. Players need to unearth artifacts hidden in a clod enclosure by using available tools and physical movements. The game relies on the dynamic voxel deformation technique to allow players to chip away earth covering the artifacts. We added uncertainty in the exploration process to bring it closer to how archaeological discovery happens in real life. Players do not know the shape or features of the hidden artifact and have to take away the earth gradually but strategically without hitting the artifact itself. From playtesting sessions with eight participants, we found that the uncertainty elements are conducive to their engagement and exploration experience. Overall, RelicVR is an innovative game that can improve players' learning motivation and outcomes of ancient artifacts.

Although Recommender Systems have been comprehensively studied in the past decade both in industry and academia, most of current recommender systems suffer from the fol- lowing issues: 1) The data sparsity of the user-item matrix seriously affect the recommender system quality. As a result, most of traditional recommender system approaches are not able to deal with the users who have rated few items, which is known as cold start problem in recommender system. 2) Traditional recommender systems assume that users are in- dependently and identically distributed and ignore the social relation between users. However, in real life scenario, due to the exponential growth of social networking service, such as facebook and Twitter, social connections between different users play an significant role for recommender system task. In this work, aiming at providing a better recommender sys- tems by incorporating user social network information, we propose a matrix factorization framework with user social connection constraints. Experimental results on the real-life dataset shows that the proposed method performs signifi- cantly better than the state-of-the-art approaches in terms of MAE and RMSE, especially for the cold start users.