Safety limitations in service robotics across various industries have raised significant concerns about the need for robust mechanisms ensuring that robots adhere to safe practices, thereby preventing actions that might harm humans or cause property damage. Despite advances, including the integration of Knowledge Graphs (KGs) with Large Language Models (LLMs), challenges in ensuring consistent safety in autonomous robot actions persist. In this paper, we propose a novel integration of Large Language Models with Embodied Robotic Control Prompts (ERCPs) and Embodied Knowledge Graphs (EKGs) to enhance the safety framework for service robots. ERCPs are designed as predefined instructions that ensure LLMs generate safe and precise responses. These responses are subsequently validated by EKGs, which provide a comprehensive knowledge base ensuring that the actions of the robot are continuously aligned with safety protocols, thereby promoting safer operational practices in varied contexts. Our experimental setup involved diverse real-world tasks, where robots equipped with our framework demonstrated significantly higher compliance with safety standards compared to traditional methods. This integration fosters secure human-robot interactions and positions our methodology at the forefront of AI-driven safety innovations in service robotics.
Extreme value analysis (EVA) uses data to estimate long-term extreme environmental conditions for variables such as significant wave height and period, for the design of marine structures. Together with models for the short-term evolution of the ocean environment and for wave-structure interaction, EVA provides a basis for full probabilistic design analysis. Alternatively, environmental contours provide an approximate approach to estimating structural integrity, without requiring structural knowledge. These contour methods also exploit statistical models, including EVA, but avoid the need for structural modelling by making what are believed to be conservative assumptions about the shape of the structural failure boundary in the environment space. These assumptions, however, may not always be appropriate, or may lead to unnecessary wasted resources from over design. We demonstrate a methodology for efficient fully probabilistic analysis of structural failure. From this, we estimate the joint conditional probability density of the environment (CDE), given the occurrence of an extreme structural response. We use CDE as a diagnostic to highlight the deficiencies of environmental contour methods for design; none of the IFORM environmental contours considered characterise CDE well for three example structures.
This paper discusses the experiences gained from designing, deploying and maintaining low-power wireless sensor networks in three geothermally active remote locations in Iceland. The purpose of deploying the network was to collect soil temperature data and investigate the impact of global warming on (sub)Arctic climate and subsequent carbon release. Functional networks from three sites with no direct access to power and the internet have been providing researchers with insight into the warming impacts since 2021. The network employs low-power wireless sensor nodes equipped with DASH7 communication protocol, providing real-time data and remote access to sensors and instruments deployed in the field. In addition to discussing the architecture and deployment of the network, we conduct a primary analysis using models and methods to demonstrate the feasibility of harvesting energy from the temperature gradient between geothermally active soil and air.
The integration of Internet of Things (IoT) technologies in agriculture holds promise for transforming farming practices, particularly in the Kingdom of Saudi Arabia (KSA). This study explores the adoption of smart farming practices among KSA farmers. Due to the geographical location and nature of KSA, it faces significant challenges in agriculture. The objective of this research is to discuss how IoT will enhance agriculture in KSA and identify its current usage by conducting a study on Saudi farmers with varying ages, regions, and years of experience. The results indicate that 90% of the farmers encounter challenges in farming, and all of them express interest in adopting smart farming to address these issues. While 60% of farmers are currently utilizing IoT technologies, they encounter challenges in implementing smart farming practices. Thus, smart farming presents solutions to prevalent challenges including adverse weather, water scarcity, and labor shortages, though barriers include cost and educational challenges.
Quantum low-density parity-check (qLDPC) codes offer a promising route to scalable fault-tolerant quantum computation with constant overhead. Recent advancements have shown that qLDPC codes can outperform the quantum memory capability of surface codes even with near-term hardware. The question of how to implement logical gates fault-tolerantly for these codes is still open. We present new examples of high-rate bivariate bicycle (BB) codes with enhanced symmetry properties. These codes feature explicit nice bases of logical operators (similar to toric codes) and support fold-transversal Clifford gates without overhead. As examples, we construct $[[98,6,12]]$ and $[[162, 8, 12]]$ BB codes which admit interesting fault-tolerant Clifford gates. Our work also lays the mathematical foundations for explicit bases of logical operators and fold-transversal gates in quantum two-block and group algebra codes, which might be of independent interest.
In many classification applications, the prediction of a deep neural network (DNN) based classifier needs to be accompanied by some confidence indication. Two popular approaches for that aim are: 1) Calibration: modifies the classifier's softmax values such that the maximal value better estimates the correctness probability; and 2) Conformal Prediction (CP): produces a prediction set of candidate labels that contains the true label with a user-specified probability, guaranteeing marginal coverage, rather than, e.g., per class coverage. In practice, both types of indications are desirable, yet, so far the interplay between them has not been investigated. We start this paper with an extensive empirical study of the effect of the popular Temperature Scaling (TS) calibration on prominent CP methods and reveal that while it improves the class-conditional coverage of adaptive CP methods, surprisingly, it negatively affects their prediction set sizes. Subsequently, we explore the effect of TS beyond its calibration application and offer simple guidelines for practitioners to trade prediction set size and conditional coverage of adaptive CP methods while effectively combining them with calibration. Finally, we present a theoretical analysis of the effect of TS on the prediction set sizes, revealing several mathematical properties of the procedure, according to which we provide reasoning for this unintuitive phenomenon.
This paper provides a comprehensive overview of recent advancements in autonomous electric vehicles (AEVs) within the specified region. It elaborates on the progress and comparative analysis of diverse subsystems, including energy storage, cell balancing for battery systems, vehicle charger layouts, electric vehicle motor mechanisms, and braking systems. Furthermore, this paper showcases several prototype autonomous electric vehicles as conclusive study findings.
Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.
Deep neural networks have revolutionized many machine learning tasks in power systems, ranging from pattern recognition to signal processing. The data in these tasks is typically represented in Euclidean domains. Nevertheless, there is an increasing number of applications in power systems, where data are collected from non-Euclidean domains and represented as the graph-structured data with high dimensional features and interdependency among nodes. The complexity of graph-structured data has brought significant challenges to the existing deep neural networks defined in Euclidean domains. Recently, many studies on extending deep neural networks for graph-structured data in power systems have emerged. In this paper, a comprehensive overview of graph neural networks (GNNs) in power systems is proposed. Specifically, several classical paradigms of GNNs structures (e.g., graph convolutional networks, graph recurrent neural networks, graph attention networks, graph generative networks, spatial-temporal graph convolutional networks, and hybrid forms of GNNs) are summarized, and key applications in power systems such as fault diagnosis, power prediction, power flow calculation, and data generation are reviewed in detail. Furthermore, main issues and some research trends about the applications of GNNs in power systems are discussed.
Sampling methods (e.g., node-wise, layer-wise, or subgraph) has become an indispensable strategy to speed up training large-scale Graph Neural Networks (GNNs). However, existing sampling methods are mostly based on the graph structural information and ignore the dynamicity of optimization, which leads to high variance in estimating the stochastic gradients. The high variance issue can be very pronounced in extremely large graphs, where it results in slow convergence and poor generalization. In this paper, we theoretically analyze the variance of sampling methods and show that, due to the composite structure of empirical risk, the variance of any sampling method can be decomposed into \textit{embedding approximation variance} in the forward stage and \textit{stochastic gradient variance} in the backward stage that necessities mitigating both types of variance to obtain faster convergence rate. We propose a decoupled variance reduction strategy that employs (approximate) gradient information to adaptively sample nodes with minimal variance, and explicitly reduces the variance introduced by embedding approximation. We show theoretically and empirically that the proposed method, even with smaller mini-batch sizes, enjoys a faster convergence rate and entails a better generalization compared to the existing methods.
This work considers the question of how convenient access to copious data impacts our ability to learn causal effects and relations. In what ways is learning causality in the era of big data different from -- or the same as -- the traditional one? To answer this question, this survey provides a comprehensive and structured review of both traditional and frontier methods in learning causality and relations along with the connections between causality and machine learning. This work points out on a case-by-case basis how big data facilitates, complicates, or motivates each approach.