Assistive shared-control robots have the potential to transform the lives of millions of people afflicted with severe motor impairments. The usefulness of shared-control robots typically relies on the underlying autonomy's ability to infer the user's needs and intentions, and the ability to do so unambiguously is often a limiting factor for providing appropriate assistance confidently and accurately. The contributions of this paper are four-fold. First, we introduce the idea of intent disambiguation via control mode selection, and present a mathematical formalism for the same. Second, we develop a control mode selection algorithm which selects the control mode in which the user-initiated motion helps the autonomy to maximally disambiguate user intent. Third, we present a pilot study with eight subjects to evaluate the efficacy of the disambiguation algorithm. Our results suggest that the disambiguation system (a) helps to significantly reduce task effort, as measured by number of button presses, and (b) is of greater utility for more limited control interfaces and more complex tasks. We also observe that (c) subjects demonstrated a wide range of disambiguation request behaviors, with the common thread of concentrating requests early in the execution. As our last contribution, we introduce a novel field-theoretic approach to intent inference inspired by dynamic field theory that works in tandem with the disambiguation scheme.

The standard training algorithm in neural machine translation (NMT) suffers from exposure bias, and alternative algorithms have been proposed to mitigate this. However, the practical impact of exposure bias is under debate. In this paper, we link exposure bias to another well-known problem in NMT, namely the tendency to generate hallucinations under domain shift. In experiments on three datasets with multiple test domains, we show that exposure bias is partially to blame for hallucinations, and that training with Minimum Risk Training, which avoids exposure bias, can mitigate this. Our analysis explains why exposure bias is more problematic under domain shift, and also links exposure bias to the beam search problem, i.e. performance deterioration with increasing beam size. Our results provide a new justification for methods that reduce exposure bias: even if they do not increase performance on in-domain test sets, they can increase model robustness to domain shift.

We present a new system, EEV, for verifying binarized neural networks (BNNs). We formulate BNN verification as a Boolean satisfiability problem (SAT) with reified cardinality constraints of the form $y = (x_1 + cdots + x_n le b)$, where $x_i$ and $y$ are Boolean variables possibly with negation and $b$ is an integer constant. We also identify two properties, specifically balanced weight sparsity and lower cardinality bounds, that reduce the verification complexity of BNNs. EEV contains both a SAT solver enhanced to handle reified cardinality constraints natively and novel training strategies designed to reduce verification complexity by delivering networks with improved sparsity properties and cardinality bounds. We demonstrate the effectiveness of EEV by presenting the first exact verification results for $ell_{infty}$-bounded adversarial robustness of nontrivial convolutional BNNs on the MNIST and CIFAR10 datasets. Our results also show that, depending on the dataset and network architecture, our techniques verify BNNs between a factor of ten to ten thousand times faster than the best previous exact verification techniques for either binarized or real-valued networks.

During VR demos we have performed over last few years, many participants (in the absence of any haptic feedback) have commented on their perceived ability to 'feel' differences between simulated molecular objects. The mechanisms for such 'feeling' are not entirely clear: observing from outside VR, one can see that there is nothing physical for participants to 'feel'. Here we outline exploratory user studies designed to evaluate the extent to which participants can distinguish quantitative differences in the flexibility of VR-simulated molecular objects. The results suggest that an individual's capacity to detect differences in molecular flexibility is enhanced when they can interact with and manipulate the molecules, as opposed to merely observing the same interaction. Building on these results, we intend to carry out further studies investigating humans' ability to sense quantitative properties of VR simulations without haptic technology.

One of the main open problems in the qualitative theory of real planar differential systems is the study of limit cycles. In this article, we present an algorithmic approach for detecting how many limit cycles can bifurcate from the periodic orbits of a given polynomial differential center when it is perturbed inside a class of polynomial differential systems via the averaging method. We propose four symbolic algorithms to implement the averaging method. The first algorithm is based on the change of polar coordinates that allows one to transform a considered differential system to the normal form of averaging. The second algorithm is used to derive the solutions of certain differential systems associated to the unperturbed term of the normal of averaging. The third algorithm exploits the partial Bell polynomials and allows one to compute the integral formula of the averaged functions at any order. The last algorithm is based on the aforementioned algorithms and determines the exact expressions of the averaged functions for the considered differential systems. The implementation of our algorithms is discussed and evaluated using several examples. The experimental results have extended the existing relevant results for certain classes of differential systems.

In this paper, we study the problem of fair classification in the presence of prior probability shifts, where the training set distribution differs from the test set. This phenomenon can be observed in the yearly records of several real-world datasets, such as recidivism records and medical expenditure surveys. If unaccounted for, such shifts can cause the predictions of a classifier to become unfair towards specific population subgroups. While the fairness notion called Proportional Equality (PE) accounts for such shifts, a procedure to ensure PE-fairness was unknown.

In this work, we propose a method, called CAPE, which provides a comprehensive solution to the aforementioned problem. CAPE makes novel use of prevalence estimation techniques, sampling and an ensemble of classifiers to ensure fair predictions under prior probability shifts. We introduce a metric, called prevalence difference (PD), which CAPE attempts to minimize in order to ensure PE-fairness. We theoretically establish that this metric exhibits several desirable properties.

We evaluate the efficacy of CAPE via a thorough empirical evaluation on synthetic datasets. We also compare the performance of CAPE with several popular fair classifiers on real-world datasets like COMPAS (criminal risk assessment) and MEPS (medical expenditure panel survey). The results indicate that CAPE ensures PE-fair predictions, while performing well on other performance metrics.

Sparse models require less memory for storage and enable a faster inference by reducing the necessary number of FLOPs. This is relevant both for time-critical and on-device computations using neural networks. The stabilized lottery ticket hypothesis states that networks can be pruned after none or few training iterations, using a mask computed based on the unpruned converged model. On the transformer architecture and the WMT 2014 English-to-German and English-to-French tasks, we show that stabilized lottery ticket pruning performs similar to magnitude pruning for sparsity levels of up to 85%, and propose a new combination of pruning techniques that outperforms all other techniques for even higher levels of sparsity. Furthermore, we confirm that the parameter's initial sign and not its specific value is the primary factor for successful training, and show that magnitude pruning cannot be used to find winning lottery tickets.

We show that combining a prediction model (based on neural networks), with a new method of test pooling (better than the original Dorfman method, and better than double-pooling) called 'Grid', we can reduce the number of Covid-19 tests by 73%.

Neural style transfer is a well-known branch of deep learning research, with many interesting works and two major drawbacks. Most of the works in the field are hard to use by non-expert users and substantial hardware resources are required. In this work, we present a solution to both of these problems. We have applied neural style transfer to real-time video (over 25 frames per second), which is capable of running on mobile devices. We also investigate the works on achieving temporal coherence and present the idea of fine-tuning, already trained models, to achieve stable video. What is more, we also analyze the impact of the common deep neural network architecture on the performance of mobile devices with regard to number of layers and filters present. In the experiment section we present the results of our work with respect to the iOS devices and discuss the problems present in current Android devices as well as future possibilities. At the end we present the qualitative results of stylization and quantitative results of performance tested on the iPhone 11 Pro and iPhone 6s. The presented work is incorporated in Kunster - AR Art Video Maker application available in the Apple's App Store.

Any media experience must be fully inclusive and accessible to all users regardless of their ability. With the current trend towards immersive experiences, such as Virtual Reality (VR) and 360-degree video, it becomes key that these environments are adapted to be fully accessible. However, until recently the focus has been mostly on adapting the existing techniques to fit immersive displays, rather than considering new approaches for accessibility designed specifically for these increasingly relevant media experiences. This paper surveys a wide range of 360-degree video players and examines the features they include for dealing with accessibility, such as Subtitles, Audio Description, Sign Language, User Interfaces, and other interaction features, like voice control and support for multi-screen scenarios. These features have been chosen based on guidelines from standardization contributions, like in the World Wide Web Consortium (W3C) and the International Communication Union (ITU), and from research contributions for making 360-degree video consumption experiences accessible. The in-depth analysis has been part of a research effort towards the development of a fully inclusive and accessible 360-degree video player. The paper concludes by discussing how the newly developed player has gone above and beyond the existing solutions and guidelines, by providing accessibility features that meet the expectations for a widely used immersive medium, like 360-degree video.

We study the specification and verification of hyperproperties for probabilistic systems represented as Markov decision processes (MDPs). Hyperproperties are system properties that describe the correctness of a system as a relation between multiple executions. Hyperproperties generalize trace properties and include information-flow security requirements, like noninterference, as well as requirements like symmetry, partial observation, robustness, and fault tolerance. We introduce the temporal logic PHL, which extends classic probabilistic logics with quantification over schedulers and traces. PHL can express a wide range of hyperproperties for probabilistic systems, including both classical applications, such as differential privacy, and novel applications in areas such as robotics and planning. While the model checking problem for PHL is in general undecidable, we provide methods both for proving and for refuting a class of probabilistic hyperproperties for MDPs.

The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which separates and arranges test tubes in racks with the help of 3D vision and artificial intelligence (AI) reasoning/planning. The developed system only requires a person to put a rack with mixed and non-arranged tubes in front of a robot. The robot autonomously performs recognition, reasoning, planning, manipulation, etc., and returns a rack with separated and arranged tubes. The system is simple-to-use, and there are no requests for expert knowledge in robotics. We expect such a system to play an important role in helping managing public health and hope similar systems could be extended to other clinical manipulation like handling mixers and pipettes in the future.

Bitvector filtering is an important query processing technique that can significantly reduce the cost of execution, especially for complex decision support queries with multiple joins. Despite its wide application, however, its implication to query optimization is not well understood.

In this work, we study how bitvector filters impact query optimization. We show that incorporating bitvector filters into query optimization straightforwardly can increase the plan space complexity by an exponential factor in the number of relations in the query. We analyze the plans with bitvector filters for star and snowflake queries in the plan space of right deep trees without cross products. Surprisingly, with some simplifying assumptions, we prove that, the plan of the minimal cost with bitvector filters can be found from a linear number of plans in the number of relations in the query. This greatly reduces the plan space complexity for such queries from exponential to linear.

Motivated by our analysis, we propose an algorithm that accounts for the impact of bitvector filters in query optimization. Our algorithm optimizes the join order for an arbitrary decision support query by choosing from a linear number of candidate plans in the number of relations in the query. We implement our algorithm in Microsoft SQL Server as a transformation rule. Our evaluation on both industry standard benchmarks and customer workload shows that, compared with the original Microsoft SQL Server, our technique reduces the total CPU execution time by 22%-64% for the workloads, with up to two orders of magnitude reduction in CPU execution time for individual queries.

While the exact definition and implementation of accountability depend on the specific context, at its core accountability describes a mechanism that will make decisions transparent and often provides means to sanction "bad" decisions. As such, accountability is specifically relevant for Cyber-Physical Systems, such as robots or drones, that embed themselves into a human society, take decisions and might cause lasting harm. Without a notion of accountability, such systems could behave with impunity and would not fit into society. Despite its relevance, there is currently no agreement on its meaning and, more importantly, no way to express accountability properties for these systems. As a solution we propose to express the accountability properties of systems using Structural Causal Models. They can be represented as human-readable graphical models while also offering mathematical tools to analyze and reason over them. Our central contribution is to show how Structural Causal Models can be used to express and analyze the accountability properties of systems and that this approach allows us to identify accountability patterns. These accountability patterns can be catalogued and used to improve systems and their architectures.

Software Defined Networking is currently revolutionizing computer networking by decoupling the network control (control plane) from the forwarding functions (data plane) enabling the network control to become directly programmable and the underlying infrastructure to be abstracted for applications and network services. Next to the well-known OpenFlow protocol, the XML-based NETCONF protocol is also an important means for exchanging configuration information from a management platform and is nowadays even part of OpenFlow. In combination with NETCONF, YANG is the corresponding protocol that defines the associated data structures supporting virtually all network configuration protocols. YANG itself is a semantically rich language, which -- in order to facilitate familiarization with the relevant subject -- is often visualized to involve other experts or developers and to support them by their daily work (writing applications which make use of YANG). In order to support this process, this paper presents an novel approach to optimize and simplify YANG data models to assist further discussions with the management and implementations (especially of interfaces) to reduce complexity. Therefore, we have defined a bidirectional mapping of YANG to UML and developed a tool that renders the created UML diagrams. This combines the benefits to use the formal language YANG with automatically maintained UML diagrams to involve other experts or developers, closing the gap between technically improved data models and their human readability.

Multi-view data capture permits free-viewpoint video (FVV) content creation. To this end, several users must capture video streams, calibrated in both time and pose, framing the same object/scene, from different viewpoints. New-generation network architectures (e.g. 5G) promise lower latency and larger bandwidth connections supported by powerful edge computing, properties that seem ideal for reliable FVV capture. We have explored this possibility, aiming to remove the need for bespoke synchronisation hardware when capturing a scene from multiple viewpoints, making it possible through off-the-shelf mobiles. We propose a novel and scalable data capture architecture that exploits edge resources to synchronise and harvest frame captures. We have designed an edge computing unit that supervises the relaying of timing triggers to and from multiple mobiles, in addition to synchronising frame harvesting. We empirically show the benefits of our edge computing unit by analysing latencies and show the quality of 3D reconstruction outputs against an alternative and popular centralised solution based on Unity3D.

By using dissipativity approach, we establish the stability condition for the feedback connection of a deterministic dynamical system $Sigma$ and a stochastic memoryless map $Psi$. After that, we extend the result to the class of large scale systems in which: $Sigma$ consists of many sub-systems; and $Psi$ consists of many "stochastic actuators" and "probability controllers" that control the actuator's output events. We will demonstrate the proposed approach by showing the design procedures to globally stabilize the manufacturing systems while locally balance the stock levels in any production process.

We investigate learnability of possibilistic theories from entailments in light of Angluin's exact learning model. We consider cases in which only membership, only equivalence, and both kinds of queries can be posed by the learner. We then show that, for a large class of problems, polynomial time learnability results for classical logic can be transferred to the respective possibilistic extension. In particular, it follows from our results that the possibilistic extension of propositional Horn theories is exactly learnable in polynomial time. As polynomial time learnability in the exact model is transferable to the classical probably approximately correct model extended with membership queries, our work also establishes such results in this model.

Coordinating the operation of combined heat and power plants (CHPs) and heat pumps (HPs) at the interface between heat and power systems is essential to achieve a cost-effective and efficient operation of the overall energy system. Indeed, in the current sequential market practice, the heat market has no insight into the impacts of heat dispatch on the electricity market. While preserving this sequential practice, this paper introduces an electricity-aware heat unit commitment model. Coordination is achieved through bid validity constraints, which embed the techno-economic linkage between heat and electricity outputs and costs of CHPs and HPs. This approach constitutes a novel market mechanism for the coordination of heat and power systems, defining heat bids conditionally on electricity market prices. The resulting model is a trilevel optimization problem, which we recast as a mixed-integer linear program using a lexicographic function. We use a realistic case study based on the Danish power and heat system, and show that the proposed model yields a 4.5% reduction in total operating cost of heat and power systems compared to a traditional decoupled unit commitment model, while reducing the financial losses of each CHP and HP due to invalid bids by up-to 20.3 million euros.

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions, explore the given environments, and reach the desired target locations. These step-by-step navigational instructions are crucial when the agent is navigating new environments about which it has no prior knowledge. Most recent works that study VLN observe a significant performance drop when tested on unseen environments (i.e., environments not used in training), indicating that the neural agent models are highly biased towards training environments. Although this issue is considered as one of the major challenges in VLN research, it is still under-studied and needs a clearer explanation. In this work, we design novel diagnosis experiments via environment re-splitting and feature replacement, looking into possible reasons for this environment bias. We observe that neither the language nor the underlying navigational graph, but the low-level visual appearance conveyed by ResNet features directly affects the agent model and contributes to this environment bias in results. According to this observation, we explore several kinds of semantic representations that contain less low-level visual information, hence the agent learned with these features could be better generalized to unseen testing environments. Without modifying the baseline agent model and its training method, our explored semantic features significantly decrease the performance gaps between seen and unseen on multiple datasets (i.e. R2R, R4R, and CVDN) and achieve competitive unseen results to previous state-of-the-art models. Our code and features are available at: https://github.com/zhangybzbo/EnvBiasVLN

Recently, the Edge Computing paradigm has gained significant popularity both in industry and academia. Researchers now increasingly target to improve performance and reduce energy consumption of such devices. Some recent efforts focus on using emerging RRAM technologies for improving energy efficiency, thanks to their no leakage property and high integration density. As the complexity and dynamism of applications supported by such devices escalate, it has become difficult to maintain ideal performance by static RRAM controllers. Machine Learning provides a promising solution for this, and hence, this work focuses on extending such controllers to allow dynamic parameter updates. In this work we propose an Adaptive RRAM Variability-Aware Controller, AVAC, which periodically updates Wait Buffer and batch sizes using on-the-fly learning models and gradient ascent. AVAC allows Edge devices to adapt to different applications and their stages, to improve computation performance and reduce energy consumption. Simulations demonstrate that the proposed model can provide up to 29% increase in performance and 19% decrease in energy, compared to static controllers, using traces of real-life healthcare applications on a Raspberry-Pi based Edge deployment.

In this paper, we present a novel MaxSAT-based technique to compute Maximum Probability Minimal Cut Sets (MPMCSs) in fault trees. We model the MPMCS problem as a Weighted Partial MaxSAT problem and solve it using a parallel SAT-solving architecture. The results obtained with our open source tool indicate that the approach is effective and efficient.

By Evan H. DeLucia Courtesy of EOS Critics of biofuels like ethanol argue they are an unsustainable use of land. But with careful management, next-generation grass-based biofuels can net climate savings and improve their ecosystems. As the world seeks strategies … Continue reading →

By Jeff Mulhollem Penn State News The first harvest of 34 acres of fast-growing shrub willow from a Penn State demonstration field this winter is a milestone in developing a sustainable biomass supply for renewable energy and bio-based economic development, … Continue reading →

By The Office of Energy Efficiency & Renewable Energy Within 25 years, the United States could produce enough biomass to support a bioeconomy, including renewable aquatic and terrestrial biomass resources that could be used for energy and to develop products … Continue reading →

The Cannabis Issue It's been almost a month since the COVID-19 pandemic forced folks inside and made "social distancing" part of our daily lexicons.…

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The CDC designed a flawed test for COVID-19, then took weeks to figure out a fix so state and local labs could use it. New York still doesn’t trust the test’s accuracy By Caroline Chen, Marshall Allen, Lexi Churchill and Isaac Arnsdorf Propublica…

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Celebrities: They're just like us! Along with everyone else, famous people are self-isolating at home, and some of them have taken to social media to alleviate the stress of the outside world. We don't need to tell you that events everywhere are canceled, so a few big-time musicians are putting on personal concerts for their fans and followers, and a lot of them — save for that cringe-inducing, star-studded cover of "Imagine" that was going around yesterday — are actually pretty good.…

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A library of macrocyclic compounds of the formula (I) where part (A) is a bivalent radical, a —(CH2)y— bivalent radical or a covalent bond;where part (B) is a bivalent radical, a —(CH2)z— bivalent radical, or a covalent bond;where part (C) is a bivalent radical, a —(CH2)t— bivalent radical, or a covalent bond; andwhere part (T) is a —Y-L-Z— radical wherein Y is CH2 or CO, Z is NH or O and L is a bivalent radical. These compounds are useful for carrying out screening assays or as intermediates for the synthesis of other compounds of pharmaceutical interest. A process for the preparation of these compounds in a combinatorial manner, is also disclosed.

Provided are an anti-static and anti-microbial surface treatment agent including a quaternary ammonium salt compound as an active ingredient and a method of preventing a polymer fiber from developing static electricity by using the surface treatment agent. The quaternary ammonium salt compound has excellent anti-static and anti-microbial effects for the prevention or improvement of static electricity in a polymer fiber. Accordingly, the quaternary ammonium salt compound is suitable for use as a fabric softener, or an anti-static agent, and also, provides anti-microbial effects to a polymer fiber.

Biocidal compositions and their use in aqueous media, such as metalworking fluids, the compositions comprising a biocidal agent; and a non-biocidal primary amino alcohol compound of the formula (I); wherein R1, R2, R3, R4, and R5 are as defined herein.

A modeling framework for evaluating the impact of weather conditions on farming and harvest operations applies real-time, field-level weather data and forecasts of meteorological and climatological conditions together with user-provided and/or observed feedback of a present state of a harvest-related condition to agronomic models and to generate a plurality of harvest advisory outputs for precision agriculture. A harvest advisory model simulates and predicts the impacts of this weather information and user-provided and/or observed feedback in one or more physical, empirical, or artificial intelligence models of precision agriculture to analyze crops, plants, soils, and resulting agricultural commodities, and provides harvest advisory outputs to a diagnostic support tool for users to enhance farming and harvest decision-making, whether by providing pre-, post-, or in situ-harvest operations and crop analyzes.

Methods, apparatuses and articles of manufacture for use in a mobile device to determine whether a dynamic user profile is to transition from a first state to a second state based, at least in part, on one or more sensed indicators. The dynamic user profile may be indicative of one or more current inferable user behavior contexts for a user co-located with the mobile device. The mobile device may transition a dynamic user profile from a first state to a second state, in response to a determination that the dynamic user profile is to transition from the first state to the second state, and operatively affect one or more functions performed, at least in part, by the mobile device based, at least in part, on the transition of the dynamic user profile to the second state.

In one embodiment, a system includes a data collection system configured to collect a data from a control system by using an offline mode of operations. The system further includes a configuration management system configured to manage a hardware configuration and a software configuration for the control system based on the data. The system additionally includes a rule engine configured to use the data as input and to output a health assessment by using a rule database, and a report generator configured to provide a health assessment for the control system.

Processes for continuous preparation of bioproducts are described herein. The processes include contacting fatty acid glycerides with alcohols in the presence of an acidic heterogeneous catalyst and separating the fatty acid alkyl esters from the reaction products.

A process for producing bio-oil from municipal solid waste, the process including: a) liquifying municipal solid waste, to obtain a mixture containing an oily phase containing bio-oil, a solid phase, and a first aqueous phase; b) treating the first aqueous phase from a) with an adsorbing material, to obtain a second aqueous phase; c) fermenting the second aqueous phase from b), to obtain a biomass; d) subjecting the biomass obtained in c) to the liquification a). The bio-oil obtained is advantageously used in the production of biofuels for motor vehicles or for the generation of electric energy or heat.

A method for producing fatty acid alkyl esters from biolipids through transesterification and/or esterification reactions uses a flow-through cavitation device for generating cavitation bubbles in a fluidic reaction medium. The fluidic medium is passed through sequential compartments in the cavitation device having varying diameters and inner surface features to create localized reductions in fluid pressure thus vaporizing volatile alcohols and creating an increased surface area and optimized conditions for the reaction to occur at the gas-liquid interface around the bubbles.

Bioassays for detecting the ability of one sample of a food substance, nutritional supplement, therapeutic agent and/or disease preventive agent relative to that of a second sample of such a substance, supplement and/or agent to inhibit, upregulate or otherwise modulate translation initiation, and thereby demonstrate a disease curative and/or preventive effect in a human and/or animal that consumes a such substance, supplement and/or agent or to whom a such substance, supplement and/or agent is administered are provided.

A process for the production of bio-oil from solid urban waste, comprising the following steps: a) subjecting said solid urban waste to liquefaction, obtaining a mixture including an oily phase consisting of bio-oil, a solid phase and an aqueous phase; b) subjecting the aqueous phase obtained in the liquefaction step a) to fermentation, obtaining a fermented biomass; c) feeding the fermented biomass obtained in the fermentation step b) to the liquefaction step a). The bio-oil (or bio-crude) thus obtained can be advantageously used in the production of biofuels which can be used as such or mixed with other motor vehicle fuels. Alternatively, this bio-oil (or bio-crude) can be used as such (biocombustible) or mixed with fossil combustibles (combustible oil, coal, etc.) for the generation of electric energy or heat.