Abstract

Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e., artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This article formulates an artificial-delay control method with adaptive gains in the presence of nonlinear (Euler–Lagrange) underactuation. The appeal of studying Euler–Lagrange dynamics is to capture many robotics applications of practical interest, as demonstrated via stability and robustness analysis and via robotic ship and robotic aerial vehicle test cases.

Abstract

Localization of multiple speakers using microphone arrays remains a challenging problem, especially in the presence of noise and reverberation. State-of-the-art localization algorithms generally exploit the sparsity of speech in some representation for this purpose. Whereas the broadband approaches exploit time-domain sparsity for multi-speaker localization, narrowband approaches can additionally exploit sparsity and disjointness in the time-frequency representation. Broadband approaches are robust to spatial aliasing but do not optimally exploit the frequency domain sparsity, leading to poor localization performance for arrays with short inter-microphone distances. Narrowband approaches, on the other hand, are vulnerable to spatial aliasing, making them unsuitable for arrays with large inter-microphone spacing. Proposed here is an approach that decomposes a signal spectrum into a weighted sum of broadband spectral components (atoms) and then exploits signal sparsity in the time-atom representation for simultaneous multiple source localization. The decomposition into atoms is performed in situ using non-negative matrix factorization (NMF) of the short-term amplitude spectra and the localization estimate is obtained via a broadband steered-response power (SRP) approach for each active atom of a time frame. This SRP-NMF approach thereby combines the advantages of the narrowband and broadband approaches and performs well on the multi-speaker localization task for a broad range of inter-microphone spacings. On tests conducted on real-world data from public challenges such as SiSEC and LOCATA, and on data generated from recorded room impulse responses, the SRP-NMF approach outperforms the commonly used variants of narrowband and broadband localization approaches in terms of source detection capability and localization accuracy. Keywords: Sound source localization, Direction-of-arrival, Non-negative matrix factorization, Spatial alia

Abstract

Molecular docking computationally predicts the conformation of a small molecule when binding to a receptor. Scoring functions are a vital piece of any molecular docking pipeline as they determine the fitness of sampled poses. Here we describe and evaluate the 1.0 release of the Gnina docking software, which utilizes an ensemble of convolutional neural networks (CNNs) as a scoring function. We also explore an array of parameter values for Gnina 1.0 to optimize docking performance and computational cost. Docking performance, as evaluated by the percentage of targets where the top pose is better than 2Å root mean square deviation (Top1), is compared to AutoDock Vina scoring when utilizing explicitly defined binding pockets or whole protein docking. Gnina, utilizing a CNN scoring function to rescore the output poses, outperforms AutoDock Vina scoring on redocking and cross-docking tasks when the binding pocket is defined (Top1 increases from 58% to 73% and from 27% to 37%, respectively) and when the whole protein defines the binding pocket (Top1 increases from 31% to 38% and from 12% to 16%, respectively). The derived ensemble of CNNs generalizes to unseen proteins and ligands and produces scores that correlate well with the root mean square deviation to the known binding pose. We provide the 1.0 version of Gnina under an open source license for use as a molecular docking

Abstract

Control of batch processes is a difficult task due to their complex nonlinear dynamics and unsteady-state operating conditions within batch and batch-to-batch. It is expected that some of these challenges can be addressed by developing control strategies that directly interact with the process and learning from experiences. Recent studies in the literature have indicated the advantage of having an ensemble of actors in actor-critic Reinforcement Learning (RL) frameworks for improving the policy. The present study proposes an actor-critic RL algorithm, namely, twin actor twin delayed deep deterministic policy gradient (TATD3), by incorporating twin actor networks in the existing twin-delayed deep deterministic policy gradient (TD3) algorithm for the continuous control. In addition, two types of novel reward functions are also proposed for TATD3 controller. We showcase the efficacy of the TATD3 based controller for various batch process examples by comparing it with some of the existing RL algorithms presented in the literature.

Abstract

Drones are meticulously designed to control the aerodynamics of the flight, which can be negatively impacted by the use of rigid and heavy solar cells. In this review, it is shown that ultra-flexibility is needed such that the photovoltaic devices fully conform to the curved surfaces of the drone. In addition, stretchability would be necessary in advanced drones with foldable components. More details can be found in article number 2100587, Nazek El-Atab, Muhammad M. Hussain, and co-workers.

Abstract

Speech production can be regarded as a process where a time-varying vocal tract system (filter) is excited by a time-varying excitation. In addition to its linguistic message, the speech signal also carries information about, for example, the gender and age of the speaker. Moreover, the speech signal includes acoustical cues about several speaker traits, such as the emotional state and the state of health of the speaker. In order to understand the production of these acoustical cues by the human speech production mechanism and utilize this information in speech technology, it is necessary to extract features describing both the excitation and the filter of the human speech production mechanism. While the methods to estimate and parameterize the vocal tract system are well established, the excitation appears less studied. This article provides a review of signal processing approaches used for the extraction of excitation information from speech. This article highlights the importance of excitation information in the analysis and classification of phonation type and vocal emotions, in the analysis of nonverbal laughter sounds, and in studying pathological voices. Furthermore, recent developments of deep learning techniques in the context of extraction and utilization of the excitation information are discussed.

Abstract

AI applications find widespread use in a variety of domains. For further acceptance, mostly when multiple agents interact with the system, we must aim to preserve the privacy of participants information in such applications. Towards this, the Yao’s Millionaires’ problem (YMP), i.e., to determine the richer among two millionaires’ privately, finds relevance. This work presents a novel, practical, and verifiable solution to YMP, namely, Secure Comparison Protocol (SCP). We show that SCP achieves this comparison in a constant number of rounds, without using encryption and not requiring the participants’ continuous involvement. SCP uses semi-trusted third parties - which we refer to as privacy accountants - for the comparison, who do not learn any information about the values. That is, the probability of information leak is negligible in the problem size. In SCP, we also leverage the Ethereum network for

Abstract

Typical fingerprint recognition systems are comprised of a spoof detection module and a subsequent recognition module, running one after the other. In this paper, we reformulate the workings of a typical fingerprint recognition system. In particular, we posit that both spoof detection and fingerprint recognition are correlated tasks. Therefore, rather than performing the two tasks separately, we propose a joint model for spoof detection and matching1 to simultaneously perform both tasks without compromising the accuracy of either task. We demonstrate the capability of our joint model to obtain an authentication accuracy (1:1 matching) of TAR = 100% @ FAR = 0.1% on the FVC 2006 DB2A dataset while achieving a spoof detection ACE of 1.44% on the LiveDet 2015 dataset, both maintaining the performance of stand-alone methods. In practice, this reduces the time and memory requirements of the fingerprint recognition system by 50% and 40%, respectively; a significant advantage for recognition systems running on resource-constrained devices and communication channels.

Abstract

The rapid expansion of the development of hydropower in geologically and seismically active areas has numerous technological risks involved. Tunnels in rock masses have different stress and deformation responses than other engineering materials due to the existence of weak planes. This paper describes the use of numerical modeling approaches to assess tunnel deformation and tunnel stability under the earthquake loading for an 8.8 m horseshoe-shaped power tunnel excavated in Vishnugarh Pipalkoti, Uttaranchal, India. In this analysis, two different approaches are used to perform pseudo-static analyzes to understand the impacts of seismicity on tunnels. The rock mass is modeled as continuum in the first approach, and the tunnel is treated as a continuum equivalent with the inclusion of critical joint sets in the

Abstract

In this work, NiMg@OH/reduced graphene oxide (rGO) nanocomposites are synthesised through microwave-assisted synthetic methodology using various reducing agents. The structural features and surface morphology of synthesised materials are fully examined with different spectroscopy and microscopy techniques such as X-ray diffraction (XRD), scanning electron microscopy (SEM), UV-visible spectroscopy (UV-Vis), Raman and Fourier Transform Infrared (FT-IR) spectroscopy. Further, this material was subjected to cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS) techniques for the systematic study of the properties and impact of reducing agents at various percentages of rGO on the specific capacitance of synthesised materials. The presence of rGO gradually improves the charge transfer process at the electrode/electrolyte interface. Among these nanocomposite materials, maximum specific capacitance of 650.31 F/g was observed for NiMg@OH-1.5 wt% rGO synthesised using NH4OH reducing agent in 6 M KOH electrolyte. Hence, the result signifies these composite materials are a promising