Abstract

Surface Temperature (ST) is important in terms of surface energy and terrestrial water balances affecting urban ecosystems. In this study, to process the nonlinear changes of climatological variables by leveraging the distinct advantages of Long Short-Term Memory (LSTM) and Bidirectional Long Short-Term Memory (BiLSTM), we propose an LSTM-BiLSTM hybrid deep learning model which extracts multi-dimension features of inputs, i.e., backward (future to past) or forward (past to future) to predict ST. This study assessed the climatological variables, i.e., wind speed, wind direction, relative humidity, dew point temperature, and atmospheric pressure impact on ST using five major coastal cities of India: Chennai, Mangalore, Visakhapatnam, Cuddalore, and Cochin. The Recurrent Neural Networks (RNN) and hybrid LSTM-BiLSTM models have effectively predicted ST and outperformed the standalone Artificial Neural Networks (ANN), LSTM, and BiLSTM models. The RNN and LSTM-BiLSTM models have performed better in predicting ST for Mangalore (Nash-Sutcliffe efficiency (NSE)¼0.91), followed by Cochin (NSE¼0.89), Chennai (NSE¼0.88), Cuddalore (NSE¼0.88), and Vishakhapatnam (NSE¼0.81). The hybrid data-driven modeling framework indicated that coupling the LSTM and BiLSTM models were proven effective in predicting the ST of coastal cities

Abstract

Machine-generated speech is characterized by its limited or unnatural emotional variation. Current text to speech systems generates speech with either a flat emotion, emotion selected from a predefined set, average variation learned from prosody sequences in training data or transferred from a source style. We propose a text to speech(TTS) system, where a user can choose the emotion of generated speech from a continuous and meaningful emotion space (Arousal-Valence space). The proposed TTS system can generate speech from the text in any speaker’s style, with fine control of emotion. We show that the system works on emotion unseen during training and can scale to previously unseen speakers given his/her speech sample. Our work expands the horizon of the state-of-the-art FastSpeech2 backbone to a multi-speaker setting and gives it much-coveted continuous (and interpretable) affective control, without any observable degradation in the quality of the synthesized speech. Audio samples are available at https://researchweb.iiit.ac. in/˜sarath.s/emotts/

Abstract

No Results Found

Abstract

—The paper presents a sub-nW bandgap reference (BGR) that exploits the temperature variation of gate-leakage current in thin oxide devices operating in the accumulation region to generate the reference voltage. The incorporation of gateleakage transistors scales down the power consumption of the BGR to pico-watt level without using any large physical resistors or sophisticated techniques, thereby making it suitable for IoT applications. The BGR is designed in TSMC 65nm technology and occupies an area of 0.009mm2 . Post layout simulation results show nominal and worst-case accuracies of 23ppm/oC and 44ppm/oC respectively in the temperature range of −40oC to 100oC. Without any trimming, an inaccuracy (±3σ) of 3% is observed for the reference voltage, showing its resilience to process variations. It also exhibits a typical line sensitivity of 0.063%/V in a supply range of 1.5V-3.8V and a PSRR of -65dB at DC and 1.8V supply. The power consumption is observed to be 443pW at 1.5V supply and nominal temperature.

Abstract

We present DRACO, a method for Dense Reconstruction And Canonicalization of Object shape from one or more RGB images. Canonical shape reconstruction—estimating 3D object shape in a coordinate space canonicalized for scale, rotation, and translation parameters—is an emerging paradigm that holds promise for a multitude of robotic applications. Prior approaches either rely on painstakingly gathered dense 3D supervision, or produce only sparse canonical representations, limiting real-world applicability. DRACO performs dense canonicalization using only weak supervision in the form of camera poses and semantic keypoints at train time. During inference, DRACO predicts dense object-centric depth maps in a canonical coordinate-space, solely using one or more RGB images of an object. Extensive experiments on canonical shape reconstruction and pose estimation show that DRACO is competitive or superior to fully-supervised methods.

Abstract

Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects as outliers based on the semantics of the object category. Such an approach does not scale as it requires semantic classifiers to encompass all possibly-moving object classes; this is hard to define, let alone deploy. On the other hand, many realworld environments exhibit strong structural regularities in the form of planes such as walls and ground surfaces, which are also crucially static. We present RP-VIO, a monocular visual-inertial odometry system that leverages the simple geometry of these planes for improved robustness and accuracy in challenging dynamic environments. Since existing datasets have a limited number of dynamic elements, we also present a highly-dynamic, photorealistic synthetic dataset for a more effective evaluation of the capabilities of modern VINS systems. We evaluate our approach on this dataset, and three diverse sequences from standard datasets including two real-world dynamic sequences and show a significant improvement in robustness and accuracy over a state-of-the-art monocular visual-inertial odometry system. We also show in simulation an improvement over a simple dynamic-features masking approach. Our code and dataset are publicly available .

Abstract

We consider the problem of an agent/robot with non-holonomic kinematics avoiding dynamic and static obstacles. Additionally there may be bounds/constraints on the configurational space of the robot in the form of lane/corridor boundaries. State and velocity noise of the robot, the lanes, the obstacles, and the robot’s control noise are modelled as non-parametric distributions as Gaussian assumptions of noise models are violated in real-world scenarios. Under these assumptions, we formulate a robust MPC that samples robotic controls effectively in a manner that aligns the robot to the goal state while avoiding obstacles and staying within the lane bounds under the duress of such non-parametric noise. In particular, the MPC incorporates a distribution matching cost that effectively aligns the distribution of the current collision cone to a certain desired distribution whose samples are collisionfree. This cost is posed as a distance function in the Hilbert Space, whose minimization typically results in the collision cone samples becoming collision-free. We show tangible performance gains compared to methods that model the collision cone distribution by linearizing the Gaussian approximations of the original non-parametric state and obstacle distributions. We also show superior performance to methods that pose a chance constraint formulation of the Gaussian approximations of nonparametric noise without subjecting such approximations to further linearizations. The performance gain is shown both in terms of trajectory length and control costs that vindicates the efficacy of the proposed method. Finally we show the proposed method being used to navigate with a non holonomic differential drive robot in real-time in a realistic setting in Gazebo with dynamic and static obstacles. To the best of our knowledge, this is the first presentation of non-holonomic collision avoidance of stationary obstacles, moving obstacles and lane constraints in the presence of non-parametric state, velocity, actuator and lane boundary noise models

Abstract

—This paper introduces an internet-of-things (IoT) based economic retrofitting setup for digitising the analog water meters to make them smart. The setup contains a Raspberry-Pi microcontroller and a Pi-camera mounted on top of the analog water meter to take its images. The captured images are then preprocessed to estimate readings using a machine learning (ML) model. The employed ML algorithm is trained on a rich dataset that includes digits from the images of water meters captured by the hardware setup for ten days. The readings are posted on a cloud server in real-time using Raspberry-Pi. High temporal resolution plots of flow rate and volume are generated to derive inferences. The collected data can be used for deriving water consumption patterns and fault detection for efficient water management.

Abstract

With the growing interest in deep learning algorithms and computational design in the architectural field, the need for large, accessible and diverse architectural datasets increases. Due to the complexity of such 3D datasets, the most widespread techniques of 3D scanning and manual building modeling are very time-consuming, which does not allow to have a sufficiently large open-source dataset. We decided to tackle this problem by constructing a field-specific synthetic data generation pipeline that generates an arbitrary amount of 3D data along with the associated 2D and 3D annotations. The variety of annotations, the flexibility to customize the generated building and dataset parameters make this framework suitable for multiple deep learning tasks, including geometric deep learning that requires direct 3D supervision. Creating our building data generation pipeline we leveraged the experts’ architectural knowledge in order to construct a framework that would be modular, extendable and would provide a sufficient amount of classbalanced data samples. Moreover, we purposefully involve the researcher in the dataset customization allowing the introduction of additional building components, material textures, building classes, number and type of annotations as well as the number of views per 3D model sample. In this way, the framework would satisfy different research requirements and would be adaptable to a large variety of tasks

Abstract

In drug discovery applications, high throughput virtual screening exercises are routinely performed to determine an initial set of candidate molecules referred to as “hits”. In such an experiment, each molecule from a large small-molecule drug library is evaluated in terms of physical properties such as the docking score against a target receptor. In real-life drug discovery experiments, drug libraries are extremely large but still there is only a minor representation of the essentially infinite chemical space, and evaluation of physical properties for each molecule in the library is not computationally feasible. In the current study, a novel Machine learning framework for Enhanced MolEcular Screening (MEMES) based on Bayesian optimization is proposed for efficient sampling of the chemical space. The proposed framework is demonstrated to identify 90% of the top-1000 molecules from a molecular library of size about 100 million, while calculating the docking score only for about 6% of the complete library. We believe that such a framework would tremendously help to reduce the computational effort in not only drug-discovery but also areas that require such high-throughput experiments.