This paper presents an automatic approach to creating taxonomies of technical terms based on the Cooperative Patent Classification (CPC). The resulting taxonomy contains about 170k nodes in 9 separate technological branches and is freely available. We also show that a Text-to-Text Transfer Transformer (T5) model can be fine-tuned to generate hypernyms and hyponyms with relatively high precision, confirming the manually assessed quality of the resource. The T5 model opens the taxonomy to any new technological terms for which a hypernym can be generated, thus making the resource updateable with new terms, an essential feature for the constantly evolving field of technological terminology.

我们提出了一种新型的机器学习方法，用于从晶格量子场理论的高维概率分布中取样。我们的建议不是迄今为止用于此任务的深层体系结构，而是基于单个神经效果层，并结合了问题的完整对称性。我们在$ \ phi^4 $理论上测试了我们的模型，这表明它系统地优于先前提出的采样效率基于流动的方法，并且对于较大的晶格而言，改进尤其明显。与以前的基线模型相比，我们将关键指标（有效样本量）提高了，从1％到91％，尺寸为$ 32 \ times 32 $。我们还证明，我们的模型可以成功学习一个连续的理论家庭，并且可以将学习结果转移到更大的晶格中。与传统的基于MCMC的方法相比，这种概括能力进一步突出了机器学习方法的潜在优势。

The goal of the Mars Sample Return campaign is to collect soil samples from the surface of Mars and return them to Earth for further study. The samples will be acquired and stored in metal tubes by the Perseverance rover and deposited on the Martian surface. As part of this campaign, it is expected that the Sample Fetch Rover will be in charge of localizing and gathering up to 35 sample tubes over 150 Martian sols. Autonomous capabilities are critical for the success of the overall campaign and for the Sample Fetch Rover in particular. This work proposes a novel system architecture for the autonomous detection and pose estimation of the sample tubes. For the detection stage, a Deep Neural Network and transfer learning from a synthetic dataset are proposed. The dataset is created from photorealistic 3D simulations of Martian scenarios. Additionally, the sample tubes poses are estimated using Computer Vision techniques such as contour detection and line fitting on the detected area. Finally, laboratory tests of the Sample Localization procedure are performed using the ExoMars Testing Rover on a Mars-like testbed. These tests validate the proposed approach in different hardware architectures, providing promising results related to the sample detection and pose estimation.

准确和完整的地形图提高了自主机器人的意识，并实现了安全和最佳的路径规划。岩石和地形通常会产生闭塞，并导致数字高度地图（DEM）中缺少高程信息。目前，在运动规划期间完全避免了这些遮挡区域，或者在使用传统的插值，扩散或补丁匹配技术中填写高程地图中缺失的值。这些方法不能利用高级地形特征和我们人类直观地使用的视线的几何约束来预测被遮挡区域。我们介绍了一种能够对现实世界数据进行培训的自我监督的学习方法，无需了解DEMS中的遮挡区域。我们通过表演光线铸件将人工遮挡添加到真实机器人上的不完整高度地图来实现这一点。我们首先评估我们在综合性数据上进行监督的学习方法，我们拥有完整的地面真相，随后移动到几个真实的数据集。这些现实世界数据集在具有腿机器人的结构化和非结构化地形的探索期间记录，并且另外在月球模拟地形的行星场景中。与合成地形和真实世界数据集的基线方法相比，我们陈述了重大改进。我们的神经网络能够在CPU和GPU上实时运行，具有适当的自主地机器人的采样率。我们激励重建闭塞在高程地图中的适用性与初步运动规划实验。

在智能医疗保健中，人类活动识别（Har）被认为是传感器读数的普遍计算中的有效模型。家庭或社区中的环境辅助生活（AAL）有助于人民提供独立的护理和增强的生活质量。然而，许多AAL模型使用包括计算成本和系统复杂性的许多因素来限制。此外，由于其应用，HAR概念具有更多相关性。因此，本文旨在使用深度学习来实现来自智能传感器收集的数据，该数据在UC IRVINE机器学习存储库（UCI）中公开提供。所提出的模型涉及三个过程：（1）数据收集，（b）最佳特征选择，（c）识别。从基准存储库收集的数据最初遵循最佳特征选择，有助于选择最重要的功能。所提出的最佳特征选择是基于一种名为碰撞体优化（CBO）的新的元启发式算法。通过识别精度导出的目标函数用于完成最佳特征选择。这里，被称为经常性神经网络（RNN）的深度学习模型用于活动识别。相关基准数据集的提出模型优于现有的学习方法，与传统模型相比提供高性能。

The 3D-aware image synthesis focuses on conserving spatial consistency besides generating high-resolution images with fine details. Recently, Neural Radiance Field (NeRF) has been introduced for synthesizing novel views with low computational cost and superior performance. While several works investigate a generative NeRF and show remarkable achievement, they cannot handle conditional and continuous feature manipulation in the generation procedure. In this work, we introduce a novel model, called Class-Continuous Conditional Generative NeRF ($\text{C}^{3}$G-NeRF), which can synthesize conditionally manipulated photorealistic 3D-consistent images by projecting conditional features to the generator and the discriminator. The proposed $\text{C}^{3}$G-NeRF is evaluated with three image datasets, AFHQ, CelebA, and Cars. As a result, our model shows strong 3D-consistency with fine details and smooth interpolation in conditional feature manipulation. For instance, $\text{C}^{3}$G-NeRF exhibits a Fr\'echet Inception Distance (FID) of 7.64 in 3D-aware face image synthesis with a $\text{128}^{2}$ resolution. Additionally, we provide FIDs of generated 3D-aware images of each class of the datasets as it is possible to synthesize class-conditional images with $\text{C}^{3}$G-NeRF.

In both terrestrial and marine ecology, physical tagging is a frequently used method to study population dynamics and behavior. However, such tagging techniques are increasingly being replaced by individual re-identification using image analysis. This paper introduces a contrastive learning-based model for identifying individuals. The model uses the first parts of the Inception v3 network, supported by a projection head, and we use contrastive learning to find similar or dissimilar image pairs from a collection of uniform photographs. We apply this technique for corkwing wrasse, Symphodus melops, an ecologically and commercially important fish species. Photos are taken during repeated catches of the same individuals from a wild population, where the intervals between individual sightings might range from a few days to several years. Our model achieves a one-shot accuracy of 0.35, a 5-shot accuracy of 0.56, and a 100-shot accuracy of 0.88, on our dataset.

Feature selection helps reduce data acquisition costs in ML, but the standard approach is to train models with static feature subsets. Here, we consider the dynamic feature selection (DFS) problem where a model sequentially queries features based on the presently available information. DFS is often addressed with reinforcement learning (RL), but we explore a simpler approach of greedily selecting features based on their conditional mutual information. This method is theoretically appealing but requires oracle access to the data distribution, so we develop a learning approach based on amortized optimization. The proposed method is shown to recover the greedy policy when trained to optimality and outperforms numerous existing feature selection methods in our experiments, thus validating it as a simple but powerful approach for this problem.

The purpose of this work was to tackle practical issues which arise when using a tendon-driven robotic manipulator with a long, passive, flexible proximal section in medical applications. A separable robot which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. A control input which resolves the redundancy in the kinematics and a physical interpretation of this redundancy are provided. The effect of a static change in the proximal section angle on bending angle error was explored under four testing conditions for a sinusoidal input. Bending angle error increased for increasing proximal section angle for all testing conditions with an average error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for re-tension + hysteresis compensation relative to the baseline case. Two major sources of error in tracking the bending angle were identified: time delay from hysteresis and DC offset from the proximal section angle. Examination of these error sources revealed that the simple hysteresis compensation was most effective for removing time delay and re-tension compensation for removing DC offset, which was the primary source of increasing error. The re-tension compensation was also tested for dynamic changes in the proximal section and reduced error in the final configuration of the tip by 89.14% relative to the baseline case.

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in cyber-physical loitering munition applications. On the battlefield, the design of DRL-based autonomous control algorithm is not straightforward because real-world data gathering is generally not available. Therefore, the approach in this paper is that cyber-physical virtual environment is constructed with Unity environment. Based on the virtual cyber-physical battlefield scenarios, a DRL-based automated nonlinear drone mobility control algorithm can be designed, evaluated, and visualized. Moreover, many obstacles exist which is harmful for linear trajectory control in real-world battlefield scenarios. Thus, our proposed autonomous nonlinear drone mobility control algorithm utilizes situation-aware components those are implemented with a Raycast function in Unity virtual scenarios. Based on the gathered situation-aware information, the drone can autonomously and nonlinearly adjust its trajectory during flight. Therefore, this approach is obviously beneficial for avoiding obstacles in obstacle-deployed battlefields. Our visualization-based performance evaluation shows that the proposed algorithm is superior from the other linear mobility control algorithms.