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Interplay between neural computational energy and multimodal processing in robot-robot interaction
No full textMultimodal learning is an active research area that is gaining importance in human-robot interaction. Despite the obvious benefit of levering multiple sensors for perceiving the world, its neural computational cost has not been addressed in robotics, especially in Robot-Robot Interaction (RRI). This study addresses the role of computational cost in multimodal processing by considering robot-robot interaction in a sequential multimodal memory recall task. In this setting, the learner (Nao) robot receives auditory-only, visual-only, or audio-visual information from an instructor (Pepper) robot and the environment regarding previously learned memory items. The goal of the learner robot is to perform the interactive task with as low as possible neural computational cost. The learner robot has two cognitive modules: a multimodal auto-associative network that stands for the perceptual-cognitive processing of the robot and an internal reward mechanism that monitors the changes in neural energy incurred for two consecutive steps by the processing of the attended stimuli. The reward computed is used to build an action policy for minimizing the neural energy consumption over the sequential memory recall task. The experimental results show that having access to both auditory and visual information is beneficial not only for better memory recall but also for minimizing the cost of neural computation.Deutsche Forschungsgemeinschaft ; New Energy and Industrial Technology Development Organization ; Japan Society for the Promotion of Science ; Deutsche Forschungsgemeinschaf
Monolitik kırmık görünür ışık haberleşme alıcısı geliştirilmesi
No full textThe VLC has drawn the attention in the last decade, which is simply based on the data transmission over the visible light (400nm-700nm). It is considered as an alternative to RF-based technologies and offers unlicensed frequency spectrum to the users. Despite the widely available optical bandwidth, LEDs that are used as a light source in VLC impose a limitation in data rate due to their limited bandwidth, which changes between a few hundred kHz and a few MHz. At this point, the equalization is one the most used method to achieve higher data rates in VLC system. There have been a growing works focusing on the equalization performed for VLC system. However, most of them offer an improvement in data rate at the discrete element level. They are not integrated and consume higher power. The works, which offer a solution at the chip level, are limited. Additionally, a monolithic optoelectronic receiver that can be operated with LEDs with different bandwidths and perform the equalization for the employed LED has been not investigated recently. This work is concentrated on the design and implementation of a monolithic optoelectronic receiver that includes a photodiode with the area of 300 umx 300 um, a TIA, an adjustable equalizer controlled by a switching mechanism, and an output buffer. The designed optoelectronic receiver is implemented in 130 nm CMOS technology and tested in an experimental setup. It is employed with three different phosphorescent white LEDs and for each of the employed LEDs around 20 times improvement in data rate to their bandwidth is achieved at a distance of 2 meters. The implemented chip has an area of 0.6 mm^2 and consumes around 2.05 mW.Görünür ışık haberleşmesi son on yılda dikkat çekmekte olup, basit bir şekilde görünür ışık üzerinden (400nm-700nm) veri aktarımına dayanmaktadır. Radyo frekansı temelli teknolojilere alternatif olarak görülmekte olup, kullanıcılara sınırsız bir frekans spektrumu sağlamaktadır. Geniş ölçüde mevcut bir bantgenişliği olmasına karşın, görünür ışık haberleşmesinde ışık kaynağı olarak kullanılan ışık yayan diyotlar, birkaç yüz kHZ ile birkaç MHz arasında değişen sınırlı bantgenişliklerinden ötürü veri aktarımına sınırlama getirmektedirler. Bu noktada, denkleştirme görünür ışık haberleşmesinde daha yüksek hızları gerçekleştirmek için olan en çok kullanılan yöntemlerinden biridir. Görünür ışık haberleşmesi için gerçekleştirilen denkleştirmelere odaklanan çalşmalar sayıca artmaktadır. Ancak, bu çalışmaların birçoğu veri hızındaki artırımı ayrık eleman seviyesinde sunmaktadır. Bunlar tümleşik olmamakta ve daha yüksek güç tüketmektedir. Kırmık seviyesinde çözüm sunan çalışmalar sınırlı sayıda olup buna ilaveten farklı bantgenişliklerine sahip ışık yayan diyotlarla ile birlikte çalışabilen ve denkleştirmeyi kullanılan ışık yayan diyot için gerçekleştiren monolitik optoelektronik alıcı şu ana kadar incelenmemiştir. Bu çalışma, 300 umx300 um alanına sahip bir fotodiyot, transempedans yükseltici, anahtarlama mekanizaması ile kontrol edilen ayarlanabilir denkleştirici, ve çıkış tamponu içeren bir monolitik optoelektronik alıcının tasarım ve gerçekleştirmesine odaklanmaktadır. Tasarlanan optoelektronik alıcı 130 nm CMOS teknolojisinde gerçekleştirilmiş ve deneysel düzenekte test edilmiştir. Üç adet farklı fosforlu beyaz ışık yayan diyot kullanılmış ve 2 metre mesafede her bir kullanılan ışık yayan diyot için veri aktarımında bantgenişliğine oranla yaklaşık 20 kat iyileştirme başarılmıştır. Gerçekleştirilen kırmık 0.6 mm^2 alana sahip olmakta ve 2.05 mW güç harcamaktadır
The time-lag effect of natural gas prices on electricity prices in turkiye: an analysis of the post-pandemic market
No full textThis study investigates the relationship between natural gas and electricity prices in Turkiye, one of the countries affected by sudden increases in natural gas prices after the pandemic and regional conflicts. Turkiye determines electricity and natural gas reference prices through transparent markets operated by Energy Exchange (EXIST). Using data from EXIST's transparency platform and regression methods, the study aims to determine when the rapid increases in natural gas prices affect electricity prices. Previous research has shown that increased natural gas prices do not immediately affect electricity prices; instead, affect them after a certain period, depending on the country's natural gas share in the supply. The study will use a similar methodology to evaluate the time-lag effect of natural gas prices on electricity prices in the post-pandemic Turkish energy market. The accuracy of the findings is tested by Mean Absolute Error, Mean Square Error, Mean Absolute Percent Error, and Mean Percent Error metrics. The findings of this study show that a sixty-day delay is observed in the relationship between natural gas and electricity prices in Turkiye, with an increase in forecasting capability of up to 8.88% error
Yol bulma ve tahliye üzerinde polihedron görünürlüğünün sıralı etkilerinin incelenmesi
No full textThis thesis presents the understanding that the basics of the human wayfinding process can be substantially illuminated by the correlations between space-syntactic variables and kinesthetic data of individuals roaming in a spatio-temporal environment. Although twodimensional syntactic concepts offer a perception of place to some extent, they may neglect to capture the volumetric effects of space on human perception, especially during movement. Therefore, besides 2D syntactic variables, this master thesis essentially focuses on polyhedrons as 3D isovists to explore the impacts of the sequential volumetric visibility data on human behavior in terms of the spatial decision-making process in the wayfinding and evacuation issues. In this framework, the research discusses the results of a series of wayfinding and evacuation experiments implemented in a virtual building environment consisting of randomly arranged and dimensioned circulation areas. While the evacuation experiments contain legal egress signages at properly designated doors and spots, wayfinding experiments present no signboards. On the other hand, the virtual building model is designed with a couple of architectural 3D modeling software and transferred into a simulation environment. The experiments are conducted with forty-four (44) respondents over an online meeting platform. Then, the respondents' routes and kinesthetic data are retrieved from the experiments, and the correlations between behavioral and syntactic data are investigated. The primary findings demonstrated that participants in the regular exit group tended to be around the zones with higher integration values. In contrast, the signages and volumetric visibility data are highly influential on the emergency exit group when evacuating the building.Bu tez, insan yön bulma sürecinin temellerinin, sentaktik değişkenler ve makan-zamansal bir ortamda dolaşan bireylerin kinestetik verileri arasında ortaya çıkan bağıntılarla büyük ölçüde aydınlatılabileceği anlayışını sunmaktadır. İki boyutlu sentaktik kavramlar mekan ile ilgili insan algısını bir dereceye kadar sunabilse de, mekanın insan algısı üzerindeki hacimsel etkilerini özellile hareket sırasında yakalamayı ihmal edebilir. Bu nedenle, bu yüksek lisans tezi yol bulma ve tahliye sırasındaki mekansal karar verme konularında iki boyutlu sentaktik parametrelerin yanı sıra, ardışık hacimsel görünürlük verilerinin de isan davranışı üzerindeki etkilerini araştımak için esasen üç boyutlu 'isovist' olarak değerlendirebileceğimiz 'polyhedron' kavramına odaklanır. Bu çerçevede araştırma, rastgele düzenenmiş ve boyutlandırılmış sirkülasyon alanlarından oluşan sanal bir bina ortamında gerçekleştirilen bir dizi yön bulma ve tahliye deneylerinin sonuçlarını tartışmaktadır. Bu yön bulma deneylerinde herhangi bir acil çıkış işareti bulunmazken, bu işaretler tahliye deneylerinde sanal binanın uygun noktalarında ve acil çıkış kapılarının üstünde mevcuttur. Bahsedilen üç boyutlu sanal bina modeli ise birkaç mimari modelleme yazılımı ile tasarlanmış ve simülasyon ortamına aktarılmıştır. Deneyler ise çevrimiçi bir toplantı platformu üzerinden kırk dört (44) katılımcı ile gerçekleştirilmiştir. Katılımcıların rotaları ve kinestetik verileri bu deneyler sayesinde elde edilmiş ve binanın sentaktik değerleri ile kişilerin mekansal davranışları arasındaki anlamlı ilişkiler araştırılmıştır. İlk bulgular, yön bulma gurubundaki katılımcıların yüksek 'entegrasyon' değerlerine sahip bölgeler etrafında olma eğiliminde olduklarını gösterirken, bina tahliyesinde acil çıkış grubu üzerinde tebalalar ve hacimsel görünürük verilerinin oldukça etkili olduğu söylenebilir
Symbolic knowledge extraction for explainable nutritional recommenders
No full textBackground and objective: This paper focuses on nutritional recommendation systems (RS), i.e. AI-powered automatic systems providing users with suggestions about what to eat to pursue their weight/body shape goals. A trade-off among (potentially) conflictual requirements must be taken into account when designing these kinds of systems, there including: (i) adherence to experts’ prescriptions, (ii) adherence to users’ tastes and preferences, (iii) explainability of the whole recommendation process. Accordingly, in this paper we propose a novel approach to the engineering of nutritional RS, combining machine learning and symbolic knowledge extraction to profile users—hence harmonising the aforementioned requirements. MethodsOur contribution focuses on the data processing workflow. Stemming from neural networks (NN) trained to predict user preferences, we use CART Breiman et al.(1984) to extract symbolic rules in Prolog Körner et al.(2022) form, and we combine them with expert prescriptions brought in similar form. We can then query the resulting symbolic knowledge base via logic solvers, to draw explainable recommendations. ResultsExperiments are performed involving a publicly available dataset of 45,723 recipes, plus 12 synthetic datasets about as many imaginary users, and 6 experts’ prescriptions. Fully-connected 4-layered NN are trained on those datasets, reaching ∼86% test-set accuracy, on average. Extracted rules, in turn, have ∼80% fidelity w.r.t. those NN. The resulting recommendation system has a test-set precision of ∼74%. The symbolic approach makes it possible to devise how the system draws recommendations. Conclusions Thanks to our approach, intelligent agents may learn users’ preferences from data, convert them into symbolic form, and extend them with experts’ goal-directed prescriptions. The resulting recommendations are then simultaneously acceptable for the end user and adequate under a nutritional perspective, while the whole process of recommendation generation is made explainable.CHIST-ERA IV project ; Ministry of Education, Universities and Research (MIUR) ; TÜBİTAKPublisher versio
Characterization of orbital angular momentum-multiplexed FSO channel in the presence of pointing errors
No full textFree space optical communication (FSO) uses laser transmitters at near-infrared wavelengths for line-of-sight wireless communication. Through the use of advanced laser beams instead of the conventional Gaussian-shaped beam, orbital angular momentum (OAM) allows taking advantage of higher degrees of freedom in the FSO link design. OAM enables the simultaneous transmission of multiple data streams due to the orthogonality between beams of different spatial modes. However, in practice, atmospheric turbulence and pointing errors may destroy the orthogonality. Pointing errors may result in crosstalk between modes and power disparities as a result of shifting the received beam. In this paper, we consider Laguerre-Gaussian beams and investigate the effect of random pointing errors on crosstalk coefficients.TÜBİTA
Combination of inclusive top-quark pair production cross-section measurements using ATLAS and CMS data at √s = 7 and 8 TeV
No full textA combination of measurements of the inclusive top-quark pair production cross-section performed by ATLAS and CMS in proton-proton collisions at centre-of-mass energies of 7 and 8TeV at the LHC is presented. The cross-sections are obtained using top-quark pair decays with an opposite-charge electron-muon pair in the final state and with data corresponding to an integrated luminosity of about 5 fb(-1) at root s = 7 TeV and about 20 fb(-1) at root s = 8TeV for each experiment. The combined cross-sections are determined to be 178.5 +/- 4.7 pb at root s = 7 TeV and 243.3(-5.9)(+6.0) pb at root s = 8TeV with a correlation of 0.41, using a reference top-quark mass value of 172.5 GeV. The ratio of the combined crosssections is determined to be R-8/7 = 1.363 +/- 0.032. The combined measured cross-sections and their ratio agree well with theory calculations using several parton distribution function (PDF) sets. The values of the top-quark pole mass (with the strong coupling fixed at 0.118) and the strong coupling (with the top-quark pole mass fixed at 172.5 GeV) are extracted from the combined results by fitting a next-to-next-to-leading-order plus next-to-next-to-leading-log QCD prediction to the measurements. Using a version of the NNPDF3.1 PDF set containing no top-quark measurements, the results obtained are m(t)(pole) = 173.4(-2.0)(+1.8) GeV and alpha s(m(Z)) = 0.1170(-0.0018)(+0.0021).BMBWF and FWF (Austria); FNRS and FWO (Belgium); CNPq, CAPES, FAPERJ, FAPERGS, and FAPESP (Brazil); MES and BNSF (Bulgaria); CERN; CAS, MoST, and NSFC (China); MINCIENCIAS (Colombia); MSES and CSF (Croatia); RIF (Cyprus); SENESCYT (Ecuador); MoER, ERC PUT and ERDF (Estonia); Academy of Finland, MEC, and HIP (Finland); CEA and CNRS/IN2P3 (France); BMBF, DFG, and HGF (Germany); GSRI (Greece); NKFIH (Hungary); DAE and DST (India); IPM (Iran); SFI (Ireland); INFN (Italy); MSIP and NRF (Republic of Korea); MES (Latvia); LAS (Lithuania); MOE and UM (Malaysia); BUAP, CINVESTAV, CONACYT, LNS, SEP, and UASLP-FAI (Mexico); MOS (Montenegro); MBIE (New Zealand); PAEC (Pakistan); MES and NSC (Poland); FCT (Portugal); MESTD (Serbia); MCIN/AEI and PCTI (Spain); MOSTR (Sri Lanka); Swiss Funding Agencies (Switzerland); MST (Taipei); MHESI and NSTDA (Thailand); TUBITAK and TENMAK (Turkey); NASU (Ukraine); STFC (United Kingdom); DOE and NSF (USA).r Individuals have received support from the Marie-Curie programme and the European Research Council and Horizon 2020 Grant, contract Nos. 675440, 724704, 752730, 758316, 765710, 824093, 884104, and COST Action CA16108 (European Union); the Leventis Foundation; the Alfred P. Sloan Foundation; the Alexander von Humboldt Foundation; the Belgian Federal Science Policy Office; the Fonds pour la Formation a la Recherche dans l'Industrie et dans l'Agriculture (FRIA-Belgium); the Agentschap voor Innovatie door Wetenschap en Technologie (IWT-Belgium); the F.R.S.-FNRS and FWO (Belgium) under the "Excellence of Science -EOS" -be.h project n. 30820817; the Beijing Municipal Science & Technology Commission, No. Z191100007219010; the Ministry of Education, Youth and Sports (MEYS) of the Czech Republic; the Hellenic Foundation for Research and Innovation (HFRI), Project Number 2288 (Greece); the Deutsche Forschungsgemeinschaft (DFG), under Germany's Excellence Strategy -EXC 2121 "Quantum Universe" -390833306, and under project number 400140256 -GRK2497; the Hungarian Academy of Sciences, the New National Excellence Program -UNKP, the NKFIH research grants K 124845, K 124850, K 128713, K 128786, K 129058, K 131991, K 133046, K 138136, K 143460, K 143477, 2020-2.2.1-ED-2021-00181, and TKP2021-NKTA-64 (Hungary); the Council of Science and Industrial Research, India; the Latvian Council of Science; the Ministry of Education and Science, project no. 2022/WK/14, and the National Science Center, contracts Opus 2021/41/B/ST2/01369 and 2021/43/B/ST2/01552 (Poland); the Fundacao para a Ciencia e a Tecnologia, grant CEECIND/01334/2018 (Portugal); the National Priorities Research Program by Qatar National Research Fund; MCIN/AEI/10.13039/501100011033, ERDF "a way of making Europe", and the Programa Estatal de Fomento de la Investigacion Cientifica y Tecnica de Excelencia Maria de Maeztu, grant MDM-2017-0765 and Programa Severo Ochoa del Principado de Asturias (Spain); the Chulalongkorn Academic into Its 2nd Century Project Advancement Project, and the National Science, Research and Innovation Fund via the Program Management Unit for Human Resources & Institutional Development, Research and Innovation, grant B05F650021 (Thailand); the Kavli Foundation; the Nvidia Corporation; the SuperMicro Corporation; the Welch Foundation, contract C-1845; and the Weston Havens Foundation (USA).Publisher versio
Termal ve optik görüntü çakıştırması için Swin dönüştürücü tabanlı siyam aǧı
No full textThe process of multi-modal image registration is fundamental in remote sensing and visual navigation applications. However, existing image registration methods that are designed for single modality images do not provide satisfactory results when applied to multi-modal image registration. In this research, our objective is to achieve highly accurate alignment of both infrared and optical (visible range) images. To accomplish this goal, we explore the effectiveness of the Swin Transformer encoder and cosine loss in enhancing the keypoint-based image registration process. Simulation results show the improvement achieved in multi-modal registration by using a transformer based Siamese network
A methodology for 3D digital sketching practice in undergraduate architectural education
No full textPaper-based sketches used in the first stage of architectural design have started to be replaced by digital sketches. Since many universities have switched to online education during the pandemic period, digital sketches have come to the fore in this period. It is seen that the architectural forms in the digital sketches are shaped according to the computer programme used, especially in undergraduate architecture education. This situation was identified as a problem in this study. As a solution to this, it is aimed to develop a method in order to develop the form-oriented creativity of the students in the computer environment. After the experimental case study, a questionnaire was conducted with the students to evaluate this method. It has been concluded that the exercise method proposed in this study can enable students to make digital sketches more easily
MotiCards: Developing designer cards for children’s intrinsic motivation of daily tasks
No full textIntrinsic motivation plays an important role in learning or engagement, and the factors that identifies intrinsic motivation have been insufficiently taken into account at the early stages of technology design for children. In this work-in-progress paper, we describe how we develop cards for children’s intrinsic motivation in carrying out everyday tasks in home environment. The content of the cards were derived from 50 parents’ views extracted through an online survey as well as a desk research literature review. Then we evaluated the cards in a focus group with four experts from different backgrounds in developmental research. We draw on our findings to set forth design considerations and possible refinements that make age specific knowledge about 9-13-year-old children’s intrinsic motivations to inform technology design in child-computer interaction field