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Opis: Navigation in a maize crop is a crucial task for the development of autonomous robots in agriculture, with numerous applications such as spraying, monitoring plant growth and health, and detecting weeds and pests. The Field Robot Event 2023 (FRE) continued to challenge universities and other research teams to push the development of algorithms for agricultural robots further. The Universidad Autónoma Chapingo has been developing a robot for various agricultural tasks, aiming to provide a low-cost alternative to work with Mexican farmers in the future. For this edition of the FRE, a navigation algorithm was created using an encoder, an IMU (Inertial Measurement Unit), an RPLIDAR (Rotating Platform Light Detection and Ranging), and cameras to collect data for decision-making. The algorithm was developed in ROS Melodic, dividing the task into steps that were tested to determine the robot's actual movements. The system navigates by using ROIs (regions of interest) and the mass center to guide the robot between maize rows. It calculates the mean of the final orientation values before reaching the end of a row, which is detected using an RPLIDAR. For turns and straight-line movements to reach the next row, the orientation is used as a guide. To detect plants for spraying, lasers located on each side of the vehicle are employed. Obstacle detection relies on a YOLOv5 (You Only Look Once) trained model and a laser, while reverse navigation uses a rear camera. During the competition, the robot faced challenges such as dealing with grass, the small size of the plants, and the need to use a different power source, which affected its performance.
Ključne besede: machine vision, convolutional neural network (CNN), regions of interest (ROI), autonomous navigation
Objavljeno v DKUM: 23.04.2025; Ogledov: 0; Prenosov: 0
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Opis: Entity alignment refers to the process of discovering entities representing the same object in different knowledge graphs (KG). Recently, some studies have learned other information about entities, but they are aspect-level simple information associations, and thus only rough entity representations can be obtained, and the advantage of multi-faceted information is lost. In this paper, a novel node-level information strong fusion framework (SFEA) is proposed, based on four aspects: structure, attribute, relation and names. The attribute information and name information are learned first, then structure information is learned based on these two aspects of information through graph convolutional network (GCN), the alignment signals from attribute and name are already carried at the beginning of the learning structure. In the process of continuous propagation of multi-hop neighborhoods, the effect of strong fusion of structure, attribute and name information is achieved and the more meticulous entity representations are obtained. Additionally, through the continuous interaction between sub-alignment tasks, the effect of entity alignment is enhanced. An iterative framework is designed to improve performance while reducing the impact on pre-aligned seed pairs. Furthermore, extensive experiments demonstrate that the model improves the accuracy of entity alignment and significantly outperforms 13 previous state-of-the-art methods.
Ključne besede: knowledge graph, entity ealignment, graph convolutional network, knowledge fusion
Objavljeno v DKUM: 27.03.2025; Ogledov: 0; Prenosov: 3
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Opis: Physics has a long tradition of laying rigorous quantitative foundations for social phenomena. Here, we up the ante for physics' forays into the territory of social sciences by (i) empirically documenting a tipping point in the relationship between democratic norms and corruption suppression, and then (ii) demonstrating how such a tipping point emerges from a micro-scale mechanistic model of spin dynamics in a complex network. Specifically, the tipping point in the relationship between democratic norms and corruption suppression is such that democratization has little effect on suppressing corruption below a critical threshold, but a large effect above the threshold. The micro-scale model of spin dynamics underpins this phenomenon by reinterpreting spins in terms of unbiased (i.e. altruistic) and biased (i.e. parochial) other-regarding behaviour, as well as the corresponding voting preferences. Under weak democratic norms, dense social connections of parochialists enable coercing enough opportunist voters to vote in favour of perpetuating parochial in-group bias. Society may, however, strengthen democratic norms in a rapid turn of events during which opportunists adopt altruism and vote to subdue bias. The emerging model outcome at the societal scale thus mirrors the data, implying that democracy either perpetuates or suppresses corruption depending on the prevailing democratic norms.
Ključne besede: tipping point, complex network, sociophysics
Objavljeno v DKUM: 13.03.2025; Ogledov: 0; Prenosov: 2
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Opis: When individual oscillators age and become inactive, the collective dynamics of coupled oscillators is often affected as well. Depending on the fraction of inactive oscillators or cascading failures that percolate from crucial information exchange points, the critical shift toward macroscopic inactivity in coupled oscillator networks is known as the aging transition. Here, we study this phenomenon in two overlayed square lattices that together constitute a multilayer network, whereby one layer is populated with slow Poincaré oscillators and the other with fast Rulkov neurons. Moreover, in this multimodal setup, the excitability of fast oscillators is influenced by the phase of slow oscillators that are gradually inactivated toward the aging transition in the fast layer. Through extensive numerical simulations, we find that the progressive inactivation of oscillators in the slow layer nontrivially affects the collective oscillatory activity and the aging transitions in the fast layer. Most counterintuitively, we show that it is possible for the intensity of oscillatory activity in the fast layer to progressively increase to up to 100%, even when up to 60% of units in the slow oscillatory layer are inactivated. We explain our results with a numerical analysis of collective behavior in individual layers, and we discuss their implications for biological systems.
Ključne besede: collective dynamics, coupled oscillators, dynamics of networks, network resilience, robustness, synchronization transition
Objavljeno v DKUM: 28.02.2025; Ogledov: 0; Prenosov: 6
Celotno besedilo (5,87 MB)
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Opis: The identification of the most influential nodes has been a vibrant subject of research across the whole of network science. Here we map this problem to structured evolutionary populations, where strategies and the interaction network are both subject to change over time based on social inheritance. We study cooperative communities, which cheaters can invade because they avoid the cost of contributions that are associated with cooperation. The question that we seek to answer is at which nodes cheaters invade most successfully. We propose the weighted degree decomposition to identify and rank the most influential invaders. More specifically, we distinguish two kinds of ranking based on the weighted degree decomposition. We show that a ranking strategy based on negative-weighted degree allows to successfully identify the most influential invaders in the case of weak selection, while a ranking strategy based on positive-weighted degree performs better when the selection is strong. Our research thus reveals how to identify the most influential invaders based on statistical measures in dynamically evolving cooperative communities.
Ključne besede: theoretical biology, evolution, agent-based modeling, complex system, network science, evolutionary game theory
Objavljeno v DKUM: 26.02.2025; Ogledov: 0; Prenosov: 4
Celotno besedilo (3,95 MB)
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