This paper introduces layout-aware graph modeling for multimodal RAG. Different from traditional RAG methods that mostly deal with flat text chunks, the proposed method takes into account the relationship of multimodalities by using a graph structure. To do that, a graph modeling structure is defined based on document layout parsing. The structure of an input document is retained with the connection of text chunks, tables, and figures. This representation allows the method to handle complex questions that require information from multimodalities. To confirm the efficiency of the graph modeling, a flexible RAG pipeline is developed using robust components. Experimental results on four benchmark test sets confirm the contribution of the layout-aware modeling for performance improvement of the RAG pipeline.

Additive Manufacturing (AM) is transforming the manufacturing sector by enabling efficient production of intricately designed products and small-batch components. However, metal parts produced via AM can include flaws that cause inferior mechanical properties, including reduced fatigue response, yield strength, and fracture toughness. To address this issue, we leverage convolutional neural networks (CNN) to analyze thermal images of printed layers, automatically identifying anomalies that impact these properties. We also investigate various synthetic data generation techniques to address limited and imbalanced AM training data. Our models' defect detection capabilities were assessed using images of Nickel alloy 718 layers produced on a laser powder bed fusion AM machine and synthetic datasets with and without added noise. Our results show significant accuracy improvements with synthetic data, emphasizing the importance of expanding training sets for reliable defect detection. Specifically, Generative Adversarial Networks (GAN)-generated datasets streamlined data preparation by eliminating human intervention while maintaining high performance, thereby enhancing defect detection capabilities. Additionally, our denoising approach effectively improves image quality, ensuring reliable defect detection. Finally, our work integrates these models in the CLoud ADditive MAnufacturing (CLADMA) module, a user-friendly interface, to enhance their accessibility and practicality for AM applications. This integration supports broader adoption and practical implementation of advanced defect detection in AM processes.

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between locations and search a location; we have a total time budget within which to conduct the search. We study the problem of computing a search path/strategy for the robot that maximizes the probability of detection of the target. Considering non-uniform travel times between points (e.g., based on the distance between them) is crucial for search and rescue applications; such problems have been investigated to a limited extent due to their inherent complexity. In this paper, we describe fast algorithms with performance guarantees for this search problem and some variants, complement them with complexity results, and perform experiments to observe their performance.

Recent studies have shown the ability of large language models to perform a variety of tasks, including time series forecasting. The flexible nature of these models allows them to be used for many applications. In this paper, we present a novel study of large language models used for the challenging task of time series anomaly detection. This problem entails two aspects novel for LLMs: the need for the model to identify part of the input sequence (or multiple parts) as anomalous; and the need for it to work with time series data rather than the traditional text input. We introduce sigllm, a framework for time series anomaly detection using large language models. Our framework includes a time-series-to-text conversion module, as well as end-to-end pipelines that prompt language models to perform time series anomaly detection. We investigate two paradigms for testing the abilities of large language models to perform the detection task. First, we present a prompt-based detection method that directly asks a language model to indicate which elements of the input are anomalies. Second, we leverage the forecasting capability of a large language model to guide the anomaly detection process. We evaluated our framework on 11 datasets spanning various sources and 10 pipelines. We show that the forecasting method significantly outperformed the prompting method in all 11 datasets with respect to the F1 score. Moreover, while large language models are capable of finding anomalies, state-of-the-art deep learning models are still superior in performance, achieving results 30% better than large language models.

This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their movements to build a Gaussian Process (GP) model of a spatio-temporal field. The model is then utilized to predict the spatio-temporal phenomenon at different points of interest. To spatially and temporally navigate the group of robots so that they can optimally acquire maximal information gains while their connectivity is preserved, we propose a novel multistep prediction informative path planning optimization strategy employing our newly defined local cost functions. By using the dual decomposition method, it is feasible and practical to effectively solve the optimization problem in a distributed manner. The proposed method was validated through synthetic experiments utilizing real-world data sets.

By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first proposed to be based on the depth data which can identify and eliminate a specific type of in-collision trajectories in the sampled motion primitive library. More specifically, all the obscured primitives' endpoints are found through querying the depth values and excluded from the sampled set, which can significantly reduce the computational workload required in collision checking. On the other hand, we furthermore propose a steering mechanism also based on the depth information to effectively prevent an autonomous vehicle from getting stuck when facing a large convex obstacle, providing a higher level of autonomy for a planning system. Our steering technique is theoretically proved to be complete in scenarios of convex obstacles. To evaluate effectiveness of the proposed DEpth based both Sampling and Steering (DESS) methods, we implemented them in the synthetic environments where a quadrotor was simulated flying through a cluttered region with multiple size-different obstacles. The obtained results demonstrate that the proposed approach can considerably decrease computing time in local planners, where more trajectories can be evaluated while the best path with much lower cost can be found. More importantly, the success rates calculated by the fact that the robot successfully navigated to the destinations in different testing scenarios are always higher than 99.6% on average.

Wind energy is expected to be one of the leading ways to achieve the goals of the Paris Agreement but it in turn heavily depends on effective management of its operations and maintenance (O&M) costs. Blade failures account for one-third of all O&M costs thus making accurate detection of blade damages, especially cracks, very important for sustained operations and cost savings. Traditionally, damage inspection has been a completely manual process thus making it subjective, error-prone, and time-consuming. Hence in this work, we bring more objectivity, scalability, and repeatability in our damage inspection process, using deep learning, to miss fewer cracks. We build a deep learning model trained on a large dataset of blade damages, collected by our drone-based inspection, to correctly detect cracks. Our model is already in production and has processed more than a million damages with a recall of 0.96. We also focus on model interpretability using class activation maps to get a peek into the model workings. The model not only performs as good as human experts but also better in certain tricky cases. Thus, in this work, we aim to increase wind energy adoption by decreasing one of its major hurdles - the O\&M costs resulting from missing blade failures like cracks.

Rapidly estimating the remaining wall thickness (RWT) is paramount for the non-destructive condition assessment evaluation of large critical metallic pipelines. A robotic vehicle with embedded magnetism-based sensors has been developed to traverse the inside of a pipeline and conduct inspections at the location of a break. However its sensing speed is constrained by the magnetic principle of operation, thus slowing down the overall operation in seeking dense RWT mapping. To ameliorate this drawback, this work proposes the partial scanning of the pipe and then employing Gaussian Processes (GPs) to infer RWT at the unseen pipe sections. Since GP prediction assumes to have normally distributed input data - which does correspond with real RWT measurements - Gaussian mixture (GM) models are proven in this work as fitting marginal distributions to effectively capture the probability of any RWT value in the inspected data. The effectiveness of the proposed approach is extensively validated from real-world data collected in collaboration with a water utility from a cast iron water main pipeline in Sydney, Australia.

For instance, dual arm manipulators have been effectively employed in a diversity of tasks including assembling a car, grasping and transporting an object or nursing the elderly [7]. In those scenarios, the DAR have been expected to behave like a human, which is they should be able to manipulate an object similarly to what a person does [3]. As compared to a single arm robot, the DAR have significant advantages such as more flexible movements, higher precision and greater dexterity for handling large objects [8, 9]. Nevertheless, since the kinematic and dynamic models of the DAR system are much more complicated than those of a single arm robot, it has more challenges to effectively and efficiently control the DAR, where synchronously coordinating the robot arms are highly expected. In order to accurately and stabily track the robot arms along desired trajectories, a number of the control strategies have been proposed. For instance, the traditional methods such as nonlinear feedback control [10] or hybrid force/position control relied on the kinematics and statics [11, 12] have been proposed to simultaneously control both of the arms. In the works [13, 14, 15], the authors have proposed to utilize the impedance control by considering the dynamic interaction between the robot and its surrounding environment while guaranteeing the desired movements. More importantly, robustness of the control performance is also highly prioritized in consideration of designing a controller for a highly uncertain and nonlinear DAR system. In literature of the modern control theory, sliding mode control (SMC) demonstrates a diverse ability to robustly control any system.

Recently multi-domain recommender systems have received much attention from researchers because they can solve cold-start problem as well as support for cross-selling. However, when applying into multi-domain items, although algorithms specifically addressing a single domain have many difficulties in capturing the specific characteristics of each domain, multi-domain algorithms have less opportunity to obtain similar features among domains. Because both similarities and differences exist among domains, multi-domain models must capture both to achieve good performance. Other studies of multi-domain systems merely transfer knowledge from the source domain to the target domain, so the source domain usually comes from external factors such as the search query or social network, which is sometimes impossible to obtain. To handle the two problems, we propose a model that can extract both homogeneous and divergent features among domains and extract data in a domain can support for other domain equally: a so-called Domain-to-Domain Translation Model (D2D-TM). It is based on generative adversarial networks (GANs), Variational Autoencoders (VAEs), and Cycle-Consistency (CC) for weight-sharing. We use the user interaction history of each domain as input and extract latent features through a VAE-GAN-CC network. Experiments underscore the effectiveness of the proposed system over state-of-the-art methods by a large margin.