Abstract:Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the prior information of the payload, such as the mass, is always hard to obtain accurately in practice. The force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the system, which negatively affects the closed-loop performance. Different from estimation-like methods, this paper proposes Neural Predictor, a learning-based approach to model force/torque caused by payload and residual dynamics as a dynamical system. It results a hybrid model including both the first-principles dynamics and the learned dynamics. This hybrid model is then integrated into a MPC framework to improve closed-loop performance. Effectiveness of proposed framework is verified extensively in both numerical simulations and real-world flight experiments. The results indicate that our approach can capture force/torque caused by payload and residual dynamics accurately, respond quickly to the changes of them and improve the closed-loop performance significantly. In particular, Neural Predictor outperforms a state-of-the-art learning-based estimator and has reduced the force and torque estimation errors by up to 66.15% and 33.33% while using less samples.
Abstract:Code-switching (CS) detection refers to the automatic detection of language switches in code-mixed utterances. This task can be achieved by using a CS automatic speech recognition (ASR) system that can handle such language switches. In our previous work, we have investigated the code-switching detection performance of the Frisian-Dutch CS ASR system by using the time alignment of the most likely hypothesis and found that this technique suffers from over-switching due to numerous very short spurious language switches. In this paper, we propose a novel method for CS detection aiming to remedy this shortcoming by using the language posteriors which are the sum of the frame-level posteriors of phones belonging to the same language. The CS ASR-generated language posteriors contain more complete language-specific information on frame level compared to the time alignment of the ASR output. Hence, it is expected to yield more accurate and robust CS detection. The CS detection experiments demonstrate that the proposed language posterior-based approach provides higher detection accuracy than the baseline system in terms of equal error rate. Moreover, a detailed CS detection error analysis reveals that using language posteriors reduces the false alarms and results in more robust CS detection.