Estimating the Lateral Motion States of an Underwater Robot by Propeller Wake Sensing Using an Artificial Lateral Line

An artificial lateral line (ALL) is a bioinspired flow sensing system of an underwater robot that consists of distributed flow sensors. The ALL has achieved great success in sensing the motion states of bioinspired underwater robots, e.g., robotic fish, that are driven by body undulation and/or tail flapping. However, the ALL has not been systematically tested and studied in the sensing of underwater robots driven by rotating propellers due to the highly dynamic and complex flow field therein. This paper makes a bold hypothesis that the distributed flow measurements sampled from the propeller wake flow, although infeasible to represent the entire flow dynamics, provides sufficient information for estimating the lateral motion states of the leader underwater robot. An experimental testbed is constructed to investigate the feasibility of such a state estimator which comprises a cylindrical ALL sensory system, a rotating leader propeller, and a water tank with a planar sliding guide. Specifically, a hybrid network that consists of a one-dimensional convolution network (1DCNN) and a bidirectional long short-term memory network (BiLSTM) is designed to extract the spatiotemporal features of the time series of distributed pressure measurements. A multi-output deep learning network is adopted to estimate the lateral motion states of the leader propeller. In addition, the state estimator is optimized using the whale optimization algorithm (WOA) considering the comprehensive estimation performance. Extensive experiments are conducted the results of which validate the proposed data-driven algorithm in estimating the motion states of the leader underwater robot by propeller wake sensing.

A Policy-based Approach to the SpecAugment Method for Low Resource E2E ASR

SpecAugment is a very effective data augmentation method for both HMM and E2E-based automatic speech recognition (ASR) systems. Especially, it also works in low-resource scenarios. However, SpecAugment masks the spectrum of time or the frequency domain in a fixed augmentation policy, which may bring relatively less data diversity to the low-resource ASR. In this paper, we propose a policy-based SpecAugment (Policy-SpecAugment) method to alleviate the above problem. The idea is to use the augmentation-select policy and the augmentation-parameter changing policy to solve the fixed way. These policies are learned based on the loss of validation set, which is applied to the corresponding augmentation policies. It aims to encourage the model to learn more diverse data, which the model relatively requires. In experiments, we evaluate the effectiveness of our approach in low-resource scenarios, i.e., the 100 hours librispeech task. According to the results and analysis, we can see that the above issue can be obviously alleviated using our proposal. In addition, the experimental results show that, compared with the state-of-the-art SpecAugment, the proposed Policy-SpecAugment has a relative WER reduction of more than 10% on the Test/Dev-clean set, more than 5% on the Test/Dev-other set, and an absolute WER reduction of more than 1% on all test sets.