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Vision-Based 3d Bicycle Tracking Using Deformable Part Model And Interacting Multiple Model Filter, Hyunggi Cho, Paul E. Rybski, Wende Zhang 2011 Carnegie Mellon University

Vision-Based 3d Bicycle Tracking Using Deformable Part Model And Interacting Multiple Model Filter, Hyunggi Cho, Paul E. Rybski, Wende Zhang

Robotics Institute

This paper presents a monocular vision based 3D bicycle tracking framework for intelligent vehicles based on a detection method exploiting a deformable part model and a tracking method using an Interacting Multiple Model (IMM) algorithm. Bicycle tracking is important because bicycles share the road with vehicles and can move at comparable speeds in urban environments. From a computer vision standpoint, bicycle detection is challenging as bicycle's appearance can change dramatically between viewpoints and a person riding on the bicycle is a non-rigid object. To this end, we present a tracking-by-detection method to detect and track bicycles that takes into ...


Flood Disaster Mitigation: A Real-World Challenge Problem For Multi-Agent Unmanned Surface Vehicles, Paul Scerri, Balajee Kannan, Prasanna Velagapudi, Kate Macarthur, Peter Stone, Matt Taylor, John M. Dolan, Alessandro Farinelli, Archie Chapman, M. Bernardine Dias, George Kantor 2011 Carnegie Mellon University

Flood Disaster Mitigation: A Real-World Challenge Problem For Multi-Agent Unmanned Surface Vehicles, Paul Scerri, Balajee Kannan, Prasanna Velagapudi, Kate Macarthur, Peter Stone, Matt Taylor, John M. Dolan, Alessandro Farinelli, Archie Chapman, M. Bernardine Dias, George Kantor

Robotics Institute

As we advance the state of technology for robotic systems, there is a need for defining complex real-world challenge problems for the multi-agent/robot community to address. A well-defined challenge problem can motivate researchers to aggressively address and overcome core domain challenges that might otherwise take years to solve. As the focus of multi-agent research shifts from the mature domains of UGV and UAVs to USVs, there is a need for outlining well-defined and realistic challenge problems. In this position paper, we define one such problem, flood disaster mitigation. The ability to respond quickly and effectively to disasters is essential ...


Manipulation Planning With Goal Sets Using Constrained Trajectory Optimization, Anca Dragan, Nathan Ratliff, Siddhartha Srinivasa 2011 Carnegie Mellon University

Manipulation Planning With Goal Sets Using Constrained Trajectory Optimization, Anca Dragan, Nathan Ratliff, Siddhartha Srinivasa

Robotics Institute

Goal sets are omnipresent in manipulation: picking up objects, placing them on counters or in bins, handing them off - all of these tasks encompass continuous sets of goals. This paper describes how to design optimal trajectories that exploit goal sets. We extend CHOMP (Covariant Hamiltonian Optimization for Motion Planning), a recent trajectory optimizer that has proven effective on high-dimensional problems, to handle trajectory-wide constraints, and relate the solution to the intuition of taking unconstrained steps and subsequently projecting them onto the constraints. We then show how this projection simplifies for goal sets (i.e. constraints that affect only the end-point ...


Addressing Cost-Space Chasms In Manipulation Planning, Dmitry Berenson, Thierry Simeon, Siddhartha Srinivasa 2011 Carnegie Mellon University

Addressing Cost-Space Chasms In Manipulation Planning, Dmitry Berenson, Thierry Simeon, Siddhartha Srinivasa

Robotics Institute

Finding paths in high-dimensional spaces becomes difficult when we wish to optimize the cost of a path in addition to obeying feasibility constraints. Recently the T-RRT algorithm was presented as a method to plan in high-dimensional cost spaces and it was shown to perform well across a variety of problems. However, since the T-RRT relies solely on sampling to explore the space, it has difficulty navigating cost-space chasms narrow low-cost regions surrounded by increasing cost. Such chasms are particularly common in planning for manipulators because many useful cost functions induce narrow or lower dimensional low-cost areas. This paper presents the ...


Segmentation-Based Online Change Detection For Mobile Robots, Bradford Neuman, Boris Sofman, Anthony Stentz, J. Andrew Bagnell 2011 Carnegie Mellon University

Segmentation-Based Online Change Detection For Mobile Robots, Bradford Neuman, Boris Sofman, Anthony Stentz, J. Andrew Bagnell

Robotics Institute

The high cost of damaging an expensive robot or injuring people or equipment in its environment make even rare failures unacceptable in many mobile robot applications. Often the objects that pose the highest risk for a mobile robot are those that were not present throughout previous successful traversals of an environment. Change detection, a closely related problem to novelty detection, is therefore of high importance to many mobile robotic applications that require a robot to operate repeatedly in the same environment. We present a novel algorithm for performing online change detection based on a previously developed robust online novelty detection ...


An Efficient Algorithm For Environmental Coverage With Multiple Robots, Ling Xu, Anthony Stentz 2011 Carnegie Mellon University

An Efficient Algorithm For Environmental Coverage With Multiple Robots, Ling Xu, Anthony Stentz

Robotics Institute

Tasks such as street mapping and security surveillance seek a route that traverses a given space to perform a function. These task functions may involve mapping the space for accurate modeling, sensing the space for unusual activity, or searching the space for an object. In many cases, the use of multiple robots can greatly improve the performance of these tasks. We assume a prior map is available, but it may be inaccurate due to factors such as occlusion, age, dynamic objects, and resolution limitations. In this work, we address the NP-hard problem of environmental coverage with incomplete prior map information ...


Incremental Construction Of The Saturated-Gvg For Multi-Hypothesis Topological Slam, Tong Tao, Stephen Tully, George Kantor, Howie Choset 2011 Nankai University

Incremental Construction Of The Saturated-Gvg For Multi-Hypothesis Topological Slam, Tong Tao, Stephen Tully, George Kantor, Howie Choset

Robotics Institute

The generalized Voronoi graph (GVG) is a topological representation of an environment that can be incrementally constructed with a mobile robot using sensor-based control. However, because of sensor range limitations, the GVG control law will fail when the robot moves into a large open area. This paper discusses an extended GVG approach to topological navigation and mapping: the saturated generalized Voronoi graph (S-GVG), for which the robot employs an additional wall-following behavior to navigate along obstacles at the range limit of the sensor. In this paper, we build upon previous work related to the S-GVG and provide two important contributions ...


Density Invariant Vibrational Modes In Disordered Colloidal Crystals, N. L. Green, D. Kaya, Craig E. Maloney, Mohammad F. Islam 2011 Carnegie Mellon University

Density Invariant Vibrational Modes In Disordered Colloidal Crystals, N. L. Green, D. Kaya, Craig E. Maloney, Mohammad F. Islam

Department of Materials Science and Engineering

We experimentally measure the density of states (DOS) and dynamical structure factor (DSF) arising from the thermal fluctuations in a colloidal crystal composed of thermally sensitive micron-sized hydrogel particles at several different particle volume fractions, ϕ’s. Particle positions are tracked over long times using optical microscopy and particle tracking algorithms in a single two-dimensional (2D) [111]plane of a 3D face-centered-cubic single crystal. The dynamical fluctuations are spatially heterogeneous while the lattice itself is highly ordered. At all ϕ’s, the DOS exhibits an excess of low frequency modes, a so-called boson peak (BP), and the DSF exhibits a ...


Comparative Field Performance Study Of Flat Plate And Heat Pipe Evacuated Tube Collectors (Etcs) For Domestic Water Heating Systems In A Temperate Climate, Lacour Ayompe, Aidan Duffy, Sarah McCormack, Michael Conlon, Mick McKeever 2011 Dublin Institute of Technology

Comparative Field Performance Study Of Flat Plate And Heat Pipe Evacuated Tube Collectors (Etcs) For Domestic Water Heating Systems In A Temperate Climate, Lacour Ayompe, Aidan Duffy, Sarah Mccormack, Michael Conlon, Mick Mckeever

Articles

This paper presents a year round energy performance monitoring results of two solar water heaters with 4 m2 flat plate and 3 m2 heat pipe evacuated tube collectors (ETCs) operating under the same weather conditions in Dublin, Ireland. The energy performance of the two systems was compared on daily, monthly and yearly basis. Results obtained showed that for an annual total in-plane solar insolation of 1,087 kWh/m2, a total of 1,984 kWh and 2,056 kWh of heat energy were collected by the 4 m2 FPC and 3 m2 ETC systems respectively ...


Toward The Next Generation Of Emergency Operations Systems, Art Botterell, Martin Griss 2011 CMU-SV/DMI

Toward The Next Generation Of Emergency Operations Systems, Art Botterell, Martin Griss

Silicon Valley Campus

For more than half a century the Emergency Operations Center (EOC) has been a key component of emergency management (EM), homeland security and business continuity practice. Changes in the technical, threat, economic and social environments are placing new pressures on the concept of the EOC in the public, private and community sectors. Investigation of the desirable attributes of a “Next Generation EOC” has led to alternative EOC roles and configurations. This paper describes emerging pressures on, and trends in, emergency and business contingency management systems, and describes a research program to explore solutions to both new and persistent design challenges.


A Relativistic Enhancement To Software Transactional Memory, Philip William Howard, Jonathan Walpole 2011 Portland State University

A Relativistic Enhancement To Software Transactional Memory, Philip William Howard, Jonathan Walpole

Computer Science Faculty Publications and Presentations

Relativistic Programming is a technique that allows low overhead, linearly-scalable concurrent reads. It also allows joint access parallelism between readers and a writer. Unfortunately, it has so far been limited to a single writer so it does not scale on the write side. Software Transactional Memory (STM) is a technique that allows programs to take advantage of disjoint access parallelism on both the read-side and write-side. Unfortunately, STM systems have a higher overhead than many other synchronization mechanisms so although STM scales, STM starts from a lower baseline. We propose combining relativistic programming and software transactional memory in a way ...


Solar Decathlon Controls, James Mitchel Routh, Travis Lathrop, Colby Jarrett, Zach Cross 2011 University of Tennessee, Knoxville

Solar Decathlon Controls, James Mitchel Routh, Travis Lathrop, Colby Jarrett, Zach Cross

University of Tennessee Honors Thesis Projects

No abstract provided.


Senior Design Ii Final Report: Red Bull Air Racer, Eric H. Kirchoff, Chad Sutton, Andrew Kail, Sydney Fears 2011 University of Tennessee - Knoxville

Senior Design Ii Final Report: Red Bull Air Racer, Eric H. Kirchoff, Chad Sutton, Andrew Kail, Sydney Fears

University of Tennessee Honors Thesis Projects

No abstract provided.


Feasibility Of A Touch Sensitive Breast Phantom For Use In The Training Of Physicians In Clinical Breast Examination, Corinne Ashlie Davis, Katherine Lynn Mittura, Grace Elizabeth Copeland, Erica Martina Hawkins 2011 University of Tennessee - Knoxville

Feasibility Of A Touch Sensitive Breast Phantom For Use In The Training Of Physicians In Clinical Breast Examination, Corinne Ashlie Davis, Katherine Lynn Mittura, Grace Elizabeth Copeland, Erica Martina Hawkins

University of Tennessee Honors Thesis Projects

No abstract provided.


Vibration Fault Detection For Steam Generator Tubing, Brad Patrick Black, Laura Simmons, John Chapman, Jared Jennings, Jacob Johnson, Brian Paul, Kyle Woods 2011 University of Tennessee, Knoxville

Vibration Fault Detection For Steam Generator Tubing, Brad Patrick Black, Laura Simmons, John Chapman, Jared Jennings, Jacob Johnson, Brian Paul, Kyle Woods

University of Tennessee Honors Thesis Projects

No abstract provided.


The Economic Potential Of The All-Vanadium Redox Flow Battery With A Focus On State Of Charge, Elizabeth Hope Mouron 2011 University of Tennessee, Knoxville

The Economic Potential Of The All-Vanadium Redox Flow Battery With A Focus On State Of Charge, Elizabeth Hope Mouron

University of Tennessee Honors Thesis Projects

No abstract provided.


Effect Of Consumer Knowledge On Energy Consumption Behavior, Sarah Tapscott 2011 University of Tennessee - Knoxville

Effect Of Consumer Knowledge On Energy Consumption Behavior, Sarah Tapscott

University of Tennessee Honors Thesis Projects

No abstract provided.


Enhancing The Differentiation Efficiency Of Human Embryonic Stem Cells Into Insulin-Secreting β-Cells, Katherine Rutledge 2011 University of Arkansas, Fayetteville

Enhancing The Differentiation Efficiency Of Human Embryonic Stem Cells Into Insulin-Secreting β-Cells, Katherine Rutledge

Biological and Agricultural Engineering Undergraduate Honors Theses

Recent studies have shown that human embryonic stem cells possess the ability to differentiate into almost any cell type in the bod and they can self-renew in culture conditions (Baetge, D'Amour et al. 26). As the number of Americans with Type 1 Diabetes continues to increase, innovative methods of treating this chronic illness must be developed in order to improve the quality of life for the affected individuals. Human embryonic stem cells (hESCs) have shown the potential to differentiate successfully into insulin-secreting β-cells, and these cultured β-cells can be used for cell-treatment therapies to replace the deficient β-cells in ...


Investigating Properties Of Pavement Materials Utilizing Loaded Wheel Tester (Lwt), Hao Wu 2011 University of Tennessee, Knoxville

Investigating Properties Of Pavement Materials Utilizing Loaded Wheel Tester (Lwt), Hao Wu

Doctoral Dissertations

Loaded wheel tester (LWT) is a common testing equipment usually used to test the permanent deformation and moisture susceptibility of asphalt mixtures by applying moving wheel loads on asphalt mixture specimens. It has been widely used in the United States since 1980s and practically each Department of Transportation or highway agency owns one or more LWT(s). Compared to other testing methods for pavement materials, LWT features movable wheel loads that allow more realistic situations existing on the actual pavement to be simulated in the laboratory. Due to its potential of creating a condition of repetitive loading, the concept of ...


Gpu-Based Implementation Of The Variational Path Integral Method, Shanthan Mudhasani 2011 University of Tennessee, Knoxville

Gpu-Based Implementation Of The Variational Path Integral Method, Shanthan Mudhasani

Masters Theses

Any system in the world constitutes particles like electrons. To analyze the behaviors of these systems the behavior of these particles must be predicted. The ground state energy of a molecule is the most important information about a molecule and can calculate by solving the Schrodinger equation. But as the number of atoms increase, the number of variable (coordinates of the atom) that the equation represent increases by three times. Due to the large state space and the nonlinear nature of the Schrodinger equation, it is very difficult to solver this equation. Quantum Monte Carlo (QMC) is a very efficient ...


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