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Articles 1 - 6 of 6
Full-Text Articles in Engineering
Integration Of Robotic Perception, Action, And Memory, Li Yang Ku
Integration Of Robotic Perception, Action, And Memory, Li Yang Ku
Doctoral Dissertations
In the book "On Intelligence", Hawkins states that intelligence should be measured by the capacity to memorize and predict patterns. I further suggest that the ability to predict action consequences based on perception and memory is essential for robots to demonstrate intelligent behaviors in unstructured environments. However, traditional approaches generally represent action and perception separately---as computer vision modules that recognize objects and as planners that execute actions based on labels and poses. I propose here a more integrated approach where action and perception are combined in a memory model, in which a sequence of actions can be planned based on …
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Doctoral Dissertations
Cyber-physical systems frequently have to use massive redundancy to meet application requirements for high reliability. While such redundancy is required, it can be activated adaptively, based on the current state of the controlled plant. Most of the time the physical plant is in a state that allows for a lower level of fault-tolerance. Avoiding the continuous deployment of massive fault-tolerance will greatly reduce the workload of CPSs. In this dissertation, we demonstrate a software simulation framework (AdaFT) that can automatically generate the sub-spaces within which our adaptive fault-tolerance can be applied. We also show the theoretical benefits of AdaFT, and …
Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken
Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken
Doctoral Dissertations
Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …
Multi-Classifier Fusion Strategy For Activity And Intent Recognition Of Torso Movements, Abhijit Kadrolkar
Multi-Classifier Fusion Strategy For Activity And Intent Recognition Of Torso Movements, Abhijit Kadrolkar
Doctoral Dissertations
As assistive, wearable robotic devices are being developed to physically assist their users, it has become crucial to develop safe, reliable methods to coordinate the device with the intentions and motions of the wearer. This dissertation investigates the recognition of user intent during flexion and extension of the human torso in the sagittal plane to be used for control of an assistive exoskeleton for the human torso. A multi-sensor intent recognition approach is developed that combines information from surface electromyogram (sEMG) signals from the user’s muscles and inertial sensors mounted on the user’s body. Intent recognition is implemented by following …
An Opportunistic Service Oriented Approach For Robot Search, Dan Xie
An Opportunistic Service Oriented Approach For Robot Search, Dan Xie
Doctoral Dissertations
Health care for the elderly poses a major challenge as the baby boomer generation ages. Part of the solution is to develop technology using sensor networks and service robotics to increase the length of time that an elder can remain at home. Since moderate immobility and memory impairment are common as people age, a major problem for the elderly is locating and retrieving frequently used "common" objects such as keys, cellphones, books, etc. However, for robots to assist people while they search for objects, they must possess the ability to interact with the human client, complex client-side environments and heterogeneous …
Learning Parameterized Skills, Bruno Castro Da Silva
Learning Parameterized Skills, Bruno Castro Da Silva
Doctoral Dissertations
One of the defining characteristics of human intelligence is the ability to acquire and refine skills. Skills are behaviors for solving problems that an agent encounters often—sometimes in different contexts and situations—throughout its lifetime. Identifying important problems that recur and retaining their solutions as skills allows agents to more rapidly solve novel problems by adjusting and combining their existing skills. In this thesis we introduce a general framework for learning reusable parameterized skills. Reusable skills are parameterized procedures that—given a description of a problem to be solved—produce appropriate behaviors or policies. They can be sequentially and hierarchically combined with other …