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Articles 1 - 14 of 14
Full-Text Articles in Engineering
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian M. Lyons, Ronald C. Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, J. Deeb
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian M. Lyons, Ronald C. Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, J. Deeb
Faculty Publications
Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behaviorbased controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this …
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian Lyons, Ron Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, Julia Deeb
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian Lyons, Ron Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, Julia Deeb
Faculty Publications
Abstract—Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this …
Performance Guarantees For C-Wmd Robot Missions, Shu Jiang, Ronald C. Arkin, Damian M. Lyons, Tsung-Ming Liu, Dagon Harrington
Performance Guarantees For C-Wmd Robot Missions, Shu Jiang, Ronald C. Arkin, Damian M. Lyons, Tsung-Ming Liu, Dagon Harrington
Faculty Publications
Robotics has been considered as one of the five key technology areas for defense against attacks with weapons of mass destruction (WMD). However, due to the mass impact nature of WMD, failures of counter-WMD (C-WMD) missions can have catastrophic consequences.To ensure robot's success in carrying out C-WMD missions, we have developed a novel verification framework in providing performance guarantees for behavior-based and probabilistic robot algorithms in complex real-world environments. This paper describes the system architecture and discusses how the verification framework can be used to provide pre-mission performance guarantees for robots in executing C-WMD missions.
Decentralized Collision Avoidance, Jayasri K. Janardanan
Decentralized Collision Avoidance, Jayasri K. Janardanan
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Autonomous Robots must carry out their tasks as independently as possible and each robot may be assigned different tasks at different locations. As these tasks are being performed, the robots have to navigate correctly such that the assigned tasks are completed efficiently, while also avoiding each other and other obstacles. To accomplish effective navigation, we must ensure that the robots are calibrated to avoid colliding with any kind of object on its path. Each robot has to sense the obstacles on its path and take necessary corrective measure to avoid those obstacles. In a situation with multiple robots, robots may …
Verifying Performance For Autonomous Robot Missions With Uncertainty, Damian M. Lyons, Ronald Arkin, Tsung-Ming Liu, Shu Jiang, Paramesh Nirmal
Verifying Performance For Autonomous Robot Missions With Uncertainty, Damian M. Lyons, Ronald Arkin, Tsung-Ming Liu, Shu Jiang, Paramesh Nirmal
Faculty Publications
Establishing performance guarantees for robot missions is especially important for C-WMD applications. Software verification techniques, such as model checking (Clark 1999, Jhala & Majumdar 2009), can be applied to robotic applications but characteristics of this application area, including addition of a robot environment model and handling continuous spatial location well, exacerbate state explosion, a key weakness of these methods. We have proposed an approach to verifying robot missions that shifts the focus from state-based analysis onto the solution of a set of flow equations (Lyons et al. 2012). The key novelty introduced in this paper is a probabilistic spatial representation …
Modeling A Sensor To Improve Its Efficacy, Nabin K. Malakar, Daniil Gladkov, Kevin H. Knuth
Modeling A Sensor To Improve Its Efficacy, Nabin K. Malakar, Daniil Gladkov, Kevin H. Knuth
Physics Faculty Scholarship
Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a …
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ronald Arkin, Shu Jiang, Tsung-Ming Liu, Paramesh Nirmal, J. Deeb
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ronald Arkin, Shu Jiang, Tsung-Ming Liu, Paramesh Nirmal, J. Deeb
Faculty Publications
Certain robot missions need to perform predictably in a physical en-vironment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An approach based on behavior-based controllers in a process-algebra framework is proposed by Lyons et al [15] to side-step state combinatorics. In this paper we show that this approach can be used to generate a Dynamic Bayesian Network for the problem, and that verification is reduced to a filtering problem for this network. We present validation results for the verification of a multiple waypoint robot mission using this approach.
An Analysis Of Simultaneous Localization And Mapping (Slam) Algorithms, Megan R. Naminski
An Analysis Of Simultaneous Localization And Mapping (Slam) Algorithms, Megan R. Naminski
Mathematics, Statistics, and Computer Science Honors Projects
This paper provides an introduction to two Simultaneous Localization and Mapping (SLAM) algorithms: EKF SLAM and Fast-SLAM. SLAM allows an autonomous robot to accurately map an unknown environment as well as locate itself within the environment. These algorithms work iteratively, by moving about the environment and extracting and observing various landmarks in the environment. EKF SLAM and Fast-SLAM solve the SLAM problem by using probabilities to control for errors in the robot's sensors. This paper provides a discussion of these two algorithms and compares their run times and the accuracy of the maps they produce.
Fusion Of Ranging Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha, Tsung-Ming Liu
Fusion Of Ranging Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha, Tsung-Ming Liu
Faculty Publications
We address the problem of fusing laser ranging data from multiple mobile robots that are surveying an area as part of a robot search and rescue or area surveillance mission. We are specifically interested in the case where members of the robot team are working in close proximity to each other. The advantage of this teamwork is that it greatly speeds up the surveying process; the area can be quickly covered even when the robots use a random motion exploration approach. However, the disadvantage of the close proximity is that it is possible, and even likely, that the laser ranging …
A Cognitive Approach To Vision For A Mobile Robot, Paul Benjamin, Christopher Funk, Damian M. Lyons
A Cognitive Approach To Vision For A Mobile Robot, Paul Benjamin, Christopher Funk, Damian M. Lyons
Faculty Publications
We describe a cognitive vision system for a mobile robot. This system works in a manner similar to the human vision system, using saccadic, vergence and pursuit movements to extract information from visual input. At each fixation, the system builds a 3D model of a small region, combining information about distance, shape, texture and motion. These 3D models are embedded within an overall 3D model of the robot's environment. This approach turns the computer vision problem into a search problem, with the goal of constructing a physically realistic model of the entire environment. At each step, the vision system selects …
A Software Tool For The Design Of Critical Robot Missions With Performance Guarantees, Damian M. Lyons, Ronald C. Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu
A Software Tool For The Design Of Critical Robot Missions With Performance Guarantees, Damian M. Lyons, Ronald C. Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu
Faculty Publications
Deploying a robot as part of a counter-weapons of mass destruction mission demands that the robotic software operates with high assurance. A unique feature of robotic software development is the need to perform predictably in a physical environment that may only be poorly characterized in advance. In this paper, we present an approach to building high assurance software for robot missions carried out in uncertain environments. The software development framework and the verification algorithm, VIPARS, are described in detail. Results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and the use of sensors to guide behavior.
Visual Homing With A Pan-Tilt Based Stereo Camera, Paramesh Nirmal, Damian M. Lyons
Visual Homing With A Pan-Tilt Based Stereo Camera, Paramesh Nirmal, Damian M. Lyons
Faculty Publications
Visual homing is a navigation method based on comparing a stored image of the goal location and the current image (current view) to determine how to navigate to the goal location. It is theorized that insects, such as ants and bees, employ visual homing methods to return to their nest [1]. Visual homing has been applied to autonomous robot platforms using two main approaches: holistic and feature-based. Both methods aim at determining distance and direction to the goal location. Navigational algorithms using Scale Invariant Feature Transforms (SIFT) have gained great popularity in the recent years due to the robustness of …
Activity Intent Recognition Of The Torso Based On Surface Electromyography And Inertial Measurement Units, Zhe Zhang
Masters Theses 1911 - February 2014
This thesis presents an activity mode intent recognition approach for safe, robust and reliable control of powered backbone exoskeleton. The thesis presents the background and a concept for a powered backbone exoskeleton that would work in parallel with a user. The necessary prerequisites for the thesis are presented, including the collection and processing of surface electromyography signals and inertial sensor data to recognize the user’s activity. The development of activity mode intent recognizer was described based on decision tree classification in order to leverage its computational efficiency. The intent recognizer is a high-level supervisory controller that belongs to a three-level …
Evaluating And Training Intraoperative Analysis Of The Mitral Valve, Neil A. Tenenholtz
Evaluating And Training Intraoperative Analysis Of The Mitral Valve, Neil A. Tenenholtz
Link Foundation Modeling, Simulation and Training Fellowship Reports
Mitral valve repair is the recommended method of treating valve incompetency. However, the procedure is quite difficult and, as a result, underperformed due to surgeon’s need to predict the closed valve shape of the patient’s arrested heart. While the interactive process of predicting closed valve shape is achieved by physically manipulating valve tissue (known as valve analysis), surgical training consists of traditional, non-interactive pedagogy (e.g., book-based learning and lectures) followed by an apprenticeship model where the trainee is gradually given hands-on experience, resulting in post-medical school training that is often 10 years or greater. The continuing education of practicing cardiac …