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- Autonomous systems. (1)
- Behavior-Based Robots. (1)
- Behavior-based (1)
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- Cognitive robotics (1)
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- Multi-robot exploration Potential field path-planning Autonomous systems (1)
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Articles 1 - 10 of 10
Full-Text Articles in Computer Engineering
Using Information-Theoretic Principles To Analyze And Evaluate Complex Adaptive Supply Network Architectures, Joshua V. Rodewald, John M. Colombi, Kyle F. Oyama, Alan W. Johnson
Using Information-Theoretic Principles To Analyze And Evaluate Complex Adaptive Supply Network Architectures, Joshua V. Rodewald, John M. Colombi, Kyle F. Oyama, Alan W. Johnson
Faculty Publications
Information-theoretic principles can be applied to the study of complex adaptive supply networks (CASN). Previous modeling efforts of CASN were impeded by the complex, dynamic nature of the systems. However, information theory provides a model-free approach to the problem removing many of those barriers. Understanding how principles such as transfer entropy, excess entropy/predictive information, information storage, and separable information apply in the context of supply networks opens up new ways of studying these complex systems. Additionally, these principles provide the potential for new business analytics which give managers of CASN new insights into the system's health, behavior, and eventual control …
Youth And The Posthuman: Personhood, Transcendence, And Siri, Erik Leafblad, Andrew Root
Youth And The Posthuman: Personhood, Transcendence, And Siri, Erik Leafblad, Andrew Root
Faculty Publications
When everything gets turned into a technology, and existence is about practical mastery, the mystery of being is buried and everything is made an object, blurring the lines between human personhood and other technological objects.
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Faculty Publications
Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …
Homing With Stereovision, Paramesh Nirmal, Damian Lyons
Homing With Stereovision, Paramesh Nirmal, Damian Lyons
Faculty Publications
Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved …
Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy
Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy
Faculty Publications
The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even …
Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons
Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons
Faculty Publications
This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol. The D-SBPF approach yields a simple potential field control strategy for all robots but nonetheless has good dispersion and overlap performance in exploring areas with convex geometry while avoiding potential …
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal
Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal
Faculty Publications
Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …
A Human-Centered Credit-Banking System For Convenient, Fair And Secure Carpooling Among Members Of An Association, H.-S. Jacob Tsao, Magdalini Eirinaki
A Human-Centered Credit-Banking System For Convenient, Fair And Secure Carpooling Among Members Of An Association, H.-S. Jacob Tsao, Magdalini Eirinaki
Faculty Publications
This paper proposes an unconventional carpool-matching system concept that is different from existing systems with four innovative operational features: (F1) The proposed matching system will be used by members of an association and sponsored by the association, e.g., the employees of a company, members of a homeowner association, employees of a shopping center. This expands the scope beyond commute trips. Such associations can also voluntarily form alliances to increase the number of possible carpool partners and geographical reach. (F2) Service provided by a driver or received by a rider incurs credit or debt to a bank centrally and fairly managed …
Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang
Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang
Faculty Publications
The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of a-priori specification of uncertain environments for robot program verification. A second contribution is a novel method …
Qcm-D Monitoring Of Binding-Induced Conformational Change Of Calmodulin, Hyun J. Kwon, Brian Dodge
Qcm-D Monitoring Of Binding-Induced Conformational Change Of Calmodulin, Hyun J. Kwon, Brian Dodge
Faculty Publications
Understanding conformational changes are important when studying a protein such as calmodulin (CaM), which activates various target enzymes and regulates numerous physiological functions. CaM is a highly flexible protein that can transitorily adopt various conformations. A quartz crystal microbalance with dissipation (QCM-D) sensor was used to study binding-induced conformational changes of surface-immobilized CaM. Structural changes of CaM were evaluated using the Voigt’s viscoelastic model with frequency (ΔF) and dissipation change (ΔD). When Apo-CaM layer was incubated in 0.1 mM Ca2+ solution, the layer decreased by approximately 0.56 nm, due to the release of coupled water molecules and conformational change. The …