Robotics Commons^™

Data And Network Optimization Effect On Web Performance, Steven Rosenberg, Surbhi Dangi, Isuru Warnakulasooriya

Surbhi Dangi

In this study, we measure the effects of two software approaches to improving data and network performance: 1. Content optimization and compression; and 2. Optimizing network protocols. We achieve content optimization and compression by means of BoostEdge by ActivNetworks and employ the SPDY network protocol by Google to lower the round trip time for HTTP transactions. Since the data and transport layers are separate, we conclude our investigation by studying the combined effect of these two techniques on web performance. Using document mean load time as the measure, we found that with and without packet loss, both BoostEdge and SPDY …

Enabling Interplanetary Small Spacecraft Science Missions With Model Based Data Analysis, Jeremy Straub

Jeremy Straub

Small spacecraft operating outside of Earth orbit are significantly constrained by the communica- tions link available to them. This is particularly true for stand-alone craft that must rely on their own antenna and transmission systems (for which gain and available power generation are limited by form factor); it is also applicable to ‘hitchhiker’-style missions which may be able to utilize (quite likely very limited amounts of) time on the primary spacecraft’s communications equip- ment for long-haul transmission.

This poster presents the adaptation of the Model-Based Transmission Reduction (MBTR) frame- work’s Model-Based Data Analysis (MBDA) component for use on an interplanetary …

Exposing Multiple User-Specific Data Denominated Products From A Single Small Satellite Data Stream, Atif F. Mohammad,, Emanuel Grant, Jeremy Straub, Ronald Marsh, Scott Kerlin

Jeremy Straub

This paper presents a research work on small satellite data stream and related distribution to associated stakeholders, which is a field that needs to get explored in more detail. The algorithm that is presented to extract USDDP (User-Specific Data Denominated Products) is a self managing body, which will be within as Open Space Box environment or OSBE as a novel idea. It contains an individual stream transmitted by the small satellite, which later is to be converted into USDDP. The context defined here deals with area in detail. Contexts are vitally important because they control, influence and affect everything within …

Open Space Box Model: Service Oriented Architecture Framework For Small Spacecraft Collaboration And Control, Atif F. Mohammad, Jeremy Straub

Jeremy Straub

A Cubesat is a small satellite with very less competence to compute, it requires software engineering techniques, which can enhance the computational power for this small box. A model-driven approach of software engineering, which is called OSBM or Open Space Box Modeling technique, is an excellent solution to this re-source maximization challenge. OSBM facilitates apparition of the key solution pro-cesses computation and satellite related data elements using Service Oriented Ar-chitecture 3.0 (SOA 3.0) as base to work on to design services. The key challenges that can be handled by utilizing OSBM include concurrent operation and tasking of few as five …

Contextualized Mobile Support For Learning By Doing In The Real World, Ray Bareiss, Natalie Linnell, Martin L. Griss

Martin L Griss

This research addresses the use of mobile devices with both embedded and external sensors to provide contextualized help, advice, and remediation to learners engaged in real-world learn-by-doing tasks. This work is situated within the context of learning a complex procedure, in particular emergency responders learning to conduct urban search and rescue operations. Research issues include the design and delivery of contextualized performance support and the inferring of learner actions and intentions from sensor data to ensure that the right support is delivered just in time, as it is relevant to what the learner is doing.

Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett

David Barrett

Perimeter patrol enhances the utility of autonomous surface vehicles (ASVs) by enabling many security and scientific missions, including harbor protection, water sampling, and geological survey. We present a novel approach to perimeter patrol that uses only two sensors: commercial off-the-shelf available marine radar and the heading information from a GPS. Our algorithm performs computer vision morphological operations on the radarimage to find a suitable path around shore and choose an appropriate next waypoint. Our method has proved robust to a variety of field conditions, allowing us to demonstrate the autonomous navigation of a 3.5 km perimeter lake.

Imirok: Real-Time Imitative Robotic Arm Control For Home Robot Applications, Heng-Tze Cheng, Zheng Sun, Pei Zhang

Zheng Sun

Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real-time, without classifier training or predefined action set. Experimental results show that the system achieves 90% precision and recall rate on motion detection with blank background, and is robust under the change of cluttered background and user-to-camera distance.

Leveraging Mobile Context For Effective Collaboration And Task Management In Disaster Response, Faisal Luqman, Martin L. Griss

Martin L Griss

Collaboration and task management is challenging in distributed, dynamically-formed teams, typical in large scale disaster response scenarios. Ineffective collaboration may result in poor performance and possible loss of life. In this paper, we present Overseer, an agent-based system that exploits context information from mobile devices to facilitate collaboration and task allocation. We describe our system architecture and show how mobile context can be used to create dynamic role-based assignments to support collaboration and effective task management.

Anubis: An Attestation Protocol For Distributed Context-Aware Applications, Senaka Buthpitiya, Feng-Tso Sun, Heng-Tze Chen, Patrick Tague, Martin L. Griss, Anind K. Dey

Martin L Griss

Sharing sensitive context information among multiple distributed components in mobile environments introduces major security concerns. The distributed sensing, processing and actuating components of these applications can be compromised and modified or impersonated to extract private and confidential information or to inject false information. In this paper we present the Anubis protocol for remote code attestation and access control of distributed components using remote execution of trusted code. Our Anubis protocol leverages previous work in the fields of wireless sensor networks and secure web browsing. Anubis allows new components to be introduced to the environment without updating existing components. Our implementation …

Mobile Context-Aware Personal Messaging Assistant, Senaka Buthpitiya, Deepthi Madamanchi, Sumalatha Kommaraju, Martin L. Griss

Martin L Griss

A previous study shows that busy professionals receive in excess of 50 emails per day of which approximately 23% require immediate attention, 13% require attention later and 64% are unimportant and typically ignored. The flood of emails impact mobile users even more heavily. Flooded inboxes cause busy professionals to spend considerable amounts of time searching for important messages, and there has been much research into automating the process using email content for classification; but we find email priority depends also on user context. In this paper we describe the Personal Messaging Assistant (PMA), an advanced rule-based email management system which …

Sensorchestra: Collaborative Sensing For Symbolic Location Recognition, Heng-Tze Cheng, Feng-Tso Sun, Senaka Buthpitiya, Martin L. Griss

Martin L Griss

"Symbolic location of a user, like a store name in a mall, is essential for context-based mobile advertising. Existing fingerprint- based localization using only a single phone is susceptible to noise, and has a major limitation in that the phone has to be held in the hand at all times. In this paper, we present SensOrchestra, a col- laborative sensing framework for symbolic location recognition that groups nearby phones to recognize ambient sounds and images of a location collaboratively. We investigated audio and image features, and designed a classifier fusion model to integrate estimates from diff erent phones. We also …

Activity-Aware Mental Stress Detection Using Physiological Sensors, Feng-Tso Sun, Cynthia Kuo, Heng-Tze Cheng, Senaka Buthpitiya, Patricia Collins, Martin Griss

Martin L Griss

"Continuous stress monitoring may help users better understand their stress patterns and provide physicians with more reliable data for interventions. Previously, studies on mental stress detection were limited to a laboratory environment where participants generally rested in a sedentary position. However, it is impractical to exclude the effects of physical activity while developing a pervasive stress monitoring application for everyday use. The physiological responses caused by mental stress can be masked by variations due to physical activity. We present an activity-aware mental stress detection scheme. Electrocardiogram (ECG), galvanic skin response (GSR), and accelerometer data were gathered from 20 participants across …

Omnisense: A Collaborative Sensing Framework For User Context Recognition Using Mobile Phones, Heng-Tze Cheng, Senaka Buthpitiya, Feng-Tso Sun, Martin L. Griss

Martin L Griss

Context information, including a user’s locations and activities, is indispensable for context-aware applications such as targeted advertising and disaster response. Inferring user context from sensor data is intrinsically challenging due to the semantic gap between low-level signals and high-level human activities. When implemented on mobile phones, more challenges on resource limitations are present. While most existing work focuses on context recognition using a single mobile phone, collaboration among multiple phones has received little attention, and the recognition accuracy is susceptible to phone position and ambient changes. Simply putting a phone in one’s pocket can render the microphone muffled and the …

Room-Level Wi-Fi Location Tracking, Joshua Correa, Ed Katz, Patricia Collins, Martin Griss

Martin L Griss

Context-aware applications for indoor intelligent environments require an appropriately accurate and stable interior positioning system to adapt services to the location of a mobile user or mobile device in a building. Different technologies provide a varying mix of resolution, accuracy, stability and challenges. In this paper we report on our experience using an existing Wi-Fi infrastructure without specialized hardware added to support location tracking. There are several approaches to track the location of Wi-Fi enabled devices within a building such as signal propagation models and signature matching. We found signature matching most effective in our environment. Signature matching is accomplished …