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Articles 27271 - 27300 of 196041

Full-Text Articles in Engineering

Outlier Detection During Thermal Processes Based On Improved Gaussian Mixture Model, Zheng Wu, Yue Zhang, Ze Dong May 2023

Outlier Detection During Thermal Processes Based On Improved Gaussian Mixture Model, Zheng Wu, Yue Zhang, Ze Dong

Journal of System Simulation

Abstract: Abnormal data detection during thermal processes is the basis for performing system modeling, control, and optimization and constitutes an important part of data processing. In this paper, an unsupervised outlier detection algorithm during thermal processes based on an improved Gaussian mixture model is proposed. The algorithm captures a class of data clusters under specific working conditions by using Gaussian components in each dimension, modifies the posterior probability density of the traditional model by adding penalty constraint factors to penalize the false detection and missed detection items, and identifies abnormal data according to the correlation differences with the …

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Action Recognition Method Based On Projection Subspace Views Under Single Viewing Angle, Benyue Su, Manzhen Sun, Qing Ma, Min Sheng May 2023

Action Recognition Method Based On Projection Subspace Views Under Single Viewing Angle, Benyue Su, Manzhen Sun, Qing Ma, Min Sheng

Journal of System Simulation

Abstract: In view of the self-occlusion problem of joint action tracking by a depth camera under a single viewing angle, a new human action recognition method based on projection subspace views is proposed. Without adding data acquisition equipment, the method projects the three-dimensional(3D) action sequences obtained under a single viewing angle into multiple two-dimensional subspacesand then seeks the maximum distance between classes in the two-dimensional subspaces, so as to increase the distance between 3D actions based on the fusion of multiple subspace views as much as possible. The recognition rate in the self-built AQNU …

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Improved Social Force Model Based On Enhancing Psych Behavioral Heterogeneity, Yandong Liu, Gaoxiang Huang, Wen Chen May 2023

Improved Social Force Model Based On Enhancing Psych Behavioral Heterogeneity, Yandong Liu, Gaoxiang Huang, Wen Chen

Journal of System Simulation

Abstract: Simulating the evacuation behavior of people under anxiety is of great significance for solving the kinematic problems such as escape. At present, most at home and abroad studies consider the anxiety factors as the only medium of population evacuation without considering how external key factors affect anxiety factors in such emergency environments. The improved social force model is proposed, combined with Agent-based stampede risk assessment, the influence of key environmental variables on the anxiety factor is quantified. The psychological force parameters are introduced, and the impact of the anxiety factor on the actual evacuation process is applied to the …

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Simulation And Optimization Of Integrated Production Logistics System Of Underground Coal Mining, Dressing, And Backfilling, Xiangqian Wang, Puhao Guo, Xiangrui Meng May 2023

Simulation And Optimization Of Integrated Production Logistics System Of Underground Coal Mining, Dressing, And Backfilling, Xiangqian Wang, Puhao Guo, Xiangrui Meng

Journal of System Simulation

Abstract: In order to study the green mining mode of coal, the bottleneck problem in the integrated production logistics system of underground coal mining, dressing, and backfilling under the goal of achieving the basic production capacity target is explored, so as to promote the coordinated and efficient logistics transportation of underground coal and gangue. A mine in Shanxi is selected as the prototype, and the queuing theory is adopted to analyze the operation process of the integrated coal production logistics system. A discrete event model is established with the help of Anylogic simulation software for related experimental optimization …

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Modeling And Simulation Of Spaceborne, Near-Spaceborne, And Airborne Integrated Collaborative Remote Sensing System Based On Dodaf, Lili An, Tian Xia, Wenbin Yang, Xinbo Wu May 2023

Modeling And Simulation Of Spaceborne, Near-Spaceborne, And Airborne Integrated Collaborative Remote Sensing System Based On Dodaf, Lili An, Tian Xia, Wenbin Yang, Xinbo Wu

Journal of System Simulation

Abstract: Spaceborne, near-spaceborne, and airborne integrated collaborative remote sensing system (SNA-ICRSS) makes comprehensive use of modern information technology to aggregate multiple and heterogeneous data in spaceborne, near-spaceborne, and airborne domains, so as to realize accurate emergency service and command decision-making. SNA-ICRSS is huge and complex, and there is a lack of research on its architecture modeling and simulation. According to the architecture characteristics of the SNA-ICRSS, the minimum prototype of the SNA-ICRSS is constructed; through the department of defense architecture framework (DoDAF) and activity based methodology (ABM) methods, the minimal prototype of the SNA-ICRSS is modeled, and the operational resource …

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Research On Collaborative Task Allocation Method Of Multiple Uavs Based On Blockchain, Shuangcheng Niu, Yuqiang Jin, Kunhu Kou May 2023

Research On Collaborative Task Allocation Method Of Multiple Uavs Based On Blockchain, Shuangcheng Niu, Yuqiang Jin, Kunhu Kou

Journal of System Simulation

Abstract: The autonomous collaborative control of a multi-unmanned aerial vehicle (UAV) system lacks a unified underlying technology platform and faces single point failure and information security threats. In order to solve these problems, an idea to build collaborative task planning platforms based on blockchain technology is proposed. With thecollaborative task allocation of multiple UAVs as research objects, an online, safe, high-efficiency, and real-time task allocation method is designed. The contract network task allocation algorithm is described as a smart contract, and system consensus is reached based on the blockchain consensus algorithm. In addition, …

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Auxiliary Decision-Making Method For Flight Support Force Allocation Based On Dbn, Junyang Liu, Shisong Zhu May 2023

Auxiliary Decision-Making Method For Flight Support Force Allocation Based On Dbn, Junyang Liu, Shisong Zhu

Journal of System Simulation

Abstract: In order to make up for the deficiency of decision-making methods of full deployment and proportional allocation in airport flight support activities, an auxiliary decision-making model for airport flight support force allocation based on a dynamic Bayesian network (DBN) is constructed.On the basis of quantifying the strength of the support force, thehidden Markov model and Hausdorff distance algorithm are introduced to make auxiliary decisions for flight support activities under different conditions and define relevant decision evaluation indexes as the basis for model verification. Simulation tests are carried out on airport flight support activities under two …

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Research On No-Wait Flow Shop Scheduling Based On Discrete State Transition Algorithm, Jiaying Yu, Hongli Zhang, Yingchao Dong May 2023

Research On No-Wait Flow Shop Scheduling Based On Discrete State Transition Algorithm, Jiaying Yu, Hongli Zhang, Yingchao Dong

Journal of System Simulation

Abstract: In view of the no-wait flow shop problem (NWFSP) widely existing in the manufacturing industry, an improved discrete state transition algorithm (IDSTA) is proposed to solve the problem. The coding mode of the workpiece is designed based on the characteristics of the flow shop scheduling problem (FSSP). The initial solution is constructed by the Nawaz-Enscore-Ham (NEH) method with the standard deviation of the processing time of the workpiece as the priority, and a multi-neighborhood combinatorial search strategy based on insertion and exchange is designed to improve the quality of the initial solution. A discrete state transition algorithm ( …

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Two-Stage Distributed Robust Optimal Dispatching For A Combined Heat And Power Virtual Power Plant, Yaqian Fan, Songyuan Yu, Fang Fang May 2023

Two-Stage Distributed Robust Optimal Dispatching For A Combined Heat And Power Virtual Power Plant, Yaqian Fan, Songyuan Yu, Fang Fang

Journal of System Simulation

Abstract: Combined heat and power virtual power plant (CHP-VPP) aggregates various electrical and thermal output units and takes into account the uncertainty of wind and solar output, dynamic electricity prices, thermal comfort of users, and other influences to achieve optimal dispatching of overall output. A two-stage distributed robust optimal dispatching method is proposed. In the first stage, planned dispatching is considered, so as to maximize the benefit of CHP-VPP. In the second stage, a fuzzy set of wind and solar output uncertainties is constructed based on the distributed robust method of moment uncertainty, and …

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Multi-Camera Vehicle Recognition Method Based On Feature Robustness Enhancement, Huicheng Luo, Shujuan Wang May 2023

Multi-Camera Vehicle Recognition Method Based On Feature Robustness Enhancement, Huicheng Luo, Shujuan Wang

Journal of System Simulation

Abstract: Due to factors such as viewpoint changes, complex environments, and pose differences under multiple cameras, the images of the same vehicle in different scenes show huge appearance ambiguity, which brings challenges to vehicle identity matching. In order to solve this problem, a feature robustness enhancement method for vehicle recognition is proposed under the transformer framework. Based on the fact that the structural information of the vehicle is invariant under multiple cameras, a module for enhancing structural information guided by contour features is designed, and a structural feature perception loss is proposed to promote the fusion …

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Picking Path Planning Of Container Robots Based On Improved Genetic Algorithm, Yuwen Wu, Zhiyue Niu, Zhenping Li May 2023

Picking Path Planning Of Container Robots Based On Improved Genetic Algorithm, Yuwen Wu, Zhiyue Niu, Zhenping Li

Journal of System Simulation

Abstract: Under the new "container-to-person" picking mode in intelligent warehouses, a new optimization model and its improved genetic algorithm are proposed to solve the picking path planning problem of multiple container robots. According to the picking mode and characteristics of container robots, the picking path planning problem is transformed into an asymmetric vehicle routing problem, and a mixed integer programming model is established with bi-objectives of the shortest total picking path and the least completion time. A hybrid genetic algorithm is designed to solve this model, and the effectiveness and stability of the algorithm are verified …

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Egg Drop Challenge, Admin Stem For Success May 2023

Egg Drop Challenge, Admin Stem For Success

STEM for Success Resources

This interactive activity plan challenges students to build a container using limited materials that will protect a raw egg from a 4-6 foot drop.

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Study To Develop A Course Of History And Theories Of Architecture At Elgazeera Higher Institute Of Engineering And Technology In Mokattam, Ahmed Mahmoud Nagi, Dalia Shalaby Eldamaty May 2023

Study To Develop A Course Of History And Theories Of Architecture At Elgazeera Higher Institute Of Engineering And Technology In Mokattam, Ahmed Mahmoud Nagi, Dalia Shalaby Eldamaty

Mansoura Engineering Journal

Modern technical developments have changed many countries' concepts, theories, and study plans for architecture programs. These developments have provided great possibilities through which it was possible to shorten effort and time, therefore new specifications and skills appeared that the architect required to integrate into the labor market, which in turn imposed Additional requirements. These overlapping data raise many questions about architecture programs in general, the syllabus of history and theories of architecture, and the extent of their response to these developments and their response to the labor market. Here lies the importance of the research. The study and the extent …

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Assessing The Release Of Microplastics And Nanoplastics From Plastic Containers And Reusable Food Pouches: Implications For Human Health, Kazi Albab Hussain, Svetlana Romanova, Ilhami Okur, Dong Zhang, Jesse Kuebler, Xi Huang, Bing Wang, Lucia Fernandez-Ballester, Yongfeng Lu, Mathias Schubert, Yusong Li May 2023

Assessing The Release Of Microplastics And Nanoplastics From Plastic Containers And Reusable Food Pouches: Implications For Human Health, Kazi Albab Hussain, Svetlana Romanova, Ilhami Okur, Dong Zhang, Jesse Kuebler, Xi Huang, Bing Wang, Lucia Fernandez-Ballester, Yongfeng Lu, Mathias Schubert, Yusong Li

Department of Civil and Environmental Engineering: Faculty Publications

This study investigated the release of microplastics and nanoplastics from plastic containers and reusable food pouches under different usage scenarios, using DI water and 3% acetic acid as food simulants for aqueous foods and acidic foods. The results indicated that microwave heating caused the highest release of microplastics and nanoplastics into food compared to other usage scenarios, such as refrigeration or room-temperature storage. It was found that some containers could release as many as 4.22 million microplastic and 2.11 billion nanoplastic particles from only one square centimeter of plastic area within 3 min of microwave heating. Refrigeration and room-temperature storage …

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Learning–Assisted Constraint Filtering To Enhance Power System Optimization Performance, Fouad Hasan May 2023

Learning–Assisted Constraint Filtering To Enhance Power System Optimization Performance, Fouad Hasan

LSU Doctoral Dissertations

Machine learning (ML) is a powerful tool that provides meaningful insights for operators to make fast and efficient decisions by analyzing data from power systems. ML techniques have great potential to assist in solving optimization problems within a shorter time frame and with less computational burden. AC optimal power flow (ACOPF), dynamic economic dispatch (D-ED), and security-constrained unit commitment (SCUC) are the three energy management optimization functions studied in this dissertation. ACOPF is solved every 5~15 minutes. Because of the nonconvex and complex nature of ACOPF, solving this problem for large systems is computationally expensive and time-consuming. Classification and regression …

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Ecological Validity Of Immersive Virtual Environment Experiments On Human Thermal State And Behavioral Intentions: Experimental Protocol Factors, Girish Rentala May 2023

Ecological Validity Of Immersive Virtual Environment Experiments On Human Thermal State And Behavioral Intentions: Experimental Protocol Factors, Girish Rentala

LSU Doctoral Dissertations

Using immersive virtual environment (IVE) based experiments to investigate human thermal states and thermal adaptive behaviors during the building design phase could help identify potential comfort issues and enable designers to optimize building performance cost-effectively before the actual building construction. However, to effectively utilize IVEs to study thermal states/adaptive behaviors, it is crucial to ensure the ecological validity of IVE experiment protocols. This entails accurately representing in-situ (real) environments within IVEs and establishing comparability and generalizability of data collected under different thermal stimuli between IVE and in-situ environments. Existing thermal stimuli based IVE studies have not effectively evaluated the ecological …

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Experimental And Numerical Behavior Of Encased Pultruded Gfrp Beams Under Elevated And Ambient Temperatures, Enas M. Mahmood, Teghreed H. Ibrahim, Abbas A. Allawi, Ayman El-Zohairy May 2023

Experimental And Numerical Behavior Of Encased Pultruded Gfrp Beams Under Elevated And Ambient Temperatures, Enas M. Mahmood, Teghreed H. Ibrahim, Abbas A. Allawi, Ayman El-Zohairy

Faculty Publications

In this research, experimental and numerical studies were carried out to investigate the performance of encased glass-fiber-reinforced polymer (GFRP) beams under fire. The test specimens were divided into two peer groups to be tested under the effect of ambient and elevated temperatures. The first group was statically tested to investigate the monotonic behavior of the specimens. The second group was exposed to fire loading first and then statically tested to explore the residual behavior of the burned specimens. Adding shear connectors and web stiffeners to the GFRP beam was the main parameter in this investigation. Moreover, service loads were applied …

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A Nonlinear Impact-Driven Triboelectric Vibration Energy Harvester For Frequency Up-Conversion, Hadeel Abumarar, Alwathiqbellah Ibrahim May 2023

A Nonlinear Impact-Driven Triboelectric Vibration Energy Harvester For Frequency Up-Conversion, Hadeel Abumarar, Alwathiqbellah Ibrahim

Mechanical Engineering Faculty Publications and Presentations

Energy harvesting effectively powers micro-sensors and wireless applications. However, higher frequency oscillations do not overlap with ambient vibrations, and low power can be harvested. This paper utilizes vibro-impact triboelectric energy harvesting for frequency up-conversion. Two magnetically coupled cantilever beams with low and high natural frequencies are used. The two beams have identical tip magnets at the same polarity. A triboelectric energy harvester is integrated with the high-frequency beam to generate an electrical signal via contact-separation impact motion between the triboelectric layers. An electrical signal is generated at the low-frequency beam range achieving frequency up-converter. The two degrees of freedom (2DOF) …

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Behavioral Comparison Of Fluorescent Tracer Sediment To Lightweight Polystyrene Sediment Of The Lower Mississippi River Physical Model (Lmrpm), Julia C. Mudd May 2023

Behavioral Comparison Of Fluorescent Tracer Sediment To Lightweight Polystyrene Sediment Of The Lower Mississippi River Physical Model (Lmrpm), Julia C. Mudd

LSU Master's Theses

A lightweight, unexpanded polystyrene sediment with a specific gravity of 1.05 and a D10, D50 and D90 of 0.250 mm, 0.425mm, and 0.800 mm, respectively, is utilized in the Lower Mississippi River Physical Model (LMRPM) at Louisiana State University to mimic the sand transport of the Lower Mississippi River. While the black model sediment is easily visible against the stark white of the LMRPM, the relative homogeneity of the sediment particles and the opaqueness of the model channel make it difficult to closely study sediment dynamics during an experiment. For this reason, a tracer sediment that is marked with fluorescence …

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Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun May 2023

Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun

Florida Conference on Recent Advances in Robotics

Pouring is an efficient way to transfer objects from
one container to another. This abstract summarizes a method
to accurately pour solid objects, such as ice cubes. It leverages
visual and proprioceptive feedback together with contextual
information to control the forward and backward rotation of the
pouring container. These feedback signals are fed to a recurrent
neural network that produces the control signal. The proposed
approach can achieve a human-like pouring accuracy in both a
simulation and a real setup.

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Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun May 2023

Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun

Florida Conference on Recent Advances in Robotics

Grasping multiple objects at once from a pile is common for humans. It makes us efficient in pick and transfer tasks. It is essential for a robot to gain multi-object grasping capability (MOG). This paper defines the multi-object grasping problem and introduces several novel multi-object grasping techniques. These techniques include probability-based pre-grasp potential calculation, a stochastic flexing/extending routine, obtaining end-grasp types, and estimating the number of objects in a grasp. It also proposes a new stochastic grasping strategy for grasping a desired number of objects.

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Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments, Zachary Frey, Nghia Vo, Varaha Maithreya, Tais Mota, Urvish Trivedi, Redwan Alqasemi, Rajiv Dubey May 2023

Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments, Zachary Frey, Nghia Vo, Varaha Maithreya, Tais Mota, Urvish Trivedi, Redwan Alqasemi, Rajiv Dubey

Florida Conference on Recent Advances in Robotics

According to "The World Report on Vision" by World Health Organization (WHO) [1], there are more than 2.2 billion people who have near or distant vision Impairments, out of which 36 million people are classified as entirely blind. This report also emphasizes the importance of social and communal support in enabling individuals with vision impairments to integrate into society and reach their full potential. While performing daily activities and navigating the environment, people with visual impairments (PVIs) often require direct or synchronous assistance [2]. Consequently, there is a growing need for automated solutions to assist in this regard. However, existing …

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Damage Identification In 3d Printed Metal Parts Using Deep Learning, Romaine Byfield, Alireza Modir, Ibrahim Tansel, Raniero Plaza May 2023

Damage Identification In 3d Printed Metal Parts Using Deep Learning, Romaine Byfield, Alireza Modir, Ibrahim Tansel, Raniero Plaza

Florida Conference on Recent Advances in Robotics

An active Structural Health Monitoring (SHM) method called Surface Response to Excitation (SuRE), is used in this study to detect and quantify the damages created by a milling operation on additively manufactured metal plates. This method entails bonding two piezoelectric disks to the test specimens, one to excite it with surface waves from one end of the plate, and the other to sense the dynamic response to excitation at the other end. A sweep sine wave with a duration of 1 ms, ranging from 50-120 kHz is used as the excitation signal. Five stainless steel plates of identical size (195×54×2.5 …

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Renewable Energy Educational Delivery System, Ryan Integlia May 2023

Renewable Energy Educational Delivery System, Ryan Integlia

Florida Conference on Recent Advances in Robotics

Technology advancing rapidly and affecting our daily lives in more ways than ever before, it is clear that technology is now a driving force in our world. STEM disciplines are one of the key driving forces behind human progress, as their efforts have provided us with new levels of comfort and security. Every facet of engineering contributes to enhancing almost every aspect of our lives. As technology continues to evolve, the demand for skilled engineers will only increase. Therefore, it is essential that STEM education system adapts to the needs of today's digitized, diversified, and rapidly changing society through an …

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Towards A Mobile Ad-Hoc Mesh Network Establishing Emergency Drone System, Ryan Integlia May 2023

Towards A Mobile Ad-Hoc Mesh Network Establishing Emergency Drone System, Ryan Integlia

Florida Conference on Recent Advances in Robotics

A drone based mobile ad-hoc mesh network for emergency communications is discussed. The in-progress project seeks to improve emergency and disaster area communication systems by creating a mobile, ad-hoc wireless network with an array of microcomputers, a GPS receiver, IMU, network adapter and drone. The Linux based platform includes network management, data collection, and integration with visualization. The expected outcome of this project is the establishment of a wireless mesh network capable of self-healing to support emergency response.

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Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil May 2023

Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil

Florida Conference on Recent Advances in Robotics

Humans overcome minor household inconveniences daily without fully recognizing how challenging these tasks could be for individuals such as elderly people or people with disabilities. Those people often times struggle to complete tasks, for instance opening a door or reaching for an item, leading them to rely on caregivers for help. During the COVID-19 pandemic, this caregiver support becomes an unsafe and unreliable solution that can result in a greater risk, thus the need for another solution arises: robotic technology. Recent developments in the robotics field have paved the way for this research, aiming to design a home assistance robot …

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Reinforcement Learning And Place Cell Replay In Spatial Navigation, Chance Hamilton, Pablo Scleidorovich Phd, Alfredo Weitzenfeld Phd May 2023

Reinforcement Learning And Place Cell Replay In Spatial Navigation, Chance Hamilton, Pablo Scleidorovich Phd, Alfredo Weitzenfeld Phd

Florida Conference on Recent Advances in Robotics

In the last decade, studies have demonstrated that hippocampal place cells influence rats’ navigational learning ability. Moreover, researchers have observed that place cell sequences associated with routes leading to a reward are reactivated during rest periods. This phenomenon is known as Hippocampal Replay, which is thought to aid navigational learning and memory consolidation. These findings in neuroscience have inspired new robot navigation models that emulate the learning process of mammals. This study presents a novel model that encodes path information using place cell connections formed during online navigation. Our model employs these connections to generate sequences of
state-action pairs to …

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Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior, Zachary Hinnen, Chance Hamilton, Alfredo Weitzenfeld May 2023

Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior, Zachary Hinnen, Chance Hamilton, Alfredo Weitzenfeld

Florida Conference on Recent Advances in Robotics

Studies involving the group predator behavior of wolves have inspired multiple robotic architectures to mimic these biological behaviors in their designs and research. In this work, we aim to use robotic systems to mimic wolf packs' single and group behavior. This work aims to extend the original research by Weitzenfeld et al [7] and evaluate under a new multi-robot robot system architecture. The multiple robot architecture includes a 'Prey' pursued by a wolf pack consisting of an 'Alpha' and 'Beta' robotic group. The Alpha Wolf' will be the group leader, searching and tracking the 'Prey.' At the same time, the …

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Programming By Demonstration Using Learning Based Approach: A Mini Review, Atul Acharya, Rajiv Dubey, Redwan Alqasemi May 2023

Programming By Demonstration Using Learning Based Approach: A Mini Review, Atul Acharya, Rajiv Dubey, Redwan Alqasemi

Florida Conference on Recent Advances in Robotics

Wheelchair-mounted robotic arms are used in rehabilitation robotics to help physically impaired people perform ADL (Activity of daily living) tasks. However, the dexterity of manipulation tasks makes the teleoperation of the robotic arm challenging for the user, as it is difficult to control all degrees of freedom with a handheld joystick or a screen touch device. PbD (Programming by demonstration) allows the user to demonstrate the desired behavior and enables the system to learn from the demonstrations and adapt to a new environment. This learned model can perform a new set of actions in a new environment. Learning from a …

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Comparing Probabilistic Planning Success On Three Types Of Robots: Wheeled, Legged, And Underwater, Daniel Griessler, Josias Moukpe, Braidan Duffy, Akil Hosang, Blake Janes, Omar Jebari, Kourtnee Fernalld, Erbene De Castro, Humberto Rivera, William Stern, Badria Alfurhood, Akram Alghanmi, Marius Silaghi May 2023

Comparing Probabilistic Planning Success On Three Types Of Robots: Wheeled, Legged, And Underwater, Daniel Griessler, Josias Moukpe, Braidan Duffy, Akil Hosang, Blake Janes, Omar Jebari, Kourtnee Fernalld, Erbene De Castro, Humberto Rivera, William Stern, Badria Alfurhood, Akram Alghanmi, Marius Silaghi

Florida Conference on Recent Advances in Robotics

We compare the relevance of POMDP graphical models to addressing a given common task, the autonomous navigation, in mobile robotics, for robots in three different environments: legged walking, wheeled, and underwater robots. Principled approaches to the implementation of Intelligent robots in realistic environments with uncertainty exploit probabilistic models. The use of graphical models increases tractability and verifiability of probabilistic reasoning. Our robots face similar localization problems of passing by three doors on a corridor in a building, respectively, for the underwater case, of passing by three barrels in a pool. All the three robots are equipped solely with noisy sonars …

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