96 research outputs found

    Adaptive Sampling for Learning Gaussian Processes Using Mobile Sensor Networks

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    This paper presents a novel class of self-organizing sensing agents that adaptively learn an anisotropic, spatio-temporal Gaussian process using noisy measurements and move in order to improve the quality of the estimated covariance function. This approach is based on a class of anisotropic covariance functions of Gaussian processes introduced to model a broad range of spatio-temporal physical phenomena. The covariance function is assumed to be unknown a priori. Hence, it is estimated by the maximum a posteriori probability (MAP) estimator. The prediction of the field of interest is then obtained based on the MAP estimate of the covariance function. An optimal sampling strategy is proposed to minimize the information-theoretic cost function of the Fisher Information Matrix. Simulation results demonstrate the effectiveness and the adaptability of the proposed scheme

    Layered Cost-Map-Based Traffic Management for Multiple Automated Mobile Robots via a Data Distribution Service

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    This letter proposes traffic management for multiple automated mobile robots (AMRs) based on a layered cost map. Multiple AMRs communicate via a data distribution service (DDS), which is shared by topics in the same DDS domain. The cost of each layer is manipulated by topics. The traffic management server in the domain sends or receives topics to each of AMRs. Using the layered cost map, the new concept of prohibition filter, lane filter, fleet layer, and region filter are proposed and implemented. The prohibition filter can help a user set an area that would prohibit an AMR from trespassing. The lane filter can help set one-way directions based on an angle image. The fleet layer can help AMRs share their locations via the traffic management server. The region filter requests for or receives an exclusive area, which can be occupied by only one AMR, from the traffic management server. All the layers are experimentally validated with real-world AMRs. Each area can be configured with user-defined images or text-based parameter files.Comment: 8 pages, 13 figure

    Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives

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    In Robust Control and Data Driven Robust Control design methodologies, multiple plant transfer functions or a family of transfer functions are considered and a common controller is designed such that all the plants that fall into this family are stabilized. Though the plants are stabilized, the controller might be sub-optimal for each of the plants when the variations in the plants are large. This paper presents a way of clustering stable linear dynamical systems for the design of robust controllers within each of the clusters such that the controllers are optimal for each of the clusters. First a k-medoids algorithm for hard clustering will be presented for stable Linear Time Invariant (LTI) systems and then a Gaussian Mixture Models (GMM) clustering for a special class of LTI systems, common for Hard Disk Drive plants, will be presented.Comment: 6 pages, 4 figure

    Spatial Regression With Multiplicative Errors, and Its Application With Lidar Measurements

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    Multiplicative errors in addition to spatially referenced observations often arise in geodetic applications, particularly in surface estimation with light detection and ranging (LiDAR) measurements. However, spatial regression involving multiplicative errors remains relatively unexplored in such applications. In this regard, we present a penalized modified least squares estimator to handle the complexities of a multiplicative error structure while identifying significant variables in spatially dependent observations for surface estimation. The proposed estimator can be also applied to classical additive error spatial regression. By establishing asymptotic properties of the proposed estimator under increasing domain asymptotics with stochastic sampling design, we provide a rigorous foundation for its effectiveness. A comprehensive simulation study confirms the superior performance of our proposed estimator in accurately estimating and selecting parameters, outperforming existing approaches. To demonstrate its real-world applicability, we employ our proposed method, along with other alternative techniques, to estimate a rotational landslide surface using LiDAR measurements. The results highlight the efficacy and potential of our approach in tackling complex spatial regression problems involving multiplicative errors

    Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance

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    This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment. Specifically, we employ a control law and a learning representation framework that remain invariant under arbitrary SE(3) transformations of the manipulation task definition. Furthermore, the control law and learning representation framework are shown to be SE(3) equivariant when represented relative to the spatial frame. The proposed approach is based on utilizing a recently presented geometric impedance control (GIC) combined with a learning variable impedance control framework, where the gain scheduling policy is trained in a supervised learning fashion from expert demonstrations. A geometrically consistent error vector (GCEV) is fed to a neural network to achieve a gain scheduling policy that remains invariant to arbitrary translation and rotations. A comparison of our proposed control and learning framework with a well-known Cartesian space learning impedance control, equipped with a Cartesian error vector-based gain scheduling policy, confirms the significantly superior learning transferability of our proposed approach. A hardware implementation on a peg-in-hole task is conducted to validate the learning transferability and feasibility of the proposed approach

    Feasibility of using red cell distribution width for prediction of postoperative mortality in severe burn patients: an association with acute kidney injury after surgery

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    Background Severe burns cause pathophysiological processes that result in mortality. A laboratory biomarker, red cell distribution width (RDW), is known as a predictor of mortality in critically-ill patients. We examined the association between RDW and postoperative mortality in severe burn patients. Methods We retrospectively analyzed medical data of 731 severely burned patients who underwent surgery under general anesthesia. We evaluated whether preoperative RDW value can predict 3-month mortality after burn surgery using receiver operating characteristic (ROC) curve analysis, logistic regression, and Cox proportional-hazards regression analysis. Mortality was also analyzed according to preoperative RDW values and incidence of postoperative acute kidney injury (AKI). Results The 3-month mortality rate after burn surgery was 27.1% (198/731). The area under the ROC curve of preoperative RDW to predict mortality after burn surgery was 0.701 (95% confidence interval [CI], 0.667–0.734; P 12.9 was 1.238 (95% CI, 1.138–1.347; P 12.9. Preoperative RDW was considered an independent risk factor for mortality (odds ratio, 1.679; 95% CI, 1.378–2.046; P 12.9 and postoperative AKI may further increase mortality after burn surgery

    Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation

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    Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs, a novel SE(3)-equivariant diffusion-based approach for visual robotic manipulation tasks. We show that our proposed method achieves remarkable data efficiency, requiring only 5 to 10 human demonstrations for effective end-to-end training in less than an hour. Furthermore, our benchmark experiments demonstrate that our approach has superior generalizability and robustness compared to state-of-the-art methods. Lastly, we validate our methods with real hardware experiments. Project Website: https://sites.google.com/view/diffusion-edfs/homeComment: 31 pages, 13 figure

    Teatro e ensino da matemática: atividade desenvolvida num curso de formação docente

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    Anais do II Seminário Seminário Estadual PIBID do Paraná: tecendo saberes / organizado por Dulcyene Maria Ribeiro e Catarina Costa Fernandes — Foz do Iguaçu: Unioeste; Unila, 2014Este trabalho relata uma aula desenvolvida pelas alunas do Curso de Formação de Docentes do Instituto Estadual de Educação de Londrina com a colaboração dos Bolsistas do Programa Institucional de Bolsas de Iniciação à Docência – PIBID – Subprojeto de Matemática, para alunos de primeiro ano do Ensino Fundamental utilizando o teatro como forma de apresentar conteúdos matemáticos como números, sequência de números, operações básicas como adição, subtração e conteúdos de língua portuguesa como leitura e escrita de número


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    ABSTRACT In this paper, we introduce a family of spatio-tempora