97 research outputs found

    Articulation-aware Canonical Surface Mapping

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    We tackle the tasks of: 1) predicting a Canonical Surface Mapping (CSM) that indicates the mapping from 2D pixels to corresponding points on a canonical template shape, and 2) inferring the articulation and pose of the template corresponding to the input image. While previous approaches rely on keypoint supervision for learning, we present an approach that can learn without such annotations. Our key insight is that these tasks are geometrically related, and we can obtain supervisory signal via enforcing consistency among the predictions. We present results across a diverse set of animal object categories, showing that our method can learn articulation and CSM prediction from image collections using only foreground mask labels for training. We empirically show that allowing articulation helps learn more accurate CSM prediction, and that enforcing the consistency with predicted CSM is similarly critical for learning meaningful articulation.Comment: To appear at CVPR 2020, project page https://nileshkulkarni.github.io/acsm

    Adaptive Inner-Loop Rover Control

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    Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design

    Investigation of Noise Pollution of Nanded City, Maharashtra Case Study using GIS and Data Mining Technique

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    In this study we examine the level of noise present in Nanded city of Maharashtra with the help of Geographical information system and Data mining technique. The noise data is collected during the month of March and April 2017. The spatial data mining algorithm natural neighbor was applied to generate the surface model. Unsupervised data mining techniques i.e. Shapiro-Wilk normality test and supervised data mining technique Wilcoxon rank sum test were applied to identify the significant difference in day and night time noise pollution. In this study we followed the CPCB 2000 guideline. Data was collected from Residential and commercial area. The investigation results reveals residential as well as commercial areas pollution noise level is beyond the permissible limit in evening session. Furthermore, there is need of action to control the Noise level in Nanded city

    Aircraft system modeling error and control error

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    A method for modeling error-driven adaptive control of an aircraft. Normal aircraft plant dynamics is modeled, using an original plant description in which a controller responds to a tracking error e(k) to drive the component to a normal reference value according to an asymptote curve. Where the system senses that (1) at least one aircraft plant component is experiencing an excursion and (2) the return of this component value toward its reference value is not proceeding according to the expected controller characteristics, neural network (NN) modeling of aircraft plant operation may be changed. However, if (1) is satisfied but the error component is returning toward its reference value according to expected controller characteristics, the NN will continue to model operation of the aircraft plant according to an original description
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