Monte Carlo Localization in Hand-Drawn Maps

Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we are able to localize the robot in the correct room with a robustness up to 80

Contributions to Intelligent Scene Understanding of Unstructured Environments from 3D lidar sensors

Además, la viabilidad de este enfoque es evaluado mediante la implementación de cuatro tipos de clasificadores de aprendizaje supervisado encontrados en métodos de procesamiento de escenas: red neuronal, máquina de vectores de soporte, procesos gaussianos, y modelos de mezcla gaussiana. La segmentación de objetos es un paso más allá hacia el entendimiento de escena, donde conjuntos de puntos 3D correspondientes al suelo y otros objetos de la escena son aislados. La tesis propone nuevas contribuciones a la segmentación de nubes de puntos basados en mapas de vóxeles caracterizados geométricamente. En concreto, la metodología propuesta se compone de dos pasos: primero, una segmentación del suelo especialmente diseñado para entornos naturales; y segundo, el posterior aislamiento de objetos individuales. Además, el método de segmentación del suelo es integrado en una nueva técnica de mapa de navegabilidad basado en cuadrícula de ocupación el cuál puede ser apropiado para robots móviles en entornos naturales. El diseño y desarrollo de un nuevo y asequible sensor lidar 3D de alta resolución también se ha propuesto en la tesis. Los nuevos MBLs, tales como los desarrollados por Velodyne, están siendo cada vez más un tipo de sensor 3D asequible y popular que ofrece alto ratio de datos en un campo de visión vertical (FOV) limitado. El diseño propuesto consiste en una plataforma giratoria que mejora la resolución y el FOV vertical de un Velodyne VLP-16 de 16 haces. Además, los complejos patrones de escaneo producidos por configuraciones de MBL que rotan se analizan tanto en simulaciones de esfera hueca como en escáneres reales en entornos representativos. Fecha de Lectura de Tesis: 11 de julio 2018.Ingeniería de Sistemas y Automática Resumen tesis: Los sensores lidar 3D son una tecnología clave para navegación, localización, mapeo y entendimiento de escenas en vehículos no tripulados y robots móviles. Esta tecnología, que provee nubes de puntos densas, puede ser especialmente adecuada para nuevas aplicaciones en entornos naturales o desestructurados, tales como búsqueda y rescate, exploración planetaria, agricultura, o exploración fuera de carretera. Esto es un desafío como área de investigación que incluye disciplinas que van desde el diseño de sensor a la inteligencia artificial o el aprendizaje automático (machine learning). En este contexto, esta tesis propone contribuciones al entendimiento inteligente de escenas en entornos desestructurados basado en medidas 3D de distancia a nivel del suelo. En concreto, las contribuciones principales incluyen nuevas metodologías para la clasificación de características espaciales, segmentación de objetos, y evaluación de navegabilidad en entornos naturales y urbanos, y también el diseño y desarrollo de un nuevo lidar rotatorio multi-haz (MBL). La clasificación de características espaciales es muy relevante porque es extensamente requerida como un paso fundamental previo a los problemas de entendimiento de alto nivel de una escena. Las contribuciones de la tesis en este respecto tratan de mejorar la eficacia, tanto en carga computacional como en precisión, de clasificación de aprendizaje supervisado de características de forma espacial (forma tubular, plana o difusa) obtenida mediante el análisis de componentes principales (PCA). Esto se ha conseguido proponiendo un concepto eficiente de vecindario basado en vóxel en una contribución original que define los procedimientos de aprendizaje “offline” y clasificación “online” a la vez que cinco definiciones alternativas de vectores de características basados en PCA

Mass data exploration in oncology: An information synthesis approach

New technologies and equipment allow for mass treatment of samples and research teams share acquired data on an always larger scale. In this context scientists are facing a major data exploitation problem. More precisely, using these data sets through data mining tools or introducing them in a classical experimental approach require a preliminary understanding of the information space, in order to direct the process. But acquiring this grasp on the data is a complex activity, which is seldom supported by current software tools. The goal of this paper is to introduce a solution to this scientific data grasp problem. Illustrated in the Tissue MicroArrays application domain, the proposal is based on the synthesis notion, which is inspired by Information Retrieval paradigms. The envisioned synthesis model gives a central role to the study the researcher wants to conduct, through the task notion. It allows for the implementation of a task-oriented Information Retrieval prototype system. Cases studies and user studies were used to validate this prototype system. It opens interesting prospects for the extension of the model or extensions towards other application domains

Understanding the immersive experience: Examining the influence of visual immersiveness and interactivity on spatial experiences and understanding

Advances in computer graphics have enabled us to generate more compelling 3D virtual environments. 'Immersive experience' in these environments result from a combination of immersion and interactivity. As such, various disciplines have started adopting 3D technology for enhancing spatial understanding and experience. But the impact of the immersive experience on spatial understanding and experience remains unclear. This study utilized a controlled, between-subjects experiment to systematically manipulate a virtual reality system's technology affordances (stereoscopy, field of view, and navigability) and measure their impact. Participants, N=120, explored a virtual office and completed a questionnaire on the experience and tasks evaluating their understanding of the space. The results indicated that visual immersion had the greatest impact on understanding but, better experiences were gained when visual immersion was combined with greater interactivity. These findings support the notion the immersive experience is important for the comprehension of virtual spaces. This study overall served to provide insight into the role of the immersive experience on the comprehension of virtual spaces. The findings advance theories of spatial presence and immersion, support the use of methods which look at technology as affordances rather than entities, and support the use of 3D technology for communicating spatial information as in the case of architecture and fire-fighter training

Adaptive multiscapes: an up-to-date metaphor to visualize molecular adaptation

Wright's metaphor of the fitness landscape has shaped and conditioned our view of the adaptation of populations for almost a century. Since its inception, and including criticism raised by Wright himself, the concept has been surrounded by controversy. Among others, the debate stems from the intrinsic difficulty to capture important features of the space of genotypes, such as its high dimensionality or the existence of abundant ridges, in a visually appealing two-dimensional picture. Two additional currently widespread observations come to further constrain the applicability of the original metaphor: the very skewed distribution of phenotype sizes (which may actively prevent, due to entropic effects, the achievement of fitness maxima), and functional promiscuity (i.e. the existence of secondary functions which entail partial adaptation to environments never encountered before by the population). Results: Here we revise some of the shortcomings of the fitness landscape metaphor and propose a new "scape" formed by interconnected layers, each layer containing the phenotypes viable in a given environment. Different phenotypes within a layer are accessible through mutations with selective value, while neutral mutations cause displacements of populations within a phenotype. A different environment is represented as a separated layer, where phenotypes may have new fitness values, other phenotypes may be viable, and the same genotype may yield a different phenotype, representing genotypic promiscuity. This scenario explicitly includes the many-to-many structure of the genotype-to-phenotype map. A number of empirical observations regarding the adaptation of populations in the light of adaptive multiscapes are reviewed. Conclusions: Several shortcomings of Wright's visualization of fitness landscapes can be overcome through adaptive multiscapes.This work was supported by the Spanish projects ViralESS (FIS2014-57686-P, MINECO) and FIS2015-64349-P (MINECO/FEDER, UE). The funding body did not have any role in the design of the study and collection, analysis, and interpretation of data, and did not contribute to writing the manuscript

Bayesian network development and validation for siting selection

In this study, increasing electricity demand requires considerable attention to increasing the diversity of power generation. Alternative energy can produce heating and power systems and thermal storage. Our objective and every organization’s objectives are to minimize its energy consumption cost under electricity demand uncertainty. In rural areas, heat and power availability and stability are also crucial. Combined heat and power have proven their effectiveness as a subsequent to Electricity. This paper identified four criteria and eleven sub-criteria to determine the most appropriate structure location for combined heat and power in the rural community. The Bayesian Network technology has been applied to analyze these criteria comprehensively. A case study including multiple sites across the Mississippi state was used to validate the proposed approach, and propagation and sensitivity analysis were used to evaluate performance. Results showed the summarized eleven criteria proposed Bayesian Network approach could aid location selection for Combined heat and power location in the rural area. Supplementary, the created model can support decision-makers to select the best alternatives under different electricity demand variability levels