202,917 research outputs found
RoboEarth Semantic Mapping: A Cloud Enabled Knowledge-Based Approach
The vision of the RoboEarth project is to design a knowledge-based system to provide web and cloud services that can transform a simple robot into an intelligent one. In this work, we describe the RoboEarth semantic mapping system. The semantic map is composed of: 1) an ontology to code the concepts and relations in maps and objects and 2) a SLAM map providing the scene geometry and the object locations with respect to the robot. We propose to ground the terminological knowledge in the robot perceptions by means of the SLAM map of objects. RoboEarth boosts mapping by providing: 1) a subdatabase of object models relevant for the task at hand, obtained by semantic reasoning, which improves recognition by reducing computation and the false positive rate; 2) the sharing of semantic maps between robots; and 3) software as a service to externalize in the cloud the more intensive mapping computations, while meeting the mandatory hard real time constraints of the robot. To demonstrate the RoboEarth cloud mapping system, we investigate two action recipes that embody semantic map building in a simple mobile robot. The first recipe enables semantic map building for a novel environment while exploiting available prior information about the environment. The second recipe searches for a novel object, with the efficiency boosted thanks to the reasoning on a semantically annotated map. Our experimental results demonstrate that, by using RoboEarth cloud services, a simple robot can reliably and efficiently build the semantic maps needed to perform its quotidian tasks. In addition, we show the synergetic relation of the SLAM map of objects that grounds the terminological knowledge coded in the ontology
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Next generation software environments : principles, problems, and research directions
The past decade has seen a burgeoning of research and development in software environments. Conferences have been devoted to the topic of practical environments, journal papers produced, and commercial systems sold. Given all the activity, one might expect a great deal of consensus on issues, approaches, and techniques. This is not the case, however. Indeed, the term "environment" is still used in a variety of conflicting ways. Nevertheless substantial progress has been made and we are at least nearing consensus on many critical issues.The purpose of this paper is to characterize environments, describe several important principles that have emerged in the last decade or so, note current open problems, and describe some approaches to these problems, with particular emphasis on the activities of one large-scale research program, the Arcadia project. Consideration is also given to two related topics: empirical evaluation and technology transition. That is, how can environments and their constituents be evaluated, and how can new developments be moved effectively into the production sector
A Development Environment for Visual Physics Analysis
The Visual Physics Analysis (VISPA) project integrates different aspects of
physics analyses into a graphical development environment. It addresses the
typical development cycle of (re-)designing, executing and verifying an
analysis. The project provides an extendable plug-in mechanism and includes
plug-ins for designing the analysis flow, for running the analysis on batch
systems, and for browsing the data content. The corresponding plug-ins are
based on an object-oriented toolkit for modular data analysis. We introduce the
main concepts of the project, describe the technical realization and
demonstrate the functionality in example applications
J-PET Framework: Software platform for PET tomography data reconstruction and analysis
J-PET Framework is an open-source software platform for data analysis,
written in C++ and based on the ROOT package. It provides a common environment
for implementation of reconstruction, calibration and filtering procedures, as
well as for user-level analyses of Positron Emission Tomography data. The
library contains a set of building blocks that can be combined by users with
even little programming experience, into chains of processing tasks through a
convenient, simple and well-documented API. The generic input-output interface
allows processing the data from various sources: low-level data from the
tomography acquisition system or from diagnostic setups such as digital
oscilloscopes, as well as high-level tomography structures e.g. sinograms or a
list of lines-of-response. Moreover, the environment can be interfaced with
Monte Carlo simulation packages such as GEANT and GATE, which are commonly used
in the medical scientific community.Comment: 14 pages, 5 figure
Analytical modelling in Dynamo
BIM is applied as modern database for civil
engineering. Its recent development allows to preserve
both structure geometrical and analytical information. The
analytical model described in the paper is derived directly
from BIM model of a structure automatically but in most
cases it requires manual improvements before being sent
to FEM software. Dynamo visual programming language
was used to handle the analytical data. Authors developed
a program which corrects faulty analytical model obtained
from BIM geometry, thus providing better automation for
preparing FEM model. Program logic is explained and test
cases shown
Comparison of Simple Graphical Process Models
Comparing the structure of graphical process models can reveal a number of process variations. Since most contemporary norms for process modelling rely on directed connectivity of objects in the model, connections between objects form sequences which can be translated into performing scenarios. Whereas sequences can be tested for completeness in performing process activities using simulation methods, the similarity or difference in static characteristics of sequences in different model variants are difficult to explore. The goal of the paper is to test the application of a method for comparison of graphical models by analyzing and comparing static characteristics of process models. Consequently, a metamodel for process models is developed followed by a comparison procedure conducted using a graphical model comparison algorithm
Checking Computations of Formal Method Tools - A Secondary Toolchain for ProB
We present the implementation of pyB, a predicate - and expression - checker
for the B language. The tool is to be used for a secondary tool chain for data
validation and data generation, with ProB being used in the primary tool chain.
Indeed, pyB is an independent cleanroom-implementation which is used to
double-check solutions generated by ProB, an animator and model-checker for B
specifications. One of the major goals is to use ProB together with pyB to
generate reliable outputs for high-integrity safety critical applications.
Although pyB is still work in progress, the ProB/pyB toolchain has already been
successfully tested on various industrial B machines and data validation tasks.Comment: In Proceedings F-IDE 2014, arXiv:1404.578
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