Reason Maintenance - State of the Art

This paper describes state of the art in reason maintenance with a focus on its future usage in the KiWi project. To give a bigger picture of the field, it also mentions closely related issues such as non-monotonic logic and paraconsistency. The paper is organized as follows: first, two motivating scenarios referring to semantic wikis are presented which are then used to introduce the different reason maintenance techniques

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Efficient Evaluation of the Number of False Alarm Criterion

This paper proposes a method for computing efficiently the significance of a parametric pattern inside a binary image. On the one hand, a-contrario strategies avoid the user involvement for tuning detection thresholds, and allow one to account fairly for different pattern sizes. On the other hand, a-contrario criteria become intractable when the pattern complexity in terms of parametrization increases. In this work, we introduce a strategy which relies on the use of a cumulative space of reduced dimensionality, derived from the coupling of a classic (Hough) cumulative space with an integral histogram trick. This space allows us to store partial computations which are required by the a-contrario criterion, and to evaluate the significance with a lower computational cost than by following a straightforward approach. The method is illustrated on synthetic examples on patterns with various parametrizations up to five dimensions. In order to demonstrate how to apply this generic concept in a real scenario, we consider a difficult crack detection task in still images, which has been addressed in the literature with various local and global detection strategies. We model cracks as bounded segments, detected by the proposed a-contrario criterion, which allow us to introduce additional spatial constraints based on their relative alignment. On this application, the proposed strategy yields state-of the-art results, and underlines its potential for handling complex pattern detection tasks