Realtime State Estimation with Tactile and Visual sensing. Application to Planar Manipulation

Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the object from the visual sensor. The robot then loses visual feedback and must fall back on open-loop execution. In this paper, we integrate both tactile and visual input using a framework for solving the SLAM problem, incremental smoothing and mapping (iSAM), to provide a fast and flexible solution. Visual sensing provides global pose information but is noisy in general, whereas contact sensing is local, but its measurements are more accurate relative to the end-effector. By combining them, we aim to exploit their advantages and overcome their limitations. We explore the technique in the context of a pusher-slider system. We adapt iSAM's measurement cost and motion cost to the pushing scenario, and use an instrumented setup to evaluate the estimation quality with different object shapes, on different surface materials, and under different contact modes

Concrete resource analysis of the quantum linear system algorithm used to compute the electromagnetic scattering cross section of a 2D target

We provide a detailed estimate for the logical resource requirements of the quantum linear system algorithm (QLSA) [Phys. Rev. Lett. 103, 150502 (2009)] including the recently described elaborations [Phys. Rev. Lett. 110, 250504 (2013)]. Our resource estimates are based on the standard quantum-circuit model of quantum computation; they comprise circuit width, circuit depth, the number of qubits and ancilla qubits employed, and the overall number of elementary quantum gate operations as well as more specific gate counts for each elementary fault-tolerant gate from the standard set {X, Y, Z, H, S, T, CNOT}. To perform these estimates, we used an approach that combines manual analysis with automated estimates generated via the Quipper quantum programming language and compiler. Our estimates pertain to the example problem size N=332,020,680 beyond which, according to a crude big-O complexity comparison, QLSA is expected to run faster than the best known classical linear-system solving algorithm. For this problem size, a desired calculation accuracy 0.01 requires an approximate circuit width 340 and circuit depth of order $10^{25}$ if oracle costs are excluded, and a circuit width and depth of order $10^8$ and $10^{29}$, respectively, if oracle costs are included, indicating that the commonly ignored oracle resources are considerable. In addition to providing detailed logical resource estimates, it is also the purpose of this paper to demonstrate explicitly how these impressively large numbers arise with an actual circuit implementation of a quantum algorithm. While our estimates may prove to be conservative as more efficient advanced quantum-computation techniques are developed, they nevertheless provide a valid baseline for research targeting a reduction of the resource requirements, implying that a reduction by many orders of magnitude is necessary for the algorithm to become practical.Comment: 37 pages, 40 figure

Markerless visual servoing on unknown objects for humanoid robot platforms

To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects, which is divided in four main parts: I) a least-squares minimization problem is formulated to find the volume of the object graspable by the robot's hand using its stereo vision; II) a recursive Bayesian filtering technique, based on Sequential Monte Carlo (SMC) filtering, estimates the 6D pose (position and orientation) of the robot's end-effector without the use of markers; III) a nonlinear constrained optimization problem is formulated to compute the desired graspable pose about the object; IV) an image-based visual servo control commands the robot's end-effector toward the desired pose. We demonstrate effectiveness and robustness of our approach with extensive experiments on the iCub humanoid robot platform, achieving real-time computation, smooth trajectories and sub-pixel precisions

Local ensemble transform Kalman filter, a fast non-stationary control law for adaptive optics on ELTs: theoretical aspects and first simulation results

We propose a new algorithm for an adaptive optics system control law, based on the Linear Quadratic Gaussian approach and a Kalman Filter adaptation with localizations. It allows to handle non-stationary behaviors, to obtain performance close to the optimality defined with the residual phase variance minimization criterion, and to reduce the computational burden with an intrinsically parallel implementation on the Extremely Large Telescopes (ELTs).Comment: This paper was published in Optics Express and is made available as an electronic reprint with the permission of OSA. The paper can be found at the following URL on the OSA website: http://www.opticsinfobase.org/oe/ . Systematic or multiple reproduction or distribution to multiple locations via electronic or other means is prohibited and is subject to penalties under la

Lower Bounds on the Bounded Coefficient Complexity of Bilinear Maps

We prove lower bounds of order $n\log n$ for both the problem to multiply polynomials of degree $n$, and to divide polynomials with remainder, in the model of bounded coefficient arithmetic circuits over the complex numbers. These lower bounds are optimal up to order of magnitude. The proof uses a recent idea of R. Raz [Proc. 34th STOC 2002] proposed for matrix multiplication. It reduces the linear problem to multiply a random circulant matrix with a vector to the bilinear problem of cyclic convolution. We treat the arising linear problem by extending J. Morgenstern's bound [J. ACM 20, pp. 305-306, 1973] in a unitarily invariant way. This establishes a new lower bound on the bounded coefficient complexity of linear forms in terms of the singular values of the corresponding matrix. In addition, we extend these lower bounds for linear and bilinear maps to a model of circuits that allows a restricted number of unbounded scalar multiplications.Comment: 19 page

Modified fast frequency acquisition via adaptive least squares algorithm

A method and the associated apparatus for estimating the amplitude, frequency, and phase of a signal of interest are presented. The method comprises the following steps: (1) inputting the signal of interest; (2) generating a reference signal with adjustable amplitude, frequency and phase at an output thereof; (3) mixing the signal of interest with the reference signal and a signal 90 deg out of phase with the reference signal to provide a pair of quadrature sample signals comprising respectively a difference between the signal of interest and the reference signal and a difference between the signal of interest and the signal 90 deg out of phase with the reference signal; (4) using the pair of quadrature sample signals to compute estimates of the amplitude, frequency, and phase of an error signal comprising the difference between the signal of interest and the reference signal employing a least squares estimation; (5) adjusting the amplitude, frequency, and phase of the reference signal from the numerically controlled oscillator in a manner which drives the error signal towards zero; and (6) outputting the estimates of the amplitude, frequency, and phase of the error signal in combination with the reference signal to produce a best estimate of the amplitude, frequency, and phase of the signal of interest. The preferred method includes the step of providing the error signal as a real time confidence measure as to the accuracy of the estimates wherein the closer the error signal is to zero, the higher the probability that the estimates are accurate. A matrix in the estimation algorithm provides an estimate of the variance of the estimation error

Asymptotics of finite system Lyapunov exponents for some random matrix ensembles

For products $P_N$ of $N$ random matrices of size $d \times d$, there is a natural notion of finite $N$ Lyapunov exponents $\{\mu_i\}_{i=1}^d$. In the case of standard Gaussian random matrices with real, complex or real quaternion elements, and extended to the general variance case for $\mu_1$, methods known for the computation of $\lim_{N \to \infty} \langle \mu_i \rangle$ are used to compute the large $N$ form of the variances of the exponents. Analogous calculations are performed in the case that the matrices making up $P_N$ are products of sub-blocks of random unitary matrices with Haar measure. Furthermore, we make some remarks relating to the coincidence of the Lyapunov exponents and the stability exponents relating to the eigenvalues of $P_N$.Comment: 15 page