Ono: an open platform for social robotics

In recent times, the focal point of research in robotics has shifted from industrial ro- bots toward robots that interact with humans in an intuitive and safe manner. This evolution has resulted in the subfield of social robotics, which pertains to robots that function in a human environment and that can communicate with humans in an int- uitive way, e.g. with facial expressions. Social robots have the potential to impact many different aspects of our lives, but one particularly promising application is the use of robots in therapy, such as the treatment of children with autism. Unfortunately, many of the existing social robots are neither suited for practical use in therapy nor for large scale studies, mainly because they are expensive, one-of-a-kind robots that are hard to modify to suit a specific need. We created Ono, a social robotics platform, to tackle these issues. Ono is composed entirely from off-the-shelf components and cheap materials, and can be built at a local FabLab at the fraction of the cost of other robots. Ono is also entirely open source and the modular design further encourages modification and reuse of parts of the platform

Cross-layer modeling and optimization of next-generation internet networks

Scaling traditional telecommunication networks so that they are able to cope with the volume of future traffic demands and the stringent European Commission (EC) regulations on emissions would entail unaffordable investments. For this very reason, the design of an innovative ultra-high bandwidth power-efficient network architecture is nowadays a bold topic within the research community. So far, the independent evolution of network layers has resulted in isolated, and hence, far-from-optimal contributions, which have eventually led to the issues today's networks are facing such as inefficient energy strategy, limited network scalability and flexibility, reduced network manageability and increased overall network and customer services costs. Consequently, there is currently large consensus among network operators and the research community that cross-layer interaction and coordination is fundamental for the proper architectural design of next-generation Internet networks. This thesis actively contributes to the this goal by addressing the modeling, optimization and performance analysis of a set of potential technologies to be deployed in future cross-layer network architectures. By applying a transversal design approach (i.e., joint consideration of several network layers), we aim for achieving the maximization of the integration of the different network layers involved in each specific problem. To this end, Part I provides a comprehensive evaluation of optical transport networks (OTNs) based on layer 2 (L2) sub-wavelength switching (SWS) technologies, also taking into consideration the impact of physical layer impairments (PLIs) (L0 phenomena). Indeed, the recent and relevant advances in optical technologies have dramatically increased the impact that PLIs have on the optical signal quality, particularly in the context of SWS networks. Then, in Part II of the thesis, we present a set of case studies where it is shown that the application of operations research (OR) methodologies in the desing/planning stage of future cross-layer Internet network architectures leads to the successful joint optimization of key network performance indicators (KPIs) such as cost (i.e., CAPEX/OPEX), resources usage and energy consumption. OR can definitely play an important role by allowing network designers/architects to obtain good near-optimal solutions to real-sized problems within practical running times

Sensory Communication

Contains table of contents for Section 2 and reports on five research projects.National Institutes of Health Contract 2 R01 DC00117National Institutes of Health Contract 1 R01 DC02032National Institutes of Health Contract 2 P01 DC00361National Institutes of Health Contract N01 DC22402National Institutes of Health Grant R01-DC001001National Institutes of Health Grant R01-DC00270National Institutes of Health Grant 5 R01 DC00126National Institutes of Health Grant R29-DC00625U.S. Navy - Office of Naval Research Grant N00014-88-K-0604U.S. Navy - Office of Naval Research Grant N00014-91-J-1454U.S. Navy - Office of Naval Research Grant N00014-92-J-1814U.S. Navy - Naval Air Warfare Center Training Systems Division Contract N61339-94-C-0087U.S. Navy - Naval Air Warfare Center Training System Division Contract N61339-93-C-0055U.S. Navy - Office of Naval Research Grant N00014-93-1-1198National Aeronautics and Space Administration/Ames Research Center Grant NCC 2-77

Reliability and Maintenance

Amid a plethora of challenges, technological advances in science and engineering are inadvertently affecting an increased spectrum of today’s modern life. Yet for all supplied products and services provided, robustness of processes, methods, and techniques is regarded as a major player in promoting safety. This book on systems reliability, which equally includes maintenance-related policies, presents fundamental reliability concepts that are applied in a number of industrial cases. Furthermore, to alleviate potential cost and time-specific bottlenecks, software engineering and systems engineering incorporate approximation models, also referred to as meta-processes, or surrogate models to reproduce a predefined set of problems aimed at enhancing safety, while minimizing detrimental outcomes to society and the environment

Advancing Robot Autonomy for Long-Horizon Tasks

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon. However, the level of autonomy achievable by a deployment is limited in part by the problem definition or task specification required by the system. Task specifications often require technical, low-level information that is unintuitive to describe and may result in generic solutions, burdening the user technically both before and after task completion. In this thesis, we aim to advance task specification abstraction toward the goal of increasing robot autonomy in real-world scenarios. We do so by tackling problems that address several different angles of this goal. First, we develop a way for the automatic discovery of optimal transition points between subtasks in the context of constrained mobile manipulation, removing the need for the human to hand-specify these in the task specification. We further propose a way to automatically describe constraints on robot motion by using demonstrated data as opposed to manually-defined constraints. Then, within the context of environmental exploration, we propose a flexible task specification framework, requiring just a set of quantiles of interest from the user that allows the robot to directly suggest locations in the environment for the user to study. We next systematically study the effect of including a robot team in the task specification and show that multirobot teams have the ability to improve performance under certain specification conditions, including enabling inter-robot communication. Finally, we propose methods for a communication protocol that autonomously selects useful but limited information to share with the other robots.Comment: PhD dissertation. 160 page