Hybrid Controller based on Null Space and Consensus Algorithms for Mobile Robot Formation

This work presents a novel hybrid control approach based on null space and consensus algorithms to solve the scalability problems of mobile robot formation and improve leader control through multiple control objectives. In previous works, the training of robots based on the null space requires a rigid training structure based on a geometric shape, which increases the number of agents in the formation. The scheme of the control algorithm, which does not make formation scalability possible, must be changed; therefore, seeking the scalability of training based on null space is a challenge that could be solved with the inclusion of consensus algorithms, which allow the control structure to be maintained despite increasing or decreasing the number of robot followers. Another advantage of this proposal is that the formation of the followers does not depend on any geometric figure compared to previous works based on the null space; this new proposal does not present singularities as if the structure is based on geometric shape, the latter one is crucial since the formation of agents can take forms that cannot be achieved with a geometric structure, such as collinear locations, that can occur in many environments. The proposed hybrid control approach presents three tasks: i) leader position task, ii) leader shape task, and iii) follower formation task. The proposed algorithm is validated through simulations, performing tests that use the kinematic model of non-holonomic mobile robots. In addition, linear algebra and Lyapunov theory are used to analyze the stability of the method. Doi: 10.28991/ESJ-2022-06-03-01 Full Text: PD

An investigation into the cognitive effects of delayed visual feedback

Abstract unavailable please refer to PD

Neural Correlates of Political Attitudes: Emotion and Ideology in the Brain

Do conservatives and liberals have differing sensitivities to avoidance, inhibition, and negative emotion? Do psychological factors beneath our conscious awareness underlie the political ideologies we embrace? Political science researchers have broken new ground over the past ten years in our understanding of the psychology and physiology of political ideology. However, large questions remain about how political ideology may be related to avoidance motivations and negative emotion. This work expands our current knowledge in this area by presenting three studies with multiple methodologies: original survey data, electroencephalographic measurements, and behavioral experiments in a lab setting. Working in the tradition of J.A. Gray’s dual systems of behavioral motivation, I explore how political ideology is related to several related dispositional measures of behavioral avoidance, behavioral inhibition, and negative affectivity. Overall, and in contrast to literature expectations, my evidence suggests that liberals and conservatives do not have persistent differences in avoidance sensitivity or negativity bias. While strong evidence remains demonstrating important dispositional differences liberals and conservatives, additional research will be required before researchers can conclude that conservatives are motivated by psychological avoidance or negative affect

Augmented reality device for first response scenarios

A prototype of a wearable computer system is proposed and implemented using commercial off-shelf components. The system is designed to allow the user to access location-specific information about an environment, and to provide capability for user tracking. Areas of applicability include primarily first response scenarios, with possible applications in maintenance or construction of buildings and other structures. Necessary preparation of the target environment prior to system\u27s deployment is limited to noninvasive labeling using optical fiducial markers. The system relies on computational vision methods for registration of labels and user position. With the system the user has access to on-demand information relevant to a particular real-world location. Team collaboration is assisted by user tracking and real-time visualizations of team member positions within the environment. The user interface and display methods are inspired by Augmented Reality1 (AR) techniques, incorporating a video-see-through Head Mounted Display (HMD) and fingerbending sensor glove.*. 1Augmented reality (AR) is a field of computer research which deals with the combination of real world and computer generated data. At present, most AR research is concerned with the use of live video imagery which is digitally processed and augmented by the addition of computer generated graphics. Advanced research includes the use of motion tracking data, fiducial marker recognition using machine vision, and the construction of controlled environments containing any number of sensors and actuators. (Source: Wikipedia) *This dissertation is a compound document (contains both a paper copy and a CD as part of the dissertation). The CD requires the following system requirements: Adobe Acrobat; Microsoft Office; Windows MediaPlayer or RealPlayer

NASA/ASEE Summer Faculty Fellowship Program

This document is a collection of technical reports on research conducted by the participants in the 1996 NASA/ASEE Summer Faculty Fellowship Program at the Kennedy Space Center (KSC). This was the twelfth year that a NASA/ASEE program has been conducted at KSC. The 1996 program was administered by the University of Central Florida in cooperation with KSC. The program was operated under the auspices of the American Society for Engineering Education (ASEE) with sponsorship and funding from the Office of Educational Affairs, NASA Headquarters, Washington, DC and KSC. The KSC Program was one of nine such Aeronautics and Space Research Program funded by NASA in 1996. The NASA/ASEE Program is intended to be a two-year program to allow in-depth research by the University faculty member. The editors of this document were responsible for selecting appropriately qualified faculty to address some of the many problems of current interest to NASA/KSC

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

Technology 2001: The Second National Technology Transfer Conference and Exposition, volume 2

Proceedings of the workshop are presented. The mission of the conference was to transfer advanced technologies developed by the Federal government, its contractors, and other high-tech organizations to U.S. industries for their use in developing new or improved products and processes. Volume two presents papers on the following topics: materials science, robotics, test and measurement, advanced manufacturing, artificial intelligence, biotechnology, electronics, and software engineering

Investigating perceptual congruence between information and sensory parameters in auditory and vibrotactile displays

A fundamental interaction between a computer and its user(s) is the transmission of information between the two and there are many situations where it is necessary for this interaction to occur non-visually, such as using sound or vibration. To design successful interactions in these modalities, it is necessary to understand how users perceive mappings between information and acoustic or vibration parameters, so that these parameters can be designed such that they are perceived as congruent. This thesis investigates several data-sound and data-vibration mappings by using psychophysical scaling to understand how users perceive the mappings. It also investigates the impact that using these methods during design has when they are integrated into an auditory or vibrotactile display. To investigate acoustic parameters that may provide more perceptually congruent data-sound mappings, Experiments 1 and 2 explored several psychoacoustic parameters for use in a mapping. These studies found that applying amplitude modulation — or roughness — to a signal, or applying broadband noise to it resulted in performance which were similar to conducting the task visually. Experiments 3 and 4 used scaling methods to map how a user perceived a change in an information parameter, for a given change in an acoustic or vibrotactile parameter. Experiment 3 showed that increases in acoustic parameters that are generally considered undesirable in music were perceived as congruent with information parameters with negative valence such as stress or danger. Experiment 4 found that data-vibration mappings were more generalised — a given increase in a vibrotactile parameter was almost always perceived as an increase in an information parameter — regardless of the valence of the information parameter. Experiments 5 and 6 investigated the impact that using results from the scaling methods used in Experiments 3 and 4 had on users' performance when using an auditory or vibrotactile display. These experiments also explored the impact that the complexity of the context which the display was placed had on user performance. These studies found that using mappings based on scaling results did not significantly impact user's performance with a simple auditory display, but it did reduce response times in a more complex use-case

Enhancing the mechanical efficiency of skilled rowing through shortened feedback cycles

In elite level rowing competition, the average velocities of medallists differ by less than 1 % over 2000 m. Nations place sporting excellence in high regard and this magnifies the importance of success. As a result, sports science and technology is increasingly used to achieve marginal performance gains. This research considers how to advance biomechanical analysis and skills training provision with a particular focus on the technical and practical delivery of real-time feedback to coaches and athletes, thereby shortening the amount of time between feedback cycles. Underpinning any biomechanical feedback intervention, validated determinants of performance are required. Previous research revealed that, while gross biomechanical measures such as athlete power, stroke rate and stroke length have previously been used as key determinants of performance, elite athletes are nowadays performing within expected ranges and therefore it is no longer possible to easily differentiate crews using these measures alone. This thesis describes workshops held with elite coaches to investigate biomechanical efficiency where the outcomes led to a focus on how a boat accelerates and decelerates during a stroke and hence how the boat's velocity fluctuates. Novel metrics are proposed to quantify aspects of a stroke cycle and used to analyse an elite data set, collected using a standardised protocol. It is shown that individual elite rowers can be successfully differentiated and benchmark values of performance are presented. Consideration of previous research suggests that there is currently no suitably functional and flexible biomechanical real-time feedback system to deliver complex skills training in rowing. Therefore, this thesis describes the research that has led to the development and evaluation of new technology to deliver visual and audible interfaces that support the delivery of concurrent and terminal feedback in water and land-based environments. Coaches and athletes were involved throughout the design process to optimise system suitability and encourage adoption. The technology empowers a coach to intricately manipulate feedback provision, thereby promoting motor control and learning theory best practice. Novel insights relevant to designing interactive systems for use within an elite sporting population are also discussed. This research presents an end-to-end strategy for the applied delivery of real-time feedback to skilled rowers bringing together engineering and social science disciplines. A land-based case series reveals that while statistically significant skill learning was not achieved, participants acquired sport specific technical awareness and heightened motivation as a result of the skills training intervention. Existing motor learning literature was tested as part of the study with a key finding being the lack of support for audible display of stroke acceleration through frequency modulation. Study limitations were identified that explain the lack of an effect of skills training on rower efficiency. The study also acted as a validation of the use of a land-based simulator to monitor and manipulate stroke velocity and a validation of the candidate feedback interfaces that had been implemented. As of result of this work, rowing coaches are able to evaluate their athletes in a novel way, achieving a deeper appreciation of their biomechanical efficiency. Upon identifying athletes with a need for technical development, coaches can intervene with the proposed methodology of skill development making use of the new technologies developed to deliver performance gains. This methodology would achieve enhanced validity through a deeper understanding of the reliability of the new metrics and their relationship to boat speed. Future attempts to test for skill learning should build upon the findings made in this work and, in due course, technology and theory should combine to deliver terminal feedback training during water-based rowing