Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction

Navigating in search and rescue environments is challenging, since a variety of terrains has to be considered. Hybrid driving-stepping locomotion, as provided by our robot Momaro, is a promising approach. Similar to other locomotion methods, it incorporates many degrees of freedom---offering high flexibility but making planning computationally expensive for larger environments. We propose a navigation planning method, which unifies different levels of representation in a single planner. In the vicinity of the robot, it provides plans with a fine resolution and a high robot state dimensionality. With increasing distance from the robot, plans become coarser and the robot state dimensionality decreases. We compensate this loss of information by enriching coarser representations with additional semantics. Experiments show that the proposed planner provides plans for large, challenging scenarios in feasible time.Comment: In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 201

Integrating sensor streams in pHealth networks

Personal Health (pHealth) sensor networks are generally used to monitor the wellbeing of both athletes and the general public to inform health specialists of future and often serious ailments. The problem facing these domain experts is the scale and quality of data they must search in order to extract meaningful results. By using peer-to-peer sensor architectures and a mechanism for reducing the search space, we can, to some extent, address the scalability issue. However, synchronisation and normalisation of distributed sensor streams remains a problem in many networks. In the case of pHealth sensor networks, it is crucial for experts to align multiple sensor readings before query or data mining activities can take place. This paper presents a system for clustering and synchronising sensor streams in preparation for user queries

Integrative Use of Information Extraction, Semantic Matchmaking and Adaptive Coupling Techniques in Support of Distributed Information Processing and Decision-Making

In order to press maximal cognitive benefit from their social, technological and informational environments, military coalitions need to understand how best to exploit available information assets as well as how best to organize their socially-distributed information processing activities. The International Technology Alliance (ITA) program is beginning to address the challenges associated with enhanced cognition in military coalition environments by integrating a variety of research and development efforts. In particular, research in one component of the ITA ('Project 4: Shared Understanding and Information Exploitation') is seeking to develop capabilities that enable military coalitions to better exploit and distribute networked information assets in the service of collective cognitive outcomes (e.g. improved decision-making). In this paper, we provide an overview of the various research activities in Project 4. We also show how these research activities complement one another in terms of supporting coalition-based collective cognition

Knowledge-Driven Harmonization of Sensor Observations: Exploiting Linked Open Data for IoT Data Streams

The rise of the Internet of Things leads to an unprecedented number of continuous sensor observations that are available as IoT data streams. Harmonization of such observations is a labor-intensive task due to heterogeneity in format, syntax, and semantics. We aim to reduce the effort for such harmonization tasks by employing a knowledge-driven approach. To this end, we pursue the idea of exploiting the large body of formalized public knowledge represented as statements in Linked Open Data

A Semantic Information Management Approach for Improving Bridge Maintenance based on Advanced Constraint Management

Bridge rehabilitation projects are important for transportation infrastructures. This research proposes a novel information management approach based on state-of-the-art deep learning models and ontologies. The approach can automatically extract, integrate, complete, and search for project knowledge buried in unstructured text documents. The approach on the one hand facilitates implementation of modern management approaches, i.e., advanced working packaging to delivery success bridge rehabilitation projects, on the other hand improves information management practices in the construction industry

Moving Object Trajectories Meta-Model And Spatio-Temporal Queries

In this paper, a general moving object trajectories framework is put forward to allow independent applications processing trajectories data benefit from a high level of interoperability, information sharing as well as an efficient answer for a wide range of complex trajectory queries. Our proposed meta-model is based on ontology and event approach, incorporates existing presentations of trajectory and integrates new patterns like space-time path to describe activities in geographical space-time. We introduce recursive Region of Interest concepts and deal mobile objects trajectories with diverse spatio-temporal sampling protocols and different sensors available that traditional data model alone are incapable for this purpose.Comment: International Journal of Database Management Systems (IJDMS) Vol.4, No.2, April 201