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

Information Surfaces in Systems Biology and Applications to Engineering Sustainable Agriculture

Systems biology of plants offers myriad opportunities and many challenges in modeling. A number of technical challenges stem from paucity of computational methods for discovery of the most fundamental properties of complex dynamical systems. In systems engineering, eigen-mode analysis have proved to be a powerful approach. Following this philosophy, we introduce a new theory that has the benefits of eigen-mode analysis, while it allows investigation of complex dynamics prior to estimation of optimal scales and resolutions. Information Surfaces organizes the many intricate relationships among "eigen-modes" of gene networks at multiple scales and via an adaptable multi-resolution analytic approach that permits discovery of the appropriate scale and resolution for discovery of functions of genes in the model plant Arabidopsis. Applications are many, and some pertain developments of crops that sustainable agriculture requires.Comment: 24 Pages, DoCEIS 1

Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion framework based on Mixtures of Gaussians to denoise and derive the depth uncertainty, which is then propagated throughout the visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are used to model the uncertainties of the feature parameters and pose is estimated by combining the three types of primitives based on their uncertainties. Performance evaluation on RGB-D sequences collected in this work and two public RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth fusion framework and combining the three feature-types, particularly in scenes with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34 page

Understanding friction induced damping in bolted assemblies through explicit transient simulation

The design of joints is seeing increased interest as one of the ways of controlling damping levels in lighter and more flexible aeronautic structures. Damping induced by joint dissipation has been studied for more than a decade, mostly experimentally due to the difficulty of simulating large structures with non-linearities. Experimentally fitted meta-models were thus used for damping estimation at design stage without a possible optimization. The aim of this paper is to demonstrate that damping estimation using local friction models is feasible and that it can be usable for design. The simulation methodology is based on an explicit Newmark time scheme with model reduction and numerical damping that can be compensated for the modes of interest. Practical simulation times counted in minutes are achieved for detailed models. The illustration on a lap-joint shows how simulations can be used to predict the amplitude dependence of modal damping, answer long standing questions such as “does the modeshape change?” or analyze the evolution of pressure fields during a cycle

Multiple Shape Registration using Constrained Optimal Control

Lagrangian particle formulations of the large deformation diffeomorphic metric mapping algorithm (LDDMM) only allow for the study of a single shape. In this paper, we introduce and discuss both a theoretical and practical setting for the simultaneous study of multiple shapes that are either stitched to one another or slide along a submanifold. The method is described within the optimal control formalism, and optimality conditions are given, together with the equations that are needed to implement augmented Lagrangian methods. Experimental results are provided for stitched and sliding surfaces