Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Management: A bibliography for NASA managers

This bibliography lists 731 reports, articles and other documents introduced into the NASA Scientific and Technical Information System in 1990. Items are selected and grouped according to their usefulness to the manager as manager. Citations are grouped into ten subject categories: human factors and personnel issues; management theory and techniques; industrial management and manufacturing; robotics and expert systems; computers and information management; research and development; economics, costs and markets; logistics and operations management; reliability and quality control; and legality, legislation, and policy

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Motion planning using synergies : application to anthropomorphic dual-arm robots

Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve the existing solutions to classical problems, new approaches are being proposed. A paradigmatic case is the humanoid robotics, since the advances done in this field require motion planners not only to look efficiently for an optimal solution in the classic way, i.e. optimizing consumed energy or time in the plan execution, but also looking for human-like solutions, i.e. requiring the robot movements to be similar to those of the human beings. This anthropomorphism in the robot motion is desired not only for aesthetical reasons, but it is also needed to allow a better and safer human-robot collaboration: humans can predict more easily anthropomorphic robot motions thus avoiding collisions and enhancing the collaboration with the robot. Nevertheless, obtaining a satisfactory performance of these anthropomorphic robotic systems requires the automatic planning of the movements, which is still an arduous and non-evident task since the complexity of the planning problem increases exponentially with the number of degrees of freedom of the robotic system. This doctoral thesis tackles the problem of planning the motions of dual-arm anthropomorphic robots (optionally with mobile base). The main objective is twofold: obtaining robot motions both in an efficient and in a human-like fashion at the same time. Trying to mimic the human movements while reducing the complexity of the search space for planning purposes leads to the concept of synergies, which could be conceptually defined as correlations (in the joint configuration space as well as in the joint velocity space) between the degrees of freedom of the system. This work proposes new sampling-based motion-planning procedures that exploit the concept of synergies, both in the configuration and velocity space, coordinating the movements of the arms, the hands and the mobile base of mobile anthropomorphic dual-arm robots.La planificación de movimientos es un campo tradicional de la robótica, sin embargo aparecen incesantemente nuevos problemas debido a los continuos avances en el desarrollo de los robots. Para resolver esos nuevos problemas, así como para mejorar las soluciones existentes a los problemas clásicos, se están proponiendo nuevos enfoques. Un caso paradigmático es la robótica humanoide, ya que los avances realizados en este campo requieren que los algoritmos planificadores de movimientos no sólo encuentren eficientemente una solución óptima en el sentido clásico, es decir, optimizar el consumo de energía o el tiempo de ejecución de la trayectoria; sino que también busquen soluciones con apariencia humana, es decir, que el movimiento del robot sea similar al del ser humano. Este antropomorfismo en el movimiento del robot se busca no sólo por razones estéticas, sino porque también es necesario para permitir una colaboración mejor y más segura entre el robot y el operario: el ser humano puede predecir con mayor facilidad los movimientos del robot si éstos son antropomórficos, evitando así las colisiones y mejorando la colaboración humano robot. Sin embargo, para obtener un desempeño satisfactorio de estos sistemas robóticos antropomórficos se requiere una planificación automática de sus movimientos, lo que sigue siendo una tarea ardua y poco evidente, ya que la complejidad del problema aumenta exponencialmente con el número de grados de libertad del sistema robótico. Esta tesis doctoral aborda el problema de la planificación de movimientos en robots antropomorfos bibrazo (opcionalmente con base móvil). El objetivo aquí es doble: obtener movimientos robóticos de forma eficiente y, a la vez, que tengan apariencia humana. Intentar imitar los movimientos humanos mientras a la vez se reduce la complejidad del espacio de búsqueda conduce al concepto de sinergias, que podrían definirse conceptualmente como correlaciones (tanto en el espacio de configuraciones como en el espacio de velocidades de las articulaciones) entre los distintos grados de libertad del sistema. Este trabajo propone nuevos procedimientos de planificación de movimientos que explotan el concepto de sinergias, tanto en el espacio de configuraciones como en el espacio de velocidades, coordinando así los movimientos de los brazos, las manos y la base móvil de robots móviles, bibrazo y antropomórficos.Postprint (published version

Path Planning for Robot and Pedestrian Simulations

The thesis is divided into two parts. The first part presents a new proposed method for solving the path planning problem to find an optimal collision-free path between the starting and the goal points in a static environment. Initially, the grid model of the robot's working environment is constructed. Next, each grid cell's potential value in the working environment is calculated based on the proposed potential function. This function guides the robot to move toward the desired goal location, it has the lowest value at the goal location, and the value increase as the robot moves further away. Next, a new method, called Boundary Node Method (BNM), is proposed to find the initial feasible path. In this method, the robot is simulated by a nine-node quadrilateral element, where the centroid node represents the robot's position. The robot moves in the working environment toward the goal point with eight-boundary nodes based on the boundary nodes' characteristics. In the BNM method, the initial feasible path is generated from the sequence of the waypoints that the robot has to traverse as it moves toward the goal point without colliding with obstacles. The BNM method can generate the path safely and efficiently. However, the path is not optimal in terms of the total path length. An additional method, called Path Enhancement Method (PEM), is proposed to construct an optimal or near-optimal collision-free path. The generated path obtained by BNM and PEM may contain sharp turns. Therefore, the cubic spline interpolation is used to create a continuous smooth path that connects the starting point to the goal point. The performance of the proposed method is compared with the other path planning methods in terms of path length and computational time. Moreover, the multi-goal path planning problem is investigated to find the shortest collision-free path connecting a given set of goal points in the robot working environment. Furthermore, to verify the performance of the proposed method, several experimental tests have been performed on the e-puck robot with different obstacle configurations and various positions of goal points. The experimental results showed that the proposed method could construct the shortest collision-free path and direct the real physical robot to the final destination point. At the end of the first part of the thesis, we investigate the multi-goal path planning problem for the multi-robot system such that several robots reach each goal. In the second part of this thesis, we proposed a new method for simulating pedestrian crowd movement in a virtual environment. The first part of this thesis concerning the generation of the shortest collision-free path is used. In this method, we assumed that the crowd consists of multiple groups with a different number and various types of pedestrians. In this scenario, each group's intention is different for visiting several goal points with varying sequences of the visit. The proposed method uses the multi-group microscopic model to generate a real-time trajectory for each pedestrian navigating in the pedestrianized area of the virtual environment. Additionally, an agent-based model is introduced to simulate pedestrian' behaviours. Based on the proposed method, every single pedestrian in each group can continuously adjust their attributes, such as position, velocity, etc. Moreover, pedestrians optimize their path independently toward the desired goal points while avoiding obstacles and other pedestrians in the scene. At the end of this part of the thesis, a statistical analysis is carried out to evaluate the performance of the proposed method for simulating the crowd movement in the virtual environment. The proposed method implemented for several simulation scenarios under a variety of conditions for a wide range of different parameters. The results showed that the proposed method is capable of describing pedestrian' behaviours in the virtual environment

Búsqueda bidireccional aplicada al 'Another Solution Problem'

[ES] El Shortest Path Problem (SPP) es uno de los problemas de búsqueda más estudiados en la literatura, razón por la que han cobrado interés otros problemas relacionados como el Another Solution Problem (ASP). El ASP se enuncia como el problema en el que, dada una solución óptima, el objetivo es encontrar la siguiente solución óptima. En este proyecto se propone abordar el problema mediante la aplicación de técnicas de búsqueda bidireccional de modo que el punto en el que se encuentren los dos procesos de búsqueda, comenzando uno por el vértice inicial y otro por el vértice final, determinará el segundo camino óptimo.[CA] El Shortest Path Problem és un dels problemes de cerca de camins més estudiats en la literatura, raó per la qual altres problemes com l’Another Solution Problem (ASP) han guanyat interés. L’ASP s’enuncia com el problema en el qual, donada una solució òptima, l’objetiu és trobar la següent solució òptima. En aquest projecte es proposa resoldre el problema mitjançant l’aplicació de tècniques de cerca bidireccional de manera que el punt en el qual s’encontren els dos processos de cerca, començant un pel vèrtex inicial i l’altre pel vèrtex final, determina el segon camí òptim.[EN] The Shortest Path Problem (SPP) is a well-known and studied problem in the literature. Originated from this problem, other interesting and related problems have emerged like the Another Solution Problem (ASP). Given a problem and its optimal solution the ASP lies in finding the subsequent optimal solution. There exist different techniques to address the ASP but most of them present several limitations due to the exploration of unnecessary paths or an unsucessful search. In this project we propose to address the ASP by using techniques of bidirectional search, which consist in starting two search process, from the initial and final nodes, respectively, such that the node in which both searches find will determine the second best solution.Martín Navarro, JL. (2019). Búsqueda bidireccional aplicada al 'Another Solution Problem'. http://hdl.handle.net/10251/126138TFG

Evidence-based eLearning Design: Develop and Trial a Prototype Software Instrument for Evaluating the Quality of eLearning Design Within a Framework of Cognitive Load Theory

A major research direction within higher education in Australia and internationally is the evaluation of learning design quality and the extent to which the design–teaching–learning–evaluation cycle is evidence based. The quest for increased evidence-based learning design, which has been influenced by evidence-based medical research standards, is driven by its link to improved learning outcomes, higher learner engagement levels and lower attrition rates. Cognitive Load Theory (CLT) has risen to prominence over the past three decades as an evidence-based framework for informing instructional design in traditional, blended and multimedia learning environments. CLT approaches learning from the perspective of engaging specific strategies to manage the loads imposed on a limited working memory in order to form and automate long-term memory schemas. CLT operates on the premise that optimal learning conditions may be obtained by aligning pedagogical strategies with the structure and functions of human cognitive architecture and the individual learner’s prior knowledge. CLT has contributed a suite of strategies derived from a unified model of human cognitive architecture and validated through randomised controlled trial (RCT) experiments as exerting strengthening effects on learning, thus suiting the CLT framework for use as an evidence-based standard in this study. Up to this point, a single digital system has not yet been developed for managing, monitoring and evaluating the implementation and impact of CLT strategies at scale. The key contribution of this study is a new prototype software instrument called Cognitive Load Evaluation Management System (CLEMS) that addresses this issue and also provides a model for its implementation. CLEMS is underpinned by a personalised model of teacher–learner interactions defined as mediative–adaptive in nature that includes diagnostic conversations (DCs) for identifying barriers to learning, interventions called Nodes of Expertise (NOEs) for advancing learners to new levels of understanding of complex knowledge, and validation conversations (VCs) for evaluating learner progress. In addition, the heutagogical or self-directed learning capability of learners, including motivation, has been brought to the fore as a significant factor contributing to schema automation. A qualitative Design-based Research (DBR) methodological approach was used to develop CLEMS, which emerged over three research iterations through the synthesis of literature review findings and empirical data from expert focus groups. Emergent data was continuously triangulated between research iterations and ongoing literature reviews to refine the design and development of CLEMS from a theoretical model to an operational digital prototype. The conceptual framework of the study has been derived from Critical Realism (CR) which posits an ontological–epistemological view of reality that is stratified and multi-mechanistic, thus aligning with the complex nature of authentic learning environments as well as the multi-faceted model of human cognitive architecture contributed by CLT. The implications of the study have been discussed with reference to stakeholders including teachers, learners and educational institutions. Recommendations for future research include the ongoing development of CLEMS for the systematic implementation of CLT strategies at scale.Thesis (Ph.D.) -- University of Adelaide, School of Education, 202