Toward an object-based semantic memory for long-term operation of mobile service robots

Throughout a lifetime of operation, a mobile service robot needs to acquire, store and update its knowledge of a working environment. This includes the ability to identify and track objects in different places, as well as using this information for interaction with humans. This paper introduces a long-term updating mechanism, inspired by the modal model of human memory, to enable a mobile robot to maintain its knowledge of a changing environment. The memory model is integrated with a hybrid map that represents the global topology and local geometry of the environment, as well as the respective 3D location of objects. We aim to enable the robot to use this knowledge to help humans by suggesting the most likely locations of specific objects in its map. An experiment using omni-directional vision demonstrates the ability to track the movements of several objects in a dynamic environment over an extended period of time

Mutual Mobile Membranes with Timers

A feature of current membrane systems is the fact that objects and membranes are persistent. However, this is not true in the real world. In fact, cells and intracellular proteins have a well-defined lifetime. Inspired from these biological facts, we define a model of systems of mobile membranes in which each membrane and each object has a timer representing their lifetime. We show that systems of mutual mobile membranes with and without timers have the same computational power. An encoding of timed safe mobile ambients into systems of mutual mobile membranes with timers offers a relationship between two formalisms used in describing biological systems

Lower bounds for Arrangement-based Range-Free Localization in Sensor Networks

Colander are location aware entities that collaborate to determine approximate location of mobile or static objects when beacons from an object are received by all colanders that are within its distance $R$. This model, referred to as arrangement-based localization, does not require distance estimation between entities, which has been shown to be highly erroneous in practice. Colander are applicable in localization in sensor networks and tracking of mobile objects. A set $S \subset {\mathbb R}^2$ is an $(R,\epsilon)$-colander if by placing receivers at the points of $S$, a wireless device with transmission radius $R$ can be localized to within a circle of radius $\epsilon$. We present tight upper and lower bounds on the size of $(R,\epsilon)$-colanders. We measure the expected size of colanders that will form $(R, \epsilon)$-colanders if they distributed uniformly over the plane

Robot docking using mixtures of Gaussians

This paper applies the Mixture of Gaussians probabilistic model, combined with Expectation Maximization optimization to the task of summarizing three dimensionals range data for the mobile robot. This provides a flexible way of dealing with uncertainties in sensor information, and allows the introduction of prior knowledge into low-level perception modules. Problems with the basic approach were solved in several ways: the mixture of Gaussians was reparameterized to reflect the types of objects expected in the scene, and priors on model parameters were included in the optimization process. Both approaches force the optimization to find 'interesting' objects, given the sensor and object characteristics. A higher level classifier was used to interpret the results provided by the model, and to reject spurious solutions

Modelling of Metal-Coating Delamination Incorporating Variable Environmental Parameters

A mathematical model for metal-coat delamination of degrading metal was developed incorporating multiple variable environmental parameters. Metal-coat delamination not only depends on the electrochemical reactions at metal-coat interface but also on the factors like the type of propagating metal ions and their varying concentration with annual weather changes, time of exposure of the coated objects, type of coated objects are stationary or mobile vehicles, frequency with which certain vehicles are operating in various environments e.g. controlled or uncontrolled in terms of environmental conditions. A cutting edge model has been developed to calculate the varying environmental conditions using iteration algorithm, time dependent uncertain position of objects like vehicle in various environments using stochastic approach, effect of seasonal changes on ionic compound's concentration using algebraic method and instantaneous failure probability due to varying conditions. Based on the developed model a detailed simulation study was conducted to investigate the metal-coat delamination process and the ways to regress the under coat metal corrosion

MOSDEN: An Internet of Things Middleware for Resource Constrained Mobile Devices

The Internet of Things (IoT) is part of Future Internet and will comprise many billions of Internet Connected Objects (ICO) or `things' where things can sense, communicate, compute and potentially actuate as well as have intelligence, multi-modal interfaces, physical/ virtual identities and attributes. Collecting data from these objects is an important task as it allows software systems to understand the environment better. Many different hardware devices may involve in the process of collecting and uploading sensor data to the cloud where complex processing can occur. Further, we cannot expect all these objects to be connected to the computers due to technical and economical reasons. Therefore, we should be able to utilize resource constrained devices to collect data from these ICOs. On the other hand, it is critical to process the collected sensor data before sending them to the cloud to make sure the sustainability of the infrastructure due to energy constraints. This requires to move the sensor data processing tasks towards the resource constrained computational devices (e.g. mobile phones). In this paper, we propose Mobile Sensor Data Processing Engine (MOSDEN), an plug-in-based IoT middleware for mobile devices, that allows to collect and process sensor data without programming efforts. Our architecture also supports sensing as a service model. We present the results of the evaluations that demonstrate its suitability towards real world deployments. Our proposed middleware is built on Android platform

Mobile Phone Text Processing and Question-Answering

Mobile phone text messaging between mobile users and information services is a growing area of Information Systems. Users may require the service to provide an answer to queries, or may, in wikistyle, want to contribute to the service by texting in some information within the service’s domain of discourse. Given the volume of such messaging it is essential to do the processing through an automated service. Further, in the case of repeated use of the service, the quality of such a response has the potential to benefit from a dynamic user profile that the service can build up from previous texts of the same user. This project will investigate the potential for creating such intelligent mobile phone services and aims to produce a computational model to enable their efficient implementation. To make the project feasible, the scope of the automated service is considered to lie within a limited domain of, for example, information about entertainment within a specific town centre. The project will assume the existence of a model of objects within the domain of discourse, hence allowing the analysis of texts within the context of a user model and a domain model. Hence, the project will involve the subject areas of natural language processing, language engineering, machine learning, knowledge extraction, and ontological engineering