7,801 research outputs found
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search
This work proposes a process for efficiently searching over combinations of
individual object 6D pose hypotheses in cluttered scenes, especially in cases
involving occlusions and objects resting on each other. The initial set of
candidate object poses is generated from state-of-the-art object detection and
global point cloud registration techniques. The best-scored pose per object by
using these techniques may not be accurate due to overlaps and occlusions.
Nevertheless, experimental indications provided in this work show that object
poses with lower ranks may be closer to the real poses than ones with high
ranks according to registration techniques. This motivates a global
optimization process for improving these poses by taking into account
scene-level physical interactions between objects. It also implies that the
Cartesian product of candidate poses for interacting objects must be searched
so as to identify the best scene-level hypothesis. To perform the search
efficiently, the candidate poses for each object are clustered so as to reduce
their number but still keep a sufficient diversity. Then, searching over the
combinations of candidate object poses is performed through a Monte Carlo Tree
Search (MCTS) process that uses the similarity between the observed depth image
of the scene and a rendering of the scene given the hypothesized pose as a
score that guides the search procedure. MCTS handles in a principled way the
tradeoff between fine-tuning the most promising poses and exploring new ones,
by using the Upper Confidence Bound (UCB) technique. Experimental results
indicate that this process is able to quickly identify in cluttered scenes
physically-consistent object poses that are significantly closer to ground
truth compared to poses found by point cloud registration methods.Comment: 8 pages, 4 figure
Analysis of simulation environment
In this paper the requirements for an ALN simulation environment are analysed, as needed in the CATNETS Project. A number of grid and general purpose simulators are evaluated regarding the identified requirements for simulating economical resource allocation mechanisms in ALNs. Subsequently a suitable simulator is chosen for usage in the CATNETS project. --CATNETS simulator,requirements analysis,simulator selection
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Integrated Dynamic Facade Control with an Agent-based Architecture for Commercial Buildings
Dynamic façades have significant technical potential to minimize heating, cooling, and lighting energy use and peak electric demand in the perimeter zone of commercial buildings, but the performance of these systems is reliant on being able to balance complex trade-offs between solar control, daylight admission, comfort, and view over the life of the installation. As the context for controllable energy-efficiency technologies grows more complex with the increased use of intermittent renewable energy resources on the grid, it has become increasingly important to look ahead towards more advanced approaches to integrated systems control in order to achieve optimum life-cycle performance at a lower cost. This study examines the feasibility of a model predictive control system for low-cost autonomous dynamic façades. A system architecture designed around lightweight, simple agents is proposed. The architecture accommodates whole building and grid level demands through its modular, hierarchical approach. Automatically-generated models for computing window heat gains, daylight illuminance, and discomfort glare are described. The open source Modelica and JModelica software tools were used to determine the optimum state of control given inputs of window heat gains and lighting loads for a 24-hour optimization horizon. Penalty functions for glare and view/ daylight quality were implemented as constraints. The control system was tested on a low-power controller (1.4 GHz single core with 2 GB of RAM) to evaluate feasibility. The target platform is a low-cost ($35/unit) embedded controller with 1.2 GHz dual-core cpu and 1 GB of RAM. Configuration and commissioning of the curtainwall unit was designed to be largely plug and play with minimal inputs required by the manufacturer through a web-based user interface. An example application was used to demonstrate optimal control of a three-zone electrochromic window for a south-facing zone. The overall approach was deemed to be promising. Further engineering is required to enable scalable, turnkey solutions
Learning Large-Scale Bayesian Networks with the sparsebn Package
Learning graphical models from data is an important problem with wide
applications, ranging from genomics to the social sciences. Nowadays datasets
often have upwards of thousands---sometimes tens or hundreds of thousands---of
variables and far fewer samples. To meet this challenge, we have developed a
new R package called sparsebn for learning the structure of large, sparse
graphical models with a focus on Bayesian networks. While there are many
existing software packages for this task, this package focuses on the unique
setting of learning large networks from high-dimensional data, possibly with
interventions. As such, the methods provided place a premium on scalability and
consistency in a high-dimensional setting. Furthermore, in the presence of
interventions, the methods implemented here achieve the goal of learning a
causal network from data. Additionally, the sparsebn package is fully
compatible with existing software packages for network analysis.Comment: To appear in the Journal of Statistical Software, 39 pages, 7 figure
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems
Development of robust dynamical systems and networks such as autonomous
aircraft systems capable of accomplishing complex missions faces challenges due
to the dynamically evolving uncertainties coming from model uncertainties,
necessity to operate in a hostile cluttered urban environment, and the
distributed and dynamic nature of the communication and computation resources.
Model-based robust design is difficult because of the complexity of the hybrid
dynamic models including continuous vehicle dynamics, the discrete models of
computations and communications, and the size of the problem. We will overview
recent advances in methodology and tools to model, analyze, and design robust
autonomous aerospace systems operating in uncertain environment, with stress on
efficient uncertainty quantification and robust design using the case studies
of the mission including model-based target tracking and search, and trajectory
planning in uncertain urban environment. To show that the methodology is
generally applicable to uncertain dynamical systems, we will also show examples
of application of the new methods to efficient uncertainty quantification of
energy usage in buildings, and stability assessment of interconnected power
networks
64-bit architechtures and compute clusters for high performance simulations
Simulation of large complex systems remains one of the most demanding
of high performance computer systems both in terms of raw compute performance
and efficient memory management. Recent availability of 64-bit
architectures has opened up the possibilities of commodity computers accessing
more than the 4 Gigabyte memory limit previously enforced by 32-bit
addressing. We report on some performance measurements we have made on
two 64-bit architectures and their consequences for some high performance
simulations. We discuss performance of our codes for simulations of artificial
life models; computational physics models of point particles on lattices; and
with interacting clusters of particles. We have summarised pertinent features
of these codes into benchmark kernels which we discuss in the context of wellknown
benchmark kernels of the 32-bit era. We report on how these these
findings were useful in the context of designing 64-bit compute clusters for
high-performance simulations
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