Online Robot Introspection via Wrench-based Action Grammars

Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act paradigm, however more recently robots are undergoing a sense-plan-act-verify paradigm. In this work, we present a principled methodology to bootstrap online robot introspection for contact tasks. In effect, we are trying to enable the robot to answer the question: what did I do? Is my behavior as expected or not? To this end, we analyze noisy wrench data and postulate that the latter inherently contains patterns that can be effectively represented by a vocabulary. The vocabulary is generated by segmenting and encoding the data. When the wrench information represents a sequence of sub-tasks, we can think of the vocabulary forming a sentence (set of words with grammar rules) for a given sub-task; allowing the latter to be uniquely represented. The grammar, which can also include unexpected events, was classified in offline and online scenarios as well as for simulated and real robot experiments. Multiclass Support Vector Machines (SVMs) were used offline, while online probabilistic SVMs were are used to give temporal confidence to the introspection result. The contribution of our work is the presentation of a generalizable online semantic scheme that enables a robot to understand its high-level state whether nominal or abnormal. It is shown to work in offline and online scenarios for a particularly challenging contact task: snap assemblies. We perform the snap assembly in one-arm simulated and real one-arm experiments and a simulated two-arm experiment. This verification mechanism can be used by high-level planners or reasoning systems to enable intelligent failure recovery or determine the next most optima manipulation skill to be used.Comment: arXiv admin note: substantial text overlap with arXiv:1609.0494

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as it executes any number of sub-tasks. As robots continue their quest of functioning in unstructured environments, it is imperative they understand what is it that they are actually doing to render them more robust. This work investigates the modeling ability of Bayesian nonparametric techniques on Markov Switching Process to learn complex dynamics typical in robot contact tasks. We study whether the Markov switching process, together with Bayesian priors can outperform the modeling ability of its counterparts: an HMM with Bayesian priors and without. The work was tested in a snap assembly task characterized by high elastic forces. The task consists of an insertion subtask with very complex dynamics. Our approach showed a stronger ability to generalize and was able to better model the subtask with complex dynamics in a computationally efficient way. The modeling technique is also used to learn a growing library of robot skills, one that when integrated with low-level control allows for robot online decision making.Comment: final version submitted to humanoids 201

DEVELOPMENT OF A DESIGN METHOD TO REDUCE CHANGE PROPAGATION EFFECTS

ABSTRACT This dissertation presents a design method to reduce engineering changes caused due to change propagation effect. The method helps designers to systematically plan a verification, validation, and test (VV&T) plan. The rationale behind such a method is founded on a well-accepted principle that a robust validation plan can reduce design changes. However, such method has not yet been developed in mechanical engineering domain, so a method from software engineering has been adopted and extended to address the limitations in the existing design evaluation tools. Tools extensively used in industry, such as FMEA, and in academia have been reviewed to determine if they can identify different propagation pathways including variant, behavior, organization, and geometric pathways. As a result, it is found that variant and organizational pathways are not identified in any of these tools -- propagation in these pathways have caused major product failure in commercial vehicle and automatic fire sprinkler manufacturing industries. A seven-step VV&T method is proposed to address the aforementioned gap in which each step is tailored to suit mechanical engineering needs. The major contribution is developing the construct to identify variant and organization pathways and a prescriptive method. It has been validated in a leading commercial vehicle manufacturer, one of the passenger car manufacturing giants, and an automatic fire sprinkler manufacturer. The results from these three companies indicate the proposed VV&T method enables designers to identify variant and organizational pathways and evaluate them, which in turn can reduce design changes due to propagation effects. Objective evidence obtained from the fire sprinkler manufacturing company supports this claim. \u27If we know what assembly combination to test with, testing is not a problem...and if it can prevent a failure of this magnitude --I think this method can --it can be extremely beneficial...\u27 - Project engineer, commercial vehicle manufacture

Considerations for a design and operations knowledge support system for Space Station Freedom

Engineering and operations of modern engineered systems depend critically upon detailed design and operations knowledge that is accurate and authoritative. A design and operations knowledge support system (DOKSS) is a modern computer-based information system providing knowledge about the creation, evolution, and growth of an engineered system. The purpose of a DOKSS is to provide convenient and effective access to this multifaceted information. The complexity of Space Station Freedom's (SSF's) systems, elements, interfaces, and organizations makes convenient access to design knowledge especially important, when compared to simpler systems. The life cycle length, being 30 or more years, adds a new dimension to space operations, maintenance, and evolution. Provided here is a review and discussion of design knowledge support systems to be delivered and operated as a critical part of the engineered system. A concept of a DOKSS for Space Station Freedom (SSF) is presented. This is followed by a detailed discussion of a DOKSS for the Lyndon B. Johnson Space Center and Work Package-2 portions of SSF

Information archival and reuse: drawing conclusions from the past

Over the last few decades design researchers have put forward theories and proposed methodologies that increase the chance that a design team will reliably arrive at the optimal solution to a given design problem. Studies, however, bear out that theories and methodologies alone will not guarantee an optimal or even good design solution. Instead, a breadth of knowledge across multiple engineering domains and the time and tools to thoroughly evaluate the design space are as important as any prescriptive design method. This work presents a set of underlying engineering technologies to define, archive and reuse product design knowledge to provide a breadth of domain knowledge for designers and to leverage artificial intelligence approaches to thoroughly, if not exhaustively, search the design space. Specifically, a database schema and entry application for a prototype design repository of product design knowledge is formulated and implemented. A real-time, knowledge basedriven, function-based conceptual design algorithm known as the morphological search is formulated to extract information from the design repository and support a thorough exploration of the design space for solutions. Currently, the Design Engineering Lab\u27s prototype Design Repository contains design knowledge for over 125 products and has over 300 user accounts representing 17 different countries. With the foundational repository elements in place, artificial intelligence methods are employed to generate a natural language to formal component naming terms thesaurus as part of a novel form-initiated concept generation approach. The approach, known as Form Follows Form, automatically generates a functional model based upon an initial component solution seed to a design problem. With a functional model in hand, established automated concept generation algorithms are employed to return more complete and varied solutions following a thorough search of the design space --Abstract, page iv

An Assessment Of Alignment Between Project Complexity And Project Management Style

The main drivers for this research are the complexities associated with the project management and an organization\u27s project management style in dealing with these complexities. This research aims to demonstrate that alignment between project complexity and project management style increases project performance and decreases project issues, and also, with increased project issues, project performance deteriorates. In order to test these claims, this research developed measures for assessing project complexity, project management styles and project issues by employing a survey of project management professionals. The measure for project complexity is based on a taxonomy with four categories: organizational complexity, product complexity, methods (process) complexity and goal complexity. Project management style is defined as the management paradigm that guides the managers of an organization in perceiving and dealing with management problems. The measure for project nagement style is based on the plan-do-study-act (PDSA) cycle and the Newtonian and complexity paradigms. Also the measures for project issues are developed after an extensive content analysis on the literature on project issues, risks and success factors. A self-administered survey instrument (paper-based and on-line) with 40 questions (seven point Likert scale) was utilized. The respondents were the project management professionals from different industries in the Central Florida region. Each respondent was asked to answer questions for two different kinds of projects: a successful project and a challenged project. Based on the data collected by the survey instrument, the results of confirmatory and exploratory factor analyses provide strong evidence that the final measures for project technology complexity, project management styles, project issues and project performance have adequate validity and reliability. Results of the hypothesis tests demonstrate that increased alignment of project complexity and project management style leads to increased project performance and decreased project issues, and also increased project issues leads to project decreased performance. From the perspective of project management, the results of this study have illustrated the importance of aligning a project\u27s complexity and management style. These results suggest that project or program managers can improve the performance of their projects by any attempt to increase the alignment between project complexity and project management style. Project management professionals and theoreticians can use the methodologies provided in this dissertation to assess project complexity, project management style and alignment

Component-based software engineering: a quantitative approach

Dissertação apresentada para a obtenção do Grau de Doutor em Informática pela Universidade Nova de Lisboa, Faculdade de Ciências e TecnologiaBackground: Often, claims in Component-Based Development (CBD) are only supported by qualitative expert opinion, rather than by quantitative data. This contrasts with the normal practice in other sciences, where a sound experimental validation of claims is standard practice. Experimental Software Engineering (ESE) aims to bridge this gap. Unfortunately, it is common to find experimental validation efforts that are hard to replicate and compare, to build up the body of knowledge in CBD. Objectives: In this dissertation our goals are (i) to contribute to evolution of ESE, in what concerns the replicability and comparability of experimental work, and (ii) to apply our proposals to CBD, thus contributing to its deeper and sounder understanding. Techniques: We propose a process model for ESE, aligned with current experimental best practices, and combine this model with a measurement technique called Ontology-Driven Measurement (ODM). ODM is aimed at improving the state of practice in metrics definition and collection, by making metrics definitions formal and executable,without sacrificing their usability. ODM uses standard technologies that can be well adapted to current integrated development environments. Results: Our contributions include the definition and preliminary validation of a process model for ESE and the proposal of ODM for supporting metrics definition and collection in the context of CBD. We use both the process model and ODM to perform a series experimental works in CBD, including the cross-validation of a component metrics set for JavaBeans, a case study on the influence of practitioners expertise in a sub-process of component development (component code inspections), and an observational study on reusability patterns of pluggable components (Eclipse plug-ins). These experimental works implied proposing, adapting, or selecting adequate ontologies, as well as the formal definition of metrics upon each of those ontologies. Limitations: Although our experimental work covers a variety of component models and, orthogonally, both process and product, the plethora of opportunities for using our quantitative approach to CBD is far from exhausted. Conclusions: The main contribution of this dissertation is the illustration, through practical examples, of how we can combine our experimental process model with ODM to support the experimental validation of claims in the context of CBD, in a repeatable and comparable way. In addition, the techniques proposed in this dissertation are generic and can be applied to other software development paradigms.Departamento de Informática of the Faculdade de Ciências e Tecnologia, Universidade Nova de Lisboa (FCT/UNL); Centro de Informática e Tecnologias da Informação of the FCT/UNL; Fundação para a Ciência e Tecnologia through the STACOS project(POSI/CHS/48875/2002); The Experimental Software Engineering Network (ESERNET);Association Internationale pour les Technologies Objets (AITO); Association forComputing Machinery (ACM