Critically fast pick-and-place with suction cups

Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an object such that it does not slip or fall from the suction cup. The main difficulties are: (i) handling the contact between the suction cup and the object, which fundamentally involves kinodynamic constraints; and (ii) doing so at a low computational cost, typically a few hundreds of milliseconds. To address these difficulties, we propose (a) a model for suction cup contacts, (b) a procedure to identify the contact stability constraint based on that model, and (c) a pipeline to parameterize, in a time-optimal manner, arbitrary geometric paths under the identified contact stability constraint. We experimentally validate the proposed pipeline on a physical robot system: the cycle time for a typical pick-and-place task was less than 5 seconds, planning and execution times included. The full pipeline is released as open-source for the robotics community.Comment: 7 pages, 5 figure

Hierarchical testing designs for pattern recognition

We explore the theoretical foundations of a ``twenty questions'' approach to pattern recognition. The object of the analysis is the computational process itself rather than probability distributions (Bayesian inference) or decision boundaries (statistical learning). Our formulation is motivated by applications to scene interpretation in which there are a great many possible explanations for the data, one (``background'') is statistically dominant, and it is imperative to restrict intensive computation to genuinely ambiguous regions. The focus here is then on pattern filtering: Given a large set Y of possible patterns or explanations, narrow down the true one Y to a small (random) subset \hat Y\subsetY of ``detected'' patterns to be subjected to further, more intense, processing. To this end, we consider a family of hypothesis tests for Y\in A versus the nonspecific alternatives Y\in A^c. Each test has null type I error and the candidate sets A\subsetY are arranged in a hierarchy of nested partitions. These tests are then characterized by scope (|A|), power (or type II error) and algorithmic cost. We consider sequential testing strategies in which decisions are made iteratively, based on past outcomes, about which test to perform next and when to stop testing. The set \hat Y is then taken to be the set of patterns that have not been ruled out by the tests performed. The total cost of a strategy is the sum of the ``testing cost'' and the ``postprocessing cost'' (proportional to |\hat Y|) and the corresponding optimization problem is analyzed.Comment: Published at http://dx.doi.org/10.1214/009053605000000174 in the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Enhancing In-Memory Spatial Indexing with Learned Search

Spatial data is ubiquitous. Massive amounts of data are generated every day from a plethora of sources such as billions of GPS-enableddevices (e.g., cell phones, cars, and sensors), consumer-based applications (e.g., Uber and Strava), and social media platforms (e.g.,location-tagged posts on Facebook, Twitter, and Instagram). This exponential growth in spatial data has led the research communityto build systems and applications for efficient spatial data processing.In this study, we apply a recently developed machine-learned search technique for single-dimensional sorted data to spatial indexing.Specifically, we partition spatial data using six traditional spatial partitioning techniques and employ machine-learned search withineach partition to support point, range, distance, and spatial join queries. Adhering to the latest research trends, we tune the partitioningtechniques to be instance-optimized. By tuning each partitioning technique for optimal performance, we demonstrate that: (i) grid-basedindex structures outperform tree-based index structures (from 1.23× to 2.47×), (ii) learning-enhanced variants of commonly used spatialindex structures outperform their original counterparts (from 1.44× to 53.34× faster), (iii) machine-learned search within a partitionis faster than binary search by 11.79% - 39.51% when filtering on one dimension, (iv) the benefit of machine-learned search diminishesin the presence of other compute-intensive operations (e.g. scan costs in higher selectivity queries, Haversine distance computation, andpoint-in-polygon tests), and (v) index lookup is the bottleneck for tree-based structures, which could potentially be reduced by linearizingthe indexed partitions.Additional Key Words and Phrases: spatial data, indexing, machine-learning, spatial queries, geospatia

Application of a bio-inspired anomaly detection algorithm for unsupervised SHM of a historic masonry church

Variations in dynamic properties are commonly used in Structural Health Monitoring to assess the conditions of a structural system, being these parameters sensitive to damage-induced changes. Yet, such variations can also be due to changes in environmental parameters, like fluctuations in temperature, humidity, etc. By performing a continuous monitoring, the correlation between those factors appears and their variations, if no damage exists, result in a cyclic phenomenon. Negative selection, a bio-inspired classification algorithm, can be exploited to distinguish anomalous from normal changes, thus eliminating the influence of environmental effects on the assessment of the structural condition. This algorithm can be trained to relate specific extracted features (e.g. modal frequencies) and other monitored parameters (e.g. environmental conditions), allowing to identify damage when the registered value oversteps the confidence interval defined around the predicted value. Negative selection draws inspiration from the mammalian immune system, whose physiology demonstrates the efficiency of this process in discriminating non-self elements, despite the restricted number of receptors available to face a vast amount of aggressors. In this paper, a negative-selection algorithm based on a non-random strategy for detector generation is optimized and tested on the monitoring data of a prominent monument of the Portuguese architecture.- (undefined