43,493 research outputs found
A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks
Exploiting interaction with the environment is a promising and powerful way
to enhance stability of humanoid robots and robustness while executing
locomotion and manipulation tasks. Recently some works have started to show
advances in this direction considering humanoid locomotion with multi-contacts,
but to be able to fully develop such abilities in a more autonomous way, we
need to first understand and classify the variety of possible poses a humanoid
robot can achieve to balance. To this end, we propose the adaptation of a
successful idea widely used in the field of robot grasping to the field of
humanoid balance with multi-contacts: a whole-body pose taxonomy classifying
the set of whole-body robot configurations that use the environment to enhance
stability. We have revised criteria of classification used to develop grasping
taxonomies, focusing on structuring and simplifying the large number of
possible poses the human body can adopt. We propose a taxonomy with 46 poses,
containing three main categories, considering number and type of supports as
well as possible transitions between poses. The taxonomy induces a
classification of motion primitives based on the pose used for support, and a
set of rules to store and generate new motions. We present preliminary results
that apply known segmentation techniques to motion data from the KIT whole-body
motion database. Using motion capture data with multi-contacts, we can identify
support poses providing a segmentation that can distinguish between locomotion
and manipulation parts of an action.Comment: 8 pages, 7 figures, 1 table with full page figure that appears in
landscape page, 2015 IEEE/RSJ International Conference on Intelligent Robots
and System
Learning and Using Taxonomies For Fast Visual Categorization
The computational complexity of current visual categorization algorithms scales linearly at best with the number of categories. The goal of classifying simultaneously N_(cat) = 10^4 - 10^5 visual categories requires sub-linear classification costs. We explore algorithms for automatically building classification trees which have, in principle, log N_(cat) complexity. We find that a greedy algorithm that recursively splits the set of categories into the two minimally confused subsets achieves 5-20 fold speedups at a small cost in classification performance. Our approach is independent of the specific classification algorithm used. A welcome by-product of our algorithm is a very reasonable taxonomy of the Caltech-256 dataset
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Introduction of Structural Health Monitoring to Civil Engineering Education
This paper describes the development of a Structural Health Monitoring (SHM) Education Unit; its initial implementation and assessment at Louisiana State University (LSU) and the University of Louisiana- Lafayette (UL-Lafayette) during the 2016-17 Academic Year; and its subsequent re- implementation and assessment during the 2017-18 Academic Year at these institutions plus its initial implementation at four partner institutions Case Western Reserve University, Tuskegee University, University of North Florida and Virginia Tech. The SHM Education Unit encompasses the Fundamentals Education Subunit and the Applications Education Subunit.
The Fundamentals Education Subunit consists of an introductory and four content online modules whereas the Applications Education Subunit consists of two content online modules, a SHM system design/evaluation module and a SHM instrumentation model demonstration. Using a pedagogical model developed during the project, the former Subunit is implemented in two classes of a structural analysis course whereas the latter Subunit is implemented in two classes of a reinforced concrete design course. The results of readiness tests and student assessments demonstrate the effectiveness of the content and the pedagogical model to engage students and teach SHM fundamentals and practices.Cockrell School of Engineerin
COST Action IC 1402 ArVI: Runtime Verification Beyond Monitoring -- Activity Report of Working Group 1
This report presents the activities of the first working group of the COST
Action ArVI, Runtime Verification beyond Monitoring. The report aims to provide
an overview of some of the major core aspects involved in Runtime Verification.
Runtime Verification is the field of research dedicated to the analysis of
system executions. It is often seen as a discipline that studies how a system
run satisfies or violates correctness properties. The report exposes a taxonomy
of Runtime Verification (RV) presenting the terminology involved with the main
concepts of the field. The report also develops the concept of instrumentation,
the various ways to instrument systems, and the fundamental role of
instrumentation in designing an RV framework. We also discuss how RV interplays
with other verification techniques such as model-checking, deductive
verification, model learning, testing, and runtime assertion checking. Finally,
we propose challenges in monitoring quantitative and statistical data beyond
detecting property violation
Mutation Testing as a Safety Net for Test Code Refactoring
Refactoring is an activity that improves the internal structure of the code
without altering its external behavior. When performed on the production code,
the tests can be used to verify that the external behavior of the production
code is preserved. However, when the refactoring is performed on test code,
there is no safety net that assures that the external behavior of the test code
is preserved. In this paper, we propose to adopt mutation testing as a means to
verify if the behavior of the test code is preserved after refactoring.
Moreover, we also show how this approach can be used to identify the part of
the test code which is improperly refactored
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