Robot-centric elevation mapping with uncertainty estimates

This paper addresses the local terrain mapping process for an autonomous robot. Building upon an onboard range measurement sensor and an existing robot pose estimation, we formulate a novel elevation mapping method from a robot-centric perspective. This formulation can explicitly handle drift of the robot pose estimation which occurs for many autonomous robots. Our mapping approach fully incorporates the distance sensor measurement uncertainties and the six-dimensional pose covariance of the robot. We introduce a computationally efficient formulation of the map fusion process, which allows for mapping a terrain at high update rates. Finally, our approach is demonstrated on a quadrupedal robot walking over obstacles

Excitation and Stabilization of Passive Dynamics in Locomotion using Hierarchical Operational Space Control

This paper describes a hierarchical operational space control (OSC) method based on least square optimization and outlines different ways to reduce the dimensionality of the optimization vector. The framework allows to emulate various behaviors by prioritized task-space motion, joint torque, and contact force optimization. Moreover, a methodology is introduced to partially excite the natural dynamics of the robot by open-loop motor regulation while the entire behavior is stabilized by hierarchical OSC. As a major contribution, the presented control strategies are tested and validated in real hardware walking, trotting, and pronking experiments using a fully torque controllable quadrupedal robot

Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots

Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics. In order to achieve this ambitious goal, legged robots must possess a wide repertoire of motor skills. A scalable control architecture that can represent a variety of gaits in a unified manner is therefore desirable. Inspired by the motor learning principles observed in nature, we use an optimization approach to automatically discover and fine-tune parameters for agile gaits. The success of our approach is due to the controller parameterization we employ, which is compact yet flexible, therefore lending itself well to learning through repetition. We use our method to implement a flying trot, a bound and a pronking gait for StarlETH, a fully autonomous quadrupedal robot

Fusion of Optical Flow and Inertial Measurements for Robust Egomotion Estimation

In this paper we present a method for fusing optical flow and inertial measurements. To this end, we derive a novel visual error term which is better suited than the standard continuous epipolar constraint for extracting the information contained in the optical flow measurements. By means of an unscented Kalman filter (UKF), this information is then tightly coupled with inertial measurements in order to estimate the egomotion of the sensor setup. The individual visual landmark positions are not part of the filter state anymore. Thus, the dimensionality of the state space is significantly reduced, allowing for a fast online implementation. A nonlinear observability analysis is provided and supports the proposed method from a theoretical side. The filter is evaluated on real data together with ground truth from a motion capture system

Unified management of multi-model data : (Vision paper)

Peer reviewe

Sharing Space: The Presence of Other Bodies Extends the Space Judged as Near

Background: As social animals we share the space with other people. It is known that perceived extension of the peripersonal space (the reaching space) is affected by the implicit representation of our own and other's action potentialities. Our issue concerns whether the co-presence of a body in the scene influences our extrapersonal space (beyond reaching distance) categorization. Methodology/Principal Findings: We investigated, through 3D virtual scenes of a realistic environment, whether egocentric spatial categorization can be influenced by the presence of another human body (Exp. 1) and whether the effect is due to her action potentialities or simply to her human-like morphology (Exp. 2). Subjects were asked to judge the location ("Near" or "Far") of a target object located at different distances from their egocentric perspective. In Exp. 1, the judgment was given either in presence of a virtual avatar (Self-with-Other), or a non-corporeal object (Self-with-Object) or nothing (Self). In Exp. 2, the Self condition was replaced by a Self-with-Dummy condition, in which an inanimate body (a wooden dummy) was present. Mean Judgment Transition Thresholds (JTTs) were calculated for each subject in each experimental condition. Self-with-Other condition induced a significant extension of the space judged as "Near" as compared to both the Selfwith- Object condition and the Self condition. Such extension was observed also in Exp. 2 in the Self-with-Dummy condition. Results suggest that the presence of others impacts on our perception of extrapersonal space. This effect holds also when the other is a human-like wooden dummy, suggesting that structural and morphological shapes resembling human bodies are sufficient conditions for the effect to occur. Conclusions: The observed extension of the portion of space judged as near could represent a wider portion of "accessible" space, thus an advantage in the struggle to survive in presence of other potential competing individuals

The importance of sedimenting organic matter, relative to oxygen and temperature, in structuring lake profundal macroinvertebrate assemblages

We quantified the role of a main food resource, sedimenting organic matter (SOM), relative to oxygen (DO) and temperature (TEMP) in structuring profundal macroinvertebrate assemblages in boreal lakes. SOM from 26 basins of 11 Finnish lakes was analysed for quantity (sedimentation rates), quality (C:N:P stoichiometry) and origin (carbon stable isotopes, d13C). Hypolimnetic oxygen and temperature were measured from each site during summer stratification. Partial canonical correspondence analysis (CCA) and partial regression analyses were used to quantify contributions of SOM, DO and TEMP to community composition and three macroinvertebrate metrics. The results suggested a major contribution of SOM in regulating the community composition and total biomass. Oxygen best explained the Shannon diversity, whereas TEMP had largest contribution to the variation of Benthic Quality Index. Community composition was most strongly related to d13C of SOM. Based on additional d13C and stoichiometric analyses of chironomid taxa, marked differences were apparent in their utilization of SOM and body stoichiometry; taxa characteristic of oligotrophic conditions exhibited higher C:N ratios and lower C:P and N:P ratios compared to the species typical of eutrophic lakes. The results highlight the role of SOM in regulating benthic communities and the distributions of individual species, particularly in oligotrophic systems

Quantifying system disturbance and recovery from historical mining-derived metal contamination at Brotherswater, northwest England

The final publication is available at Springer via https://doi.org/10.1007/s10933-016-9907-1Metal ore extraction in historical times has left a legacy of severe contamination in aquatic ecosystems around the world. In the UK, there are ongoing nationwide surveys of present-day pollution discharged from abandoned mines but few assessments of the magnitude of contamination and impacts that arose during historical metal mining have been made. We report one of the first multi-centennial records of lead (Pb), zinc (Zn) and copper (Cu) fluxes into a lake (Brotherswater, northwest England) from point-sources in its catchment (Hartsop Hall Mine and Hogget Gill processing plant) and calculate basin-scale inventories of those metals. The pre-mining baseline for metal contamination has been established using sediment cores spanning the past 1,500 years and contemporary material obtained through sediment trapping. These data enabled the impact of 250 years of local, small-scale mining (1696 – 1942) to be quantified and an assessment of the trajectory towards system recovery to be made. The geochemical stratigraphy displayed in twelve sediment cores show strong correspondence to the documented history of metal mining and processing in the catchment. The initial onset in 1696 was detected, peak Pb concentrations (>10,000 µg g-1) and flux (39.4 g m-2 y-1) corresponded to the most intensive mining episode (1863-1871) and 20th century technological enhancements were reflected as a more muted sedimentary imprint. After careful evaluation, we used these markers to augment a Bayesian age-depth model of the independent geochronology obtained using radioisotope dating (14C, 210Pb, 137Cs and 241Am). Total inventories of Pb, Zn and Cu for the lake basin during the period of active mining were 15,415 kg, 5,897 kg and 363 kg, respectively. The post-mining trajectories for Pb and Zn project a return to pre-mining levels within 54-128 years for Pb and 75-187 years for Zn, although future remobilisation of metal-enriched catchment soils and floodplain sediments could perturb this recovery. We present a transferable paleolimnological approach that highlights flux-based assessments are vital to accurately establish the baseline, impact and trajectory of mining-derived contamination for a lake catchment