Tracing commodities in indoor environments for service robotics

Daily life assistance for elderly people is one of the most promising scenarios for service robots in the the near future. In particular, the go-and-fetch task will be one of the most demanding tasks in these cases. In this paper, we present an informationally structured room that supports a service robot in the task of daily object fetching. Our environment contains different distributed sensors including a floor sensing system and several intelligent cabinets. Sensor information is send to a centralized management system which process the data and make it available to a service robot which is assisting people in the room. We additionally present the first steps of an intelligent framework used to maintain information about locations of commodities in our informationally structured room. This information will be used by the service robot to find objects under people requests. One of the main goal of our intelligent environment is to maintain a small number of sensors to avoid interfering with the daily activity of people, and to reduce as much as possible invasion of their privacy. In order to compensate this limited available sensor information, our framework aims to exploit knowledge about people's activity and interaction with objects, to infer reliable information about the location of commodities. This paper presents simulated results that demonstrate the suitability of this framework to be applied to a service robotic environment equipped with limited sensors. In addition we discuss some preliminary experiments using our real environment and robot

The intelligent room for elderly care

Daily life assistance for elderly is one of the most promising and interesting scenarios for advanced technologies in the present and near future. Improving the quality of life of elderly is also some of the first priorities in modern countries and societies where the percentage of elder people is rapidly increasing due mainly to great improvements in medicine during the last decades. In this paper, we present an overview of our informationally structured room that supports daily life activities of elderly. Our environment contains different distributed sensors including a floor sensing system and several intelligent cabinets. Sensor information is sent to a centralized management system which processes the data and makes it available to a service robot which assists the people in the room. One important restriction in our intelligent environment is to maintain a small number of sensors to avoid interfering with the daily activities of people and to reduce as much as possible the invasion of their privacy. In addition we discuss some experiments using our real environment and robot

An informationally structured room for robotic assistance

The application of assistive technologies for elderly people is one of the most promising and interesting scenarios for intelligent technologies in the present and near future. Moreover, the improvement of the quality of life for the elderly is one of the first priorities in modern countries and societies. In this work, we present an informationally structured room that is aimed at supporting the daily life activities of elderly people. This room integrates different sensor modalities in a natural and non-invasive way inside the environment. The information gathered by the sensors is processed and sent to a centralized management system, which makes it available to a service robot assisting the people. One important restriction of our intelligent room is reducing as much as possible any interference with daily activities. Finally, this paper presents several experiments and situations using our intelligent environment in cooperation with our service robot. © 2015 by the authors

Warm and Dense Molecular Gas in the N159 Region: 12CO J=4-3 and 13CO J=3-2 Observations with NANTEN2 and ASTE

New 12CO J=4-3 and 13CO J=3-2 observations of the N159 region in the Large Magellanic Cloud have been made. The 12CO J=4-3 distribution is separated into three clumps. These new measurements toward the three clumps are used in coupled calculations of molecular rotational excitation and line radiation transfer, along with other transitions of the 12CO as well as the isotope transitions of 13CO. The temperatures and densities are determined to be ~70-80K and ~3x10^3 cm-3 in N159W and N159E and ~30K and ~1.6x10^3 cm-3 in N159S. These results are compared with the star formation activity. The N159E clump is associated with embedded cluster(s) as observed at 24 micron and the derived high temperature is explained as due to the heating by these sources. The N159E clump is likely responsible for a dark lane in a large HII region by the dust extinction. The N159W clump is associated with embedded clusters mainly toward the eastern edge of the clump only. These clusters show offsets of 20"-40" from the 12CO J=4-3 peak and are probably responsible for heating indicated by the derived high temperature. The N159W clump exhibits no sign of star formation toward the 12CO J=4-3 peak position and its western region. We suggest that the N159W peak represents a pre-star-cluster core of ~105M_sol which deserves further detailed studies. Note that recent star formation took place between N159W and N159E as indicated by several star clusters and HII regions, while the natal molecular gas toward the stars have already been dissipated by the ionization and stellar winds of the OB stars. The N159S clump shows little sign of star formation as is consistent with the lower temperature and somewhat lower density. The N159S clump is also a candidate for future star formation

Dense Molecular Clumps associated with the LMC Supergiant Shells LMC 4 \& LMC 5

We investigate the effects of Supergiant Shells (SGSs) and their interaction on dense molecular clumps by observing the Large Magellanic Cloud (LMC) star forming regions N48 and N49, which are located between two SGSs, LMC 4 and LMC 5. $^{12}$CO ($J$=3-2, 1-0) and $^{13}$CO ($J$=1-0) observations with the ASTE and Mopra telescopes have been carried out towards these regions. A clumpy distribution of dense molecular clumps is revealed with 7 pc spatial resolution. Large velocity gradient analysis shows that the molecular hydrogen densities ($n({\rm H}_2)$) of the clumps are distributed from low to high density ($10^3$-$10^5$ cm$^{-3}$) and their kinetic temperatures ($T_{\rm kin}$) are typically high (greater than $50$ K). These clumps seem to be in the early stages of star formation, as also indicated from the distribution of H$\alpha$, young stellar object candidates, and IR emission. We found that the N48 region is located in the high column density HI envelope at the interface of the two SGSs and the star formation is relatively evolved, whereas the N49 region is associated with LMC 5 alone and the star formation is quiet. The clumps in the N48 region typically show high $n({\rm H}_2)$ and $T_{\rm kin}$, which are as dense and warm as the clumps in LMC massive cluster-forming areas (30 Dor, N159). These results suggest that the large-scale structure of the SGSs, especially the interaction of two SGSs, works efficiently on the formation of dense molecular clumps and stars.Comment: 26 pages, 7 tables, 16 figure

Dense Clumps in Giant Molecular Clouds in the Large Magellanic Cloud: Density and Temperature Derived from 13^{13}CO(J=3−2J=3-2) Observations

In order to precisely determine temperature and density of molecular gas in the Large Magellanic Cloud, we made observations of optically thin $^{13}$CO($J=3-2$) transition by using the ASTE 10m telescope toward 9 peaks where $^{12}$CO($J=3-2$) clumps were previously detected with the same telescope. The molecular clumps include those in giant molecular cloud (GMC) Types I (with no signs of massive star formation), II (with HII regions only), and III (with HII regions and young star clusters). We detected $^{13}$CO($J=3-2$) emission toward all the peaks and found that their intensities are 3 -- 12 times lower than those of $^{12}$CO($J=3-2$). We determined the intensity ratios of $^{12}$CO($J=3-2$) to $^{13}$CO($J=3-2$), $R^{12/13}_{3-2}$, and $^{13}$CO($J=3-2$) to $^{13}$CO($J=1-0$), $R^{13}_{3-2/1-0}$, at 45\arcsec resolution. These ratios were used for radiative transfer calculations in order to estimate temperature and density of the clumps. The parameters of these clumps range kinetic temperature $T\mathrm{_{kin}}$ = 15 -- 200 K, and molecular hydrogen gas density $n(\mathrm{H_2})$ = 8$\times 10^2$ -- 7$\times 10^3$ cm$^{-3}$. We confirmed that the higher density clumps show higher kinetic temperature and that the lower density clumps lower kinetic temperature at a better accuracy than in the previous work. The kinetic temperature and density increase generally from a Type I GMC to a Type III GMC. We interpret that this difference reflects an evolutionary trend of star formation in molecular clumps. The $R^{13}_{3-2/1-0}$ and kinetic temperature of the clumps are well correlated with H$\alpha$ flux, suggesting that the heating of molecular gas $n(\mathrm{H_2})$ = $10^3$ -- $10^4$ cm$^{-3}$ can be explained by stellar FUV photons.Comment: 39 pages, 7 figures, 4 tables. Accepted for publication in The Astronomical Journa

The TOP-SCOPE Survey of Planck Galactic Cold Clumps : Survey Overview and Results of an Exemplar Source, PGCC G26.53+0.17

The low dust temperatures (<14 K) of Planck Galactic cold clumps (PGCCs) make them ideal targets to probe the initial conditions and very early phase of star formation. "TOP-SCOPE" is a joint survey program targeting similar to 2000 PGCCs in J = 1-0 transitions of CO isotopologues and similar to 1000 PGCCs in 850 mu m continuum emission. The objective of the "TOP-SCOPE" survey and the joint surveys (SMT 10 m, KVN 21 m, and NRO 45 m) is to statistically study the initial conditions occurring during star formation and the evolution of molecular clouds, across a wide range of environments. The observations, data analysis, and example science cases for these surveys are introduced with an exemplar source, PGCC G26.53+0.17 (G26), which is a filamentary infrared dark cloud (IRDC). The total mass, length, and mean line mass (M/L) of the G26 filament are similar to 6200 M-circle dot, similar to 12 pc, and similar to 500 M-circle dot pc(-1), respectively. Ten massive clumps, including eight starless ones, are found along the filament. The most massive clump as a whole may still be in global collapse, while its denser part seems to be undergoing expansion owing to outflow feedback. The fragmentation in the G26 filament from cloud scale to clump scale is in agreement with gravitational fragmentation of an isothermal, nonmagnetized, and turbulent supported cylinder. A bimodal behavior in dust emissivity spectral index (beta) distribution is found in G26, suggesting grain growth along the filament. The G26 filament may be formed owing to large-scale compression flows evidenced by the temperature and velocity gradients across its natal cloud.Peer reviewe