Bridge maintenance robotic arm: Capacitive sensor for obstacle ranging in particle laden air

This paper describes an Adaptive Capacitive Sensor Network for Obstacle Ranging (ACSOR) that is intended to provide entire arm encompassing obstacle range data for a robotic arm conducting the task of sandblasting a bridge. A multi-channel capacitive sensor capable of dynamic obstacle ranging in air heavily laden with lead contaminated sandblasting refuse has been developed. Experimental results have shown the ACSOR's working range to be 50cm, that it is relatively immune from airborne lead contaminated sandblasting refuse and that it is capable of ranging an obstacle 21cm away whilst fitted to a robotic arm moving at 2cm/s with an obstacle range error of less than 1cm

An algorithm for surface growing from laser scan generated point clouds

In robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan generated point clouds. The algorithm directly converts a point cloud into a surface and normals form which sees a significant reduction in data size and is in a desirable format for planning the interaction with surfaces. It can be used in applications such as robotic cleaning, painting and welding. © 2007 Springer-Verlag Berlin Heidelberg

Manipulator-based grasping pose selection by means of task-objective optimisation

This paper presents an alternative to inverse kinematics for mobile manipulator grasp pose selection which integrates obstacle avoidance and joint limit checking into the pose selection process. Given the Cartesian coordinates of an object in 3D space and its normal vector, end-effector pose objectives including collision checking and joint limit checks are used to create a series of cost functions based on sigmoid functions. These functions are optimised using Levenberg-Marquardt's algorithm to determine a valid pose for a given object. The proposed method has been shown to extend the workspace of the manipulator, eliminating the need for precomputed grasp sets and post pose selection collision checking and joint limit checks. This method has been successfully used on a 6 DOF manipulator both in simulation and in the real world environment

A robotic system for steel bridge maintenance: Research challenges and system design

This paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate objective of preventing human exposure to hazardous and dangerous debris (containing rust, paint particles, lead and/or asbestos), relieving human workers from labor intensive tasks and reducing costs associated with bridge maintenance. The robot system design, the key research challenges and enabling technologies and system development are discussed in detail. Research results obtained so far and discussions on some key issues are also presented

RobotAssist - A platform for human robot interaction research

This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into Robocup@Home competition. The core autonomy of the system is implemented as a component based software framework that allows for integration of operating system independent components, is designed to be expandable and integrates several layers of reasoning. The approaches taken to develop the core capabilities of the platform are described, namely: path planning in a social context, Simultaneous Localisation and Mapping (SLAM), human cue sensing and perception, manipulatable object detection and manipulation

Automated Certification of Authorisation Policy Resistance

Attribute-based Access Control (ABAC) extends traditional Access Control by considering an access request as a set of pairs attribute name-value, making it particularly useful in the context of open and distributed systems, where security relevant information can be collected from different sources. However, ABAC enables attribute hiding attacks, allowing an attacker to gain some access by withholding information. In this paper, we first introduce the notion of policy resistance to attribute hiding attacks. We then propose the tool ATRAP (Automatic Term Rewriting for Authorisation Policies), based on the recent formal ABAC language PTaCL, which first automatically searches for resistance counter-examples using Maude, and then automatically searches for an Isabelle proof of resistance. We illustrate our approach with two simple examples of policies and propose an evaluation of ATRAP performances.Comment: 20 pages, 4 figures, version including proofs of the paper that will be presented at ESORICS 201

The Formal Dynamism of Categories: Stops vs. Fricatives, Primitivity vs. Simplicity

Minimalist Phonology (MP; Pöchtrager 2006) constructs its theory based on the phonological epistemological principle (Kaye 2001) and exposes the arbitrary nature of standard Government Phonology (sGP) and strict-CV (sCV), particularly with reference to their confusion of melody and structure. For Pöchtrager, these are crucially different, concluding that place of articulation is melodic (expressed with elements), while manner of articulation is structural. In this model, the heads (xN and xO) can license and incorporate the length of the other into their own interpretation, that is xN influences xO projections as well as its own and vice versa. This dynamism is an aspect of the whole framework and this paper in particular will show that stops and fricatives evidence a plasticity of category and that, although fricatives are simpler in structure, stops are the more primitive of the two. This will be achieved phonologically through simply unifying the environment of application of the licensing forces within Pöchtrager's otherwise sound onset structure. In doing so, we automatically make several predictions about language acquisition and typology and show how lenition in Qiang (Sino-Tibetan) can be more elegantly explained

Your Proof Fails? Testing Helps to Find the Reason

Applying deductive verification to formally prove that a program respects its formal specification is a very complex and time-consuming task due in particular to the lack of feedback in case of proof failures. Along with a non-compliance between the code and its specification (due to an error in at least one of them), possible reasons of a proof failure include a missing or too weak specification for a called function or a loop, and lack of time or simply incapacity of the prover to finish a particular proof. This work proposes a new methodology where test generation helps to identify the reason of a proof failure and to exhibit a counter-example clearly illustrating the issue. We describe how to transform an annotated C program into C code suitable for testing and illustrate the benefits of the method on comprehensive examples. The method has been implemented in STADY, a plugin of the software analysis platform FRAMA-C. Initial experiments show that detecting non-compliances and contract weaknesses allows to precisely diagnose most proof failures.Comment: 11 pages, 10 figure

Conserving Diagrammatic Approximations for Quantum Impurity Models: NCA and CTMA

Self-consistent diagrammatic approximations to the Anderson or Kondo impurity model, using an exact pseudoparticle representation of the impurity states, are reviewed. We first discuss the infrared exponents of the pseudoparticle propagators as indicators of Fermi liquid behavior through their dependence on the impurity occupation and on magnetic field. Then we discuss the Non-Crossing Approximation (NCA), identifying its strengths, but also its fundamental shortcomings. Physical arguments as well as a perturbative renormalization group analysis suggest that an infinite parquet-type resummation of two-particle vertex diagrams, the Conserving T-Matrix Approximation (CTMA) will cure the deficiencies of NCA. We review results on the pseudoparticle spectral functions, the spin susceptibility and the impurity electron spectral function, supporting that the CTMA provides qualitatively correct results, both in the high-temperature regime and in the strong coupling Fermi liquid regime at low temperatures.Comment: 10 pages, invited article, to appear in a special edition of JPSJ "Kondo Effect - 40 Years after the Discovery", published version, some minor typos correcte