Topological Global Localization and Mapping with Fingerprint and Uncertainty

Navigation in unknown or partially unknown environments remains one of the biggest challenges in today\'s mobile robotics. Environmental modeling, perception, localization and mapping are all needed for a successful approach. The contribution of this paper resides in the extension of the fingerprint concept (circular list of features around the robot) with uncertainty modeling, in order to improve localization and allow for automatic map building. The uncertainty is defined as the probability of a feature of being present in the environment when the robot perceives it. The whole approach is presented in details and viewed in a topological optic. Experimental results of the perception and localization capabilities with a mobile robot equipped with two 180° laser range finders and an omni-directional camera are reported

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue

Environmental Modeling with Fingerprint Sequences for Topological Global Localization

In this paper a perception approach allowing for high distinctiveness is presented. The method works in accordance to the fingerprint concept. Such representation allows using a very flexible matching approach based on the minimum energy algorithm. The whole extraction and matching approach is presented in details and viewed in a topological optic, where the matching result can directly be used as observation function for a topological localization approach. The experimentation section will validate the fingerprint approach and present different set of experiments in order to explain practically the choice of different types of features

HSO: A hybrid swarm optimization algorithm for reducing energy consumption in the cloudlets

Mobile Cloud Computing (MCC) is an emerging technology for the improvement of mobile service quality. MCC resources are dynamically allocated to the users who pay for the resources based on their needs. The drawback of this process is that it is prone to failure and demands a high energy input. Resource providers mainly focus on resource performance and utilization with more consideration on the constraints of service level agreement (SLA). Resource performance can be achieved through virtualization techniques which facilitates the sharing of resource providers’ information between different virtual machines. To address these issues, this study sets forth a novel algorithm (HSO) that optimized energy efficiency resource management in the cloud; the process of the proposed method involves the use of the developed cost and runtime-effective model to create a minimum energy configuration of the cloud compute nodes while guaranteeing the maintenance of all minimum performances. The cost functions will cover energy, performance and reliability concerns. With the proposed model, the performance of the Hybrid swarm algorithm was significantly increased, as observed by optimizing the number of tasks through simulation, (power consumption was reduced by 42%). The simulation studies also showed a reduction in the number of required calculations by about 20% by the inclusion of the presented algorithms compared to the traditional static approach. There was also a decrease in the node loss which allowed the optimization algorithm to achieve a minimal overhead on cloud compute resources while still saving energy significantly. Conclusively, an energy-aware optimization model which describes the required system constraints was presented in this study, and a further proposal for techniques to determine the best overall solution was also made

Socially assistive robotics for post-stroke rehabilitation

BACKGROUND: Although there is a great deal of success in rehabilitative robotics applied to patient recovery post stroke, most of the research to date has dealt with providing physical assistance. However, new rehabilitation studies support the theory that not all therapy need be hands-on. We describe a new area, called socially assistive robotics, that focuses on non-contact patient/user assistance. We demonstrate the approach with an implemented and tested post-stroke recovery robot and discuss its potential for effectiveness. RESULTS: We describe a pilot study involving an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. We also show preliminary results from a follow-up study that focused on the role of robot physical embodiment in a rehabilitation context. CONCLUSION: We outline and discuss future experimental designs and factors toward the development of effective socially assistive post-stroke rehabilitation robots

Mapping Robots to Therapy and Educational Objectives for Children with Autism Spectrum Disorder

The aim of this study was to increase knowledge on therapy and educational objectives professionals work on with children with autism spectrum disorder (ASD) and to identify corresponding state of the art robots. Focus group sessions (n = 9) with ASD professionals (n = 53) from nine organisations were carried out to create an objectives overview, followed by a systematic literature study to identify state of the art robots matching these objectives. Professionals identified many ASD objectives (n = 74) in 9 different domains. State of the art robots addressed 24 of these objectives in 8 domains. Robots can potentially be applied to a large scope of objectives for children with ASD. This objectives overview functions as a base to guide development of robot interventions for these children

Measurement of the non-prompt D-meson fraction as a function of multiplicity in proton-proton collisions at s \sqrt{s} = 13 TeV

The fractions of non-prompt (i.e. originating from beauty-hadron decays) D0 and D+ mesons with respect to the inclusive yield are measured as a function of the charged-particle multiplicity in proton-proton collisions at a centre-of-mass energy of √s = 13 TeV with the ALICE detector at the LHC. The results are reported in intervals of transverse momentum (pT) and integrated in the range 1 < pT < 24 GeV/c. The fraction of non-prompt D0 and D+ mesons is found to increase slightly as a function of pT in all the measured multiplicity intervals, while no significant dependence on the charged- particle multiplicity is observed. In order to investigate the production and hadronisation mechanisms of charm and beauty quarks, the results are compared to PYTHIA 8 as well as EPOS 3 and EPOS 4 Monte Carlo simulations, and to calculations based on the colour glass condensate including three-pomeron fusion