PROBE-GK: Predictive Robust Estimation using Generalized Kernels

Many algorithms in computer vision and robotics make strong assumptions about uncertainty, and rely on the validity of these assumptions to produce accurate and consistent state estimates. In practice, dynamic environments may degrade sensor performance in predictable ways that cannot be captured with static uncertainty parameters. In this paper, we employ fast nonparametric Bayesian inference techniques to more accurately model sensor uncertainty. By setting a prior on observation uncertainty, we derive a predictive robust estimator, and show how our model can be learned from sample images, both with and without knowledge of the motion used to generate the data. We validate our approach through Monte Carlo simulations, and report significant improvements in localization accuracy relative to a fixed noise model in several settings, including on synthetic data, the KITTI dataset, and our own experimental platform.Comment: In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'16), Stockholm, Sweden, May 16-21, 201

The design and implementation of a laser range-finder array for robotics applications

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.We introduce the concept of using a laser range finder array to measure height and tilt for mobile robotics applications. We then present a robust, scalable algorithm for extracting height and tilt measurements from the range finder data. We calibrate the sensors using a precision two-axis system, and evaluate the capabilities of the sensors. Finally, we utilize the sensors and the two-axis system for imaging to illustrate their accuracy.by Will Vega-Brown.S.B

Cardiorespiratory Responses during 2-Person CPR using Two Assisted CPR Devices Versus Manual CPR

Active Compression-decompression-CPR (ACD-CPR) requires rescuers to perform work during both phases of CPR. ACD-CPR provides active pre-loading of a patient’s heart with venous return as well as enhanced stroke volume during resuscitation. Prolonged, one-person CPR is exhausting and associated with decayed CPR quality over time. Active compression-decompression-CPR (ACD-CPR) requires the rescuer to actively work during both phases of CPR. We evaluated the metabolic cost of manual CPR (M-CPR), ACD-CPR1, and ACD-CPR2 (with adhesive pad) during a 10-min resuscitation period. We hypothesized that the metabolic cost for the devices would be similar to M-CPR. Twenty (10 female) participants (23.5±3.5y, 165.8±25.6cm, 72.5±12.2kg) completed 3 randomized trials with performance feedback by investigators. Expired air was analyzed for estimations of metabolic cost via indirect calorimetry. Participants rested for 10 minutes before the baseline data collection followed by 10 min of CPR to simulate one-person CPR. Treatment effects were observed for VO2, METS, VCO2, RR, RQ, blood lactate, SBP, and RPE. No such effects were observed with HR and DBP as the observed condition differences for HR and DBP were not significantly different from each other. Blood lactate and SBP were significantly higher using ACD-CPR1 compared to MCPR and ACD-CPR2. Although a trend for elevated DBP was observed with ACD-CPR1, this was not significantly different. RQ values for the ACD-CPR1 device (1.0 ± 0.0) were significantly higher than the RQ values for M-CPR (0.9 ± 0.0) and ACD-CPR2 (0.9 ± 0.0). Assisted CPR using the ACD-CPR1 device is more stressful to the cardiorespiratory system as reflected by the higher SBP compared to the ACD-CPR1 or standard MCPR. Metabolically, the ACD-CPR1 required more VO2 and elicited higher RQ, RPE, and lactate values during 10-min simulated one-person resuscitation compared to M-CPR and ACD-CPR1. However, the ACD-CPR2 cardiorespiratory results were similar to that of M-CPR, despite the latter method’s higher rate of compressions (110/min) and passive decompressions

Violencia intrafamiliar y autoestima en los estudiantes de bachillerato durante la pandemia COVID-19

La aparición del Covid-19, genero una serie de medidas para contrarrestar la propagación a nivel mundial, el confinamiento y el distanciamiento social sirvieron en gran parte para minimizar el impacto, sin embargo, el asilamiento genero en la población un alto índice de violencia intrafamiliar y el aparecimiento de niveles bajos de autoestima. Por lo antes mencionado es importante analizar el nivel de violencia intrafamiliar y autoestima en los estudiantes debido a la pandemia. La metodología utilizada para la muestra es estratificada, con la fórmula de la muestra finita, el empleo de un software estadístico SPSS para evaluar la relevancia de las preguntas, y escalas de medición para medir la autoestima y la violencia intrafamiliar en los estudiantes de la Unidad Educativa Huasimpamba. En la investigación se evidencio que todas las preguntas son relevantes en los dos cuestionarios, puesto que, el pvalor es mayor que 0.05. Además, que el 2.2 % tiene un alto nivel de violencia intrafamiliar y un 49.4 % tienen una elevada autoestima. En varias investigaciones desarrolladas enmarcadas en la situación de la pandemia, mostró que las secuelas provenientes de la cuarentena son la violencia doméstica, los trastornos mentales como la baja autoestima

Nonparametric Bayesian Inference on Multivariate Exponential Families

We develop a model by choosing the maximum entropy distribution from the set of models satisfying certain smoothness and independence criteria; we show that inference on this model generalizes local kernel estimation to the context of Bayesian inference on stochastic processes. Our model enables Bayesian inference in contexts when standard techniques like Gaussian process inference are too expensive to apply. Exact inference on our model is possible for any likelihood function from the exponential family. Inference is then highly efficient, requiring only O (log N) time and O (N) space at run time. We demonstrate our algorithm on several problems and show quantifiable improvement in both speed and performance relative to models based on the Gaussian process.United States. Office of Naval Research (N00014-09-1-1052)United States. Office of Naval Research (N00014-10-1-0936

Occurrence and phylogenetic significance of latex in the Malpighiaceae

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/142034/1/ajb21725.pd