15 research outputs found
The effects of swing-leg retraction on running performance: analysis, simulation, and experiment
Using simple running models, researchers have argued that swing-leg retraction can improve running robot performance. In this paper, we investigate whether this holds for a more realistic simulation model validated against a physical running robot. We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net energetic efficiency. The retraction rates at which these effects are the greatest are strongly model-dependent, suggesting that robot designers cannot always rely on simplified models to accurately predict such complex behaviors
Quantitative Assessment of Robotic Swarm Coverage
This paper studies a generally applicable, sensitive, and intuitive error
metric for the assessment of robotic swarm density controller performance.
Inspired by vortex blob numerical methods, it overcomes the shortcomings of a
common strategy based on discretization, and unifies other continuous notions
of coverage. We present two benchmarks against which to compare the error
metric value of a given swarm configuration: non-trivial bounds on the error
metric, and the probability density function of the error metric when robot
positions are sampled at random from the target swarm distribution. We give
rigorous results that this probability density function of the error metric
obeys a central limit theorem, allowing for more efficient numerical
approximation. For both of these benchmarks, we present supporting theory,
computation methodology, examples, and MATLAB implementation code.Comment: Proceedings of the 15th International Conference on Informatics in
Control, Automation and Robotics (ICINCO), Porto, Portugal, 29--31 July 2018.
11 pages, 4 figure
Semi-Supervised First-Person Activity Recognition in Body-Worn Video
Body-worn cameras are now commonly used for logging daily life, sports, and
law enforcement activities, creating a large volume of archived footage. This
paper studies the problem of classifying frames of footage according to the
activity of the camera-wearer with an emphasis on application to real-world
police body-worn video. Real-world datasets pose a different set of challenges
from existing egocentric vision datasets: the amount of footage of different
activities is unbalanced, the data contains personally identifiable
information, and in practice it is difficult to provide substantial training
footage for a supervised approach. We address these challenges by extracting
features based exclusively on motion information then segmenting the video
footage using a semi-supervised classification algorithm. On publicly available
datasets, our method achieves results comparable to, if not better than,
supervised and/or deep learning methods using a fraction of the training data.
It also shows promising results on real-world police body-worn video
EpiGraphDB: a database and data mining platform for health data science
Motivation: The wealth of data resources on human phenotypes, risk factors, molecular traits and therapeutic interventions presents new opportunities for population health sciences. These opportunities are paralleled by a growing need for data integration, curation and mining to increase research efficiency, reduce mis-inference and ensure reproducible research. Results: We developed EpiGraphDB (https://epigraphdb.org/), a graph database containing an array of different biomedical and epidemiological relationships and an analytical platform to support their use in human population health data science. In addition, we present three case studies that illustrate the value of this platform. The first uses EpiGraphDB to evaluate potential pleiotropic relationships, addressing mis-inference in systematic causal analysis. In the second case study, we illustrate how protein-protein interaction data offer opportunities to identify new drug targets. The final case study integrates causal inference using Mendelian randomization with relationships mined from the biomedical literature to 'triangulate' evidence from different sources
Mars Science Laboratory Drill
This drill (see Figure 1) is the primary sample acquisition element of the Mars Science Laboratory (MSL) that collects powdered samples from various types of rock (from clays to massive basalts) at depths up to 50 mm below the surface. A rotary-percussive sample acquisition device was developed with an emphasis on toughness and robustness to handle the harsh environment on Mars. It is the first rover-based sample acquisition device to be flight-qualified (see Figure 2). This drill features an autonomous tool change-out on a mobile robot, and novel voice-coil-based percussion. The drill comprises seven subelements. Starting at the end of the drill, there is a bit assembly that cuts the rock and collects the sample. Supporting the bit is a subassembly comprising a chuck mechanism to engage and release the new and worn bits, respectively, and a spindle mechanism to rotate the bit. Just aft of that is a percussion mechanism, which generates hammer blows to break the rock and create the dynamic environment used to flow the powdered sample. These components are mounted to a translation mechanism, which provides linear motion and senses weight-on-bit with a force sensor. There is a passive-contact sensor/stabilizer mechanism that secures the drill fs position on the rock surface, and flex harness management hardware to provide the power and signals to the translating components. The drill housing serves as the primary structure of the turret, to which the additional tools and instruments are attached. The drill bit assembly (DBA) is a passive device that is rotated and hammered in order to cut rock (i.e. science targets) and collect the cuttings (powder) in a sample chamber until ready for transfer to the CHIMRA (Collection and Handling for Interior Martian Rock Analysis). The DBA consists of a 5/8-in. (.1.6- cm) commercial hammer drill bit whose shank has been turned down and machined with deep flutes designed for aggressive cutting removal. Surrounding the shank of the bit is a thick-walled maraging steel collection tube allowing the powdered sample to be augured up the hole into the sample chamber. For robustness, the wall thickness of the DBA was maximized while still ensuring effective sample collection. There are four recesses in the bit tube that are used to retain the fresh bits in their bit box. The rotating bit is supported by a back-to-back duplex bearing pair within a housing that is connected to the outer DBA housing by two titanium diaphragms. The only bearings on the drill in the sample flow are protected by a spring-energized seal, and an integrated shield that diverts the ingested powdered sample from the moving interface. The DBA diaphragms provide radial constraint of the rotating bit and form the sample chambers. Between the diaphragms there is a sample exit tube from which the sample is transferred to the CHIMRA. To ensure that the entire collected sample is retained, no matter the orientation of the drill with respect to gravity during sampling, the pass-through from the forward to the aft chamber resides opposite to the exit tube
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Author Correction: SciPy 1.0: fundamental algorithms for scientific computing in Python.
An amendment to this paper has been published and can be accessed via a link at the top of the paper
A blob method for inhomogeneous diffusion with applications to multi-agent control and sampling
As a counterpoint to classical stochastic particle methods for linear
diffusion equations, we develop a deterministic particle method for the
weighted porous medium equation (WPME) and prove its convergence on bounded
time intervals. This generalizes related work on blob methods for unweighted
porous medium equations. From a numerical analysis perspective, our method has
several advantages: it is meshfree, preserves the gradient flow structure of
the underlying PDE, converges in arbitrary dimension, and captures the correct
asymptotic behavior in simulations.
That our method succeeds in capturing the long time behavior of WPME is
significant from the perspective of related problems in quantization. Just as
the Fokker-Planck equation provides a way to quantize a probability measure
by evolving an empirical measure according to stochastic Langevin
dynamics so that the empirical measure flows toward , our particle
method provides a way to quantize according to deterministic
particle dynamics approximating WMPE. In this way, our method has natural
applications to multi-agent coverage algorithms and sampling probability
measures.
A specific case of our method corresponds exactly to the mean-field dynamics
of training a two-layer neural network for a radial basis function activation
function. From this perspective, our convergence result shows that, in the over
parametrized regime and as the variance of the radial basis functions goes to
zero, the continuum limit is given by WPME. This generalizes previous results,
which considered the case of a uniform data distribution, to the more general
inhomogeneous setting. As a consequence of our convergence result, we identify
conditions on the target function and data distribution for which convexity of
the energy landscape emerges in the continuum limit.Comment: 55 pages, 8 figure
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PDES ON GRAPHS FOR SEMI-SUPERVISED LEARNING APPLIED TO FIRST-PERSON ACTIVITY RECOGNITION IN BODY-WORN VIDEO
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