Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments

Electronic version of an article published as International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005 pp. 479-504; DOI: 10.1142/S0219843605000545 ; © World Scientific Publishing Company ; http://www.worldscinet.com/ijhr/ijhr.shtmlIn this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment by moving obstacles and clearing free space for a path. This paper presents a resolution complete planner for a subclass of NAMO problems. Our planner takes advantage of the navigational structure through state-space decomposition and heuristic search. The planning complexity is reduced to the difficulty of the specific navigation task, rather than the dimensionality of the multi-object domain. We demonstrate real-time results for spaces that contain large numbers of movable obstacles. We also present a practical framework for single-agent search that can be used in algorithmic reasoning about this domain

Optimization And Learning For Rough Terrain Legged Locomotion

We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and \u27certificates\u27 that ensure the output of an abstract high-level planner can be realized by lower layers of the hierarchy. The burden of careful engineering of cost functions to achieve desired performance is substantially mitigated by a simple inverse optimal control technique. Robustness is achieved by real-time re-planning of the full trajectory, augmented by reflexes and feedback control. We demonstrate the successful application of our approach in guiding the LittleDog quadruped robot over a variety of types of rough terrain. Other novel aspects of our past research efforts include a variety of pioneering inverse optimal control techniques as well as a system for planning using arbitrary pre-recorded robot behavior

The minimum energy expenditure shortest path method

This article discusses the addition of an energy parameter to the shortest path execution process; namely, the energy expenditure by a character during execution of the path. Given a simple environment in which a character has the ability to perform actions related to locomotion, such as walking and stair stepping, current techniques execute the shortest path based on the length of the extracted root trajectory. However, actual humans acting in constrained environments do not plan only according to shortest path criterion, they conceptually measure the path that minimizes the amount of energy expenditure. On this basis, it seems that virtual characters should also execute their paths according to the minimization of actual energy expenditure as well. In this article, a simple method that uses a formula for computing vanadium dioxide ($VO_2$) levels, which is a proxy for the energy expenditure by humans during various activities, is presented. The presented solution could be beneficial in any situation requiring a sophisticated perspective of the path-execution process. Moreover, it can be implemented in almost every path-planning method that has the ability to measure stepping actions or other actions of a virtual character

A Synthetic-Vision Based Steering Approach for Crowd Simulation

International audienceIn the everyday exercise of controlling their locomotion, humans rely on their optic flow of the perceived environment to achieve collision-free navigation. In crowds, in spite of the complexity of the environment made of numerous obstacles, humans demonstrate remarkable capacities in avoiding collisions. Cognitive science work on human locomotion states that relatively succinct information is extracted from the optic flow to achieve safe locomotion. In this paper, we explore a novel vision-based approach of collision avoidance between walkers that fits the requirements of interactive crowd simulation. By simulating humans based on cognitive science results, we detect future collisions as well as the level of danger from visual stimuli. The motor-response is twofold: a reorientation strategy prevents future collision, whereas a deceleration strategy prevents imminent collisions. Several examples of our simulation results show that the emergence of self-organized patterns of walkers is reinforced using our approach. The emergent phenomena are visually appealing. More importantly, they improve the overall efficiency of the walkers' traffic and avoid improbable locking situations

Refining Humane Endpoints in Mouse Models of Disease by Systematic Review and Machine Learning-Based Endpoint Definition

Ideally, humane endpoints allow for early termination of experiments by minimizing an animal’s discomfort, distress and pain, while ensuring that scientific objectives are reached. Yet, lack of commonly agreed methodology and heterogeneity of cut-off values published in the literature remain a challenge to the accurate determination and application of humane endpoints. With the aim to synthesize and appraise existing humane endpoint definitions for commonly used physiological parameters, we conducted a systematic review of mouse studies of acute and chronic disease models, which used body weight, temperature and/or sickness scores for endpoint definition. In the second part of the study, we used previously published and unpublished data on weight, temperature and sickness scores from mouse models of sepsis and stroke and applied machine learning algorithms to assess the usefulness of this method for parameter selection and endpoint definition across models. Studies were searched for in two electronic databases (MEDLINE/Pubmed and Embase). Out of 110 retrieved full-text manuscripts, 34 studies were included. We found large intra- and inter-model variance in humane endpoint determination and application due to varying animal models, lack of standardized experimental protocols and heterogeneity of performance metrics (part 1). Machine learning models trained with physiological data and sickness severity score or modified DeSimoni neuroscore identified animals with a high risk of death at an early time point in both mouse models of stroke (male: 93.2% at 72h post-treatment; female: 93.0% at 48h post-treatment) and sepsis (96.2% at 24h post-treatment), thus demonstrating generalizability in endpoint determination across models (part 2)

Saliency detection for large-scale mesh decimation

Highly complex and dense models of 3D objects have recently become indispensable in digital industries. Mesh decimation then plays a crucial role in the production pipeline to efficiently get visually convincing yet compact expressions of complex meshes. However, the current pipeline typically does not allow artists control the decimation process, just a simplification rate. Thus a preferred approach in production settings splits the process into a first pass of saliency detection highlighting areas of greater detail, and allowing artists to iterate until satisfied before simplifying the model. We propose a novel, efficient multi-scale method to compute mesh saliency at coarse and finer scales, based on fast mesh entropy of local surface measurements. Unlike previous approaches, we ensure a robust and straightforward calculation of mesh saliency even for densely tessellated models with millions of polygons. Moreover, we introduce a new adaptive subsampling and interpolation algorithm for saliency estimation. Our implementation achieves speedups of up to three orders of magnitude over prior approaches. Experimental results showcase its resilience to problem scenarios that efficiently scales up to process multi-million vertex meshes. Our evaluation with artists in the entertainment industry also demonstrates its applicability to real use-case scenarios

The effect of acetaminophen (four grams a day for three consecutive days) on hepatic tests in alcoholic patients – a multicenter randomized study

Background: Hepatic failure has been associated with reported therapeutic use of acetaminophen by alcoholic patients. The highest risk period for alcoholic patients is immediately after discontinuation of alcohol intake. This period exhibits the largest increase in CYP2E1 induction and lowest glutathione levels. Our hypothesis was that common liver tests would be unaffected by administration of the maximum recommended daily dosage of acetaminophen for 3 consecutive days to newly-abstinent alcoholic subjects. Methods: Adult alcoholic subjects entering two alcohol detoxification centers were enrolled in a prospective double-blind, randomized, placebo-controlled trial. Subjects were randomized to acetaminophen, 4 g/day, or placebo for 3 consecutive days. The study had 95% probability of detecting a 15 IU/L difference in serum ALT. Results: A total of 443 subjects were enrolled: 308 (258 completed) received acetaminophen and 135 subjects (114 completed) received placebo. Study groups did not differ in demographics, alcohol consumption, nutritional status or baseline laboratory assessments. The peak mean ALT activity was 57 [plus or minus] 45 IU/L and 55 [plus or minus] 48 IU/L in the acetaminophen and placebo groups, respectively. Subgroup analyses for subjects presenting with an elevated ALT, subjects fulfilling a diagnosis of alcoholic hepatitis and subjects attaining a peak ALT greater than 200 IU/L showed no statistical difference between the acetaminophen and control groups. The one participant developing an increased international normalized ratio was in the placebo group. Conclusion: Alcoholic patients treated with the maximum recommended daily dose of acetaminophen for 3 consecutive days did not develop increases in serum transaminase or other measures of liver injury. Treatment of pain or fever for 3 days with acetaminophen appears safe in newly-abstinent alcoholic patients, such as those presenting for acute medical care.Funding for this study was provided by McNeil Consumer Healthcare to the Denver Health Authority, Denver, Colorado