Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy

Robust Distributed Control Protocols for Large Vehicular Platoons with Prescribed Transient and Steady State Performance

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as inter-vehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.Comment: IEEE Transactions on Control Systems Technology, accepte

A deep learning approach to automatic characterisation of rhythm in non-native English speech

A speaker's rhythm contributes to the intelligibility of their speech and can be characteristic of their language and accent. For non-native learners of a language, the extent to which they match its natural rhythm is an important predictor of their proficiency. As a learner improves, their rhythm is expected to become less similar to their L1 and more to the L2. Metrics based on the variability of the durations of vocalic and consonantal intervals have been shown to be effective at detecting language and accent. In this paper, pairwise variability (PVI, CCI) and variance (varcoV, varcoC) metrics are first used to predict proficiency and L1 of non-native speakers taking an English spoken exam. A deep learning alternative to generalise these features is then presented, in the form of a tunable duration embedding, based on attention over an RNN over durations. The RNN allows relationships beyond pairwise to be captured, while attention allows sensitivity to the different relative importance of durations. The system is trained end-to-end for proficiency and L1 prediction and compared to the baseline. The values of both sets of features for different proficiency levels are then visualised and compared to native speech in the L1 and the L2.ALTA Institut

A deep learning approach to assessing non-native pronunciation of English using phone distances

The way a non-native speaker pronounces the phones of a language is an important predictor of their proficiency. In grading spontaneous speech, the pairwise distances between generative statistical models trained on each phone have been shown to be powerful features. This paper presents a deep learning alternative to model-based phone distances in the form of a tunable Siamese network feature extractor to extract distance metrics directly from the audio frame sequence. Features are extracted at the phone instance level and combined to phone-level representations using an attention mechanism. Pair-wise distances between phone features are then projected through a feed-forward layer to predict score. The extraction stage is initialised on either a binary phone instance-pair classification task, or to mimic the model-based features, then the whole system is fine-tuned end-to-end, optimising the learning of the distance metric to the score prediction task. This method is therefore more adaptable and more sensitive to phone instance level phenomena. Its performance is compared agains

Automatic detection of accent and lexical pronunciation errors in spontaneous non-native English speech

Detecting individual pronunciation errors and diagnosing pronunciation error tendencies in a language learner based on their speech are important components of computer-aided language learning (CALL). The tasks of error detection and error tendency diagnosis become particularly challenging when the speech in question is spontaneous and particularly given the challenges posed by the inconsistency of human annotation of pronunciation errors. This paper presents an approach to these tasks by distinguishing between lexical errors, wherein the speaker does not know how a particular word is pronounced, and accent errors, wherein the candidate's speech exhibits consistent patterns of phone substitution, deletion and insertion. Three annotated corpora of non-native English speech by speakers of multiple L1s are analysed, the consistency of human annotation investigated and a method presented for detecting individual accent and lexical errors and diagnosing accent error tendencies at the speaker level

A practical approach for minimum time control of the Spacecraft Control Laboratory Experiment (SCOLE), appendix A

The Space COntrol Laboratory Experiment (SCOLE) is a challenge for control engineering applications. This is a result of the system dynamics, the available measurement information, the actuator capabilities and finally the specified performance requirements set. Results on the use of Model Reference Adaptive Control were reported. In view of the necessity for rapid response, this work deals with an optimal control formulation, with a minimum time requirement and constrained input. A mathematical statement of the problem is presented. The time optimal control formulation is presented and the reasons that make such an approach not promising are discussed. As a result, a pseudo time-optimal control algorithm is discussed. The proposed approach is tested to see if it satisfies the design specifications, and finally a discussion and suggestions for further research are provided

Preliminary results of systematic sampling of gas manifestations in geodynamically active areas of Greece

Greece is located on a convergent plate boundary comprising the subduction of the African Plate beneath the Eurasian, while the Arabian plate approaches the Eurasian in a northwestward motion. It is considered to be one of the most tectonically active regions of Earth with a complex geodynamic setting, deriving from a long and complicated geological history. Due to this specific geological background, conditions for the formation of many thermal springs are favoured. In the past years, almost all the already known sites of degassing (fumaroles, soil gases, mofettes, gas bubbling in cold and thermal waters) located in the Hellenic area were sampled at least one time. Collected samples were analysed for their chemical (He, Ne, Ar, O2, N2, H2, H2S, CO, CH4 and CO2) and isotopic composition (He, C and N). Some of these sites have been selected for systematic sampling. Four of them have records longer than 10 years with tens of samplings also considering some literature data. Two of the sites are located in active volcanic areas (Santorini and Nisyros) while the other two are close to actively spreading graben structures with intense seismic activity (Gulf of Korinth and Sperchios basin). Results allowed to define long term background values and also some interesting variation related to seismic or volcanic activity

Risks related to gas manifestations in the Hellenic territory

Like other geodynamically active areas, Greece is affected by a large number of geogenic gas manifestations. These occur either in form of point sources (fumaroles, mofettes, bubbling gases) or as diffuse emanations. We produced a catalogue of the geogenic gas manifestations of Greece also considering few literature data. Collected samples were analysed for their chemical (He, Ne, Ar, O2, N2, H2, H2S, CO, CH4 and CO2) and isotopic composition (He, C and N). Geogenic gases, apart from having important influences on the global climate, could have strong impact on human health. Gas hazard is often disregarded because fatal episodes are often not correctly attributed. Geodynamic active areas release geogenic gases for million years over wide areas and the potential risks should not be disregarded. A preliminary estimation of the gas hazard has been made for the last 20 years considering the whole population of Greece. In this period at least 2 fatal episodes with a total of 3 victims could be certainly attributed to CO2. This would give a risk of 1.310-8 fatality per annum. Such value, probably underestimated, is much lower than most other natural or anthropogenic risks. Nevertheless this risk, being unevenly distributed along the whole territory, should not be overlooked and better constrained in areas with high density of gas manifestations and high soil gas fluxes