Machine Learning Algorithms for Robotic Navigation and Perception and Embedded Implementation Techniques

L'abstract è presente nell'allegato / the abstract is in the attachmen

Hyperelastic continuum modeling of cubic crystals based on first-principles calculations

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 363-381).We propose new constitutive equations that capture the low-temperature hyperelastic response of cubic-symmetry single crystals up to large volumetric and deviatoric deformations in the region of stability of the equilibrium crystal phase. For the first time, we combine the formalism of continuum mechanics invariant theory with the predictive capability of quantum mechanics to model the hyperelastic response of cubic crystals. We use a complete and irreducible basis of strain invariants to capture the symmetries and non-linearities of the crystal and quantum mechanics calculations to access all the required materials properties. The approach builds on mathematical theories originally developed in the 70s and 80s by Boehler, Spencer, Zheng and Betten, among others, and on the use of quantum mechanics, as implemented in Density Functional Theory (DFT), to solve the governing Schrödinger equations. The proposed constitutive equations enable a unique understanding and an accurate prediction of local elastic fields in cubic-crystals, using a fully general continuum approach, under extreme conditions that are of current scientific interest: response to shock-waves, nano-indentation and loading of ultra-strength materials. We report excellent results obtained in the prediction of the hyperelastic response of aluminum, C-diamond and silicon single-crystals. In particular, for the class of problems pertaining to defect-free single crystals, our approach allows the characterization of the continuum non-linear response of the crystal without the construction of empirical 4 atomic potentials. We discuss the accuracy expected in the prediction of crystal elastic constants using DFT. We highlight the outstanding results obtained for elements such as aluminum, C-diamond and silicon and the still unresolved difficulties in the prediction of the shearing elastic constant C44 of early transition metals such as niobium and vanadium. Finally, we discuss the use of DFT methods to predict crystal properties based on electron-phonon coupling, such as the superconducting critical temperature Tc.by Matteo Francesco Salvetti.Ph.D

A Cost-Effective Person-Following System for Assistive Unmanned Vehicles with Deep Learning at the Edge

The vital statistics of the last century highlight a sharp increment of the average age of the world population with a consequent growth of the number of older people. Service robotics applications have the potentiality to provide systems and tools to support the autonomous and self-sufficient older adults in their houses in everyday life, thereby avoiding the task of monitoring them with third parties. In this context, we propose a cost-effective modular solution to detect and follow a person in an indoor, domestic environment. We exploited the latest advancements in deep learning optimization techniques, and we compared different neural network accelerators to provide a robust and flexible person-following system at the edge. Our proposed cost-effective and power-efficient solution is fully-integrable with pre-existing navigation stacks and creates the foundations for the development of fully-autonomous and self-contained service robotics applications

Generative Adversarial Super-Resolution at the Edge with Knowledge Distillation

Single-Image Super-Resolution can support robotic tasks in environments where a reliable visual stream is required to monitor the mission, handle teleoperation or study relevant visual details. In this work, we propose an efficient Generative Adversarial Network model for real-time Super-Resolution. We adopt a tailored architecture of the original SRGAN and model quantization to boost the execution on CPU and Edge TPU devices, achieving up to 200 fps inference. We further optimize our model by distilling its knowledge to a smaller version of the network and obtain remarkable improvements compared to the standard training approach. Our experiments show that our fast and lightweight model preserves considerably satisfying image quality compared to heavier state-of-the-art models. Finally, we conduct experiments on image transmission with bandwidth degradation to highlight the advantages of the proposed system for mobile robotic applications

Multi-image Super Resolution of Remotely Sensed Images using Residual Feature Attention Deep Neural Networks

Convolutional Neural Networks (CNNs) have been consistently proved state-of-the-art results in image Super-Resolution (SR), representing an exceptional opportunity for the remote sensing field to extract further information and knowledge from captured data. However, most of the works published in the literature have been focusing on the Single-Image Super-Resolution problem so far. At present, satellite based remote sensing platforms offer huge data availability with high temporal resolution and low spatial resolution. In this context, the presented research proposes a novel residual attention model (RAMS) that efficiently tackles the multi-image super-resolution task, simultaneously exploiting spatial and temporal correlations to combine multiple images. We introduce the mechanism of visual feature attention with 3D convolutions in order to obtain an aware data fusion and information extraction of the multiple low-resolution images, transcending limitations of the local region of convolutional operations. Moreover, having multiple inputs with the same scene, our representation learning network makes extensive use of nestled residual connections to let flow redundant low-frequency signals and focus the computation on more important high-frequency components. Extensive experimentation and evaluations against other available solutions, either for single or multi-image super-resolution, have demonstrated that the proposed deep learning-based solution can be considered state-of-the-art for Multi-Image Super-Resolution for remote sensing applications

Action Transformer: A Self-Attention Model for Short-Time Human Action Recognition

Deep neural networks based purely on attention have been successful across several domains, relying on minimal architectural priors from the designer. In Human Action Recognition (HAR), attention mechanisms have been primarily adopted on top of standard convolutional or recurrent layers, improving the overall generalization capability. In this work, we introduce Action Transformer (AcT), a simple, fully self-attentional architecture that consistently outperforms more elaborated networks that mix convolutional, recurrent, and attentive layers. In order to limit computational and energy requests, building on previous human action recognition research, the proposed approach exploits 2D pose representations over small temporal windows, providing a low latency solution for accurate and effective real-time performance. Moreover, we open-source MPOSE2021, a new large-scale dataset, as an attempt to build a formal training and evaluation benchmark for real-time short-time human action recognition. Extensive experimentation on MPOSE2021 with our proposed methodology and several previous architectural solutions proves the effectiveness of the AcT model and poses the base for future work on HAR

Indoor Point-to-Point Navigation with Deep Reinforcement Learning and Ultra-wideband

Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise localization and tracking, but moving obstacles and non-line-of-sight occurrences can generate noisy and unreliable signals. That, combined with sensors noise, unmodeled dynamics and environment changes can result in a failure of the guidance algorithm of the robot. We demonstrate how a power-efficient and low computational cost point-to-point local planner, learnt with deep reinforcement learning (RL), combined with UWB localization technology can constitute a robust and resilient to noise short-range guidance system complete solution. We trained the RL agent on a simulated environment that encapsulates the robot dynamics and task constraints and then, we tested the learnt point-to-point navigation policies in a real setting with more than two-hundred experimental evaluations using UWB localization. Our results show that the computational efficient end-to-end policy learnt in plain simulation, that directly maps low-range sensors signals to robot controls, deployed in combination with ultra-wideband noisy localization in a real environment, can provide a robust, scalable and at-the-edge low-cost navigation system solution.Comment: Accepted by ICAART 2021 - http://www.icaart.org

Position-agnostic autonomous navigation in vineyards with Deep Reinforcement Learning

Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously monitoring and easily accessing crops for harvesting, spraying and performing time-consuming necessary tasks. Nowadays, autonomous navigation algorithms exploit expensive sensors which also require heavy computational cost for data processing. Nonetheless, vineyard rows represent a challenging outdoor scenario where GPS and Visual Odometry techniques often struggle to provide reliable positioning information. In this work, we combine Edge AI with Deep Reinforcement Learning to propose a cutting-edge lightweight solution to tackle the problem of autonomous vineyard navigation with-out exploiting precise localization data and overcoming task-tailored algorithms with a flexible learning-based approach. We train an end-to-end sensorimotor agent which directly maps noisy depth images and position-agnostic robot state information to velocity commands and guides the robot to the end of a row, continuously adjusting its heading for a collision-free central trajectory. Our extensive experimentation in realistic simulated vineyards demonstrates the effectiveness of our solution and the generalization capabilities of our agent

An Adaptive Row Crops Path Generator with Deep Learning Synergy

The autonomous navigation of agricultural field machines strongly depends on the global path generation system. Indeed, a correct and effective path construction heavily influences the overall navigation stack compromising the successfulness of the robot mission. However, the most commonly used search algorithms struggle to adapt to environments where a significant prior knowledge of the domain is not negligible. Despite this crucial factor, path generation for row-based crops has received little attention from the research community so far. The proposed research introduces a novel global path planning system that works in synergy with a deep learning model to provide an accurate and centered path with respect to the rows of the analyzed crop. It guarantees the full coverage of the given occupancy grid with less processing time compared to other available literature solutions. Moreover, the presented methodology can detect an anomaly in the path generation and provide the hypothetical user feedback of the missing full coverage of the given crop. Indeed, especially in a practical application, the correct coverage and centrality of the path are essential for effective autonomous navigation. Experimentation with synthetic and real-world satellite occupancy grid maps clearly show the advantages of the proposed methodology and its intrinsic robustness

Novel homozygous GBA2 mutation in a patient with complicated spastic paraplegia

Hereditary spastic paraplegias (HSPs) are a heterogeneous group of neurological disorders characterized primarily by a pyramidal syndrome with lower limb spasticity, which can manifest as pure HSP or associated with a number of neurological or non-neurological signs (i.e., complicated HSPs). The clinical variability of HSPs is associated with a wide genetic heterogeneity, with more than eighty causative genes known. Recently, next generation sequencing (NGS) has allowed increasing genetic definition in such a heterogeneous group of disorders. We report on a 56- year-old man affected by sporadic complicated HSP consisting of a pyramidal syndrome, cerebellar ataxia, congenital cataract, pes cavus, axonal sensory-motor peripheral neuropathy and cognitive decline. Brain MRI showed cerebellar atrophy and thin corpus callosum. By NGS we found a novel homozygous biallelic c.452-1G > C mutation in the b-glucosidase 2 gene (GBA2), known to be causative for autosomal recessive hereditary spastic paraplegia type 46 (SPG46). The rarity of this inherited form besides reporting on a novel mutation, expands the genetic and clinical spectrum of SPG46 related HSP