TRAIL Team Description Paper for RoboCup@Home 2023

Our team, TRAIL, consists of AI/ML laboratory members from The University of Tokyo. We leverage our extensive research experience in state-of-the-art machine learning to build general-purpose in-home service robots. We previously participated in two competitions using Human Support Robot (HSR): RoboCup@Home Japan Open 2020 (DSPL) and World Robot Summit 2020, equivalent to RoboCup World Tournament. Throughout the competitions, we showed that a data-driven approach is effective for performing in-home tasks. Aiming for further development of building a versatile and fast-adaptable system, in RoboCup @Home 2023, we unify three technologies that have recently been evaluated as components in the fields of deep learning and robot learning into a real household robot system. In addition, to stimulate research all over the RoboCup@Home community, we build a platform that manages data collected from each site belonging to the community around the world, taking advantage of the characteristics of the community

Observing System Simulation Experiment to Reproduce Kelvin Wave in the Venus Atmosphere

Planetary-scale 4-day Kelvin-type waves at the cloud top of the Venus atmosphere have been reported from the 1980s, and their significance for atmospheric dynamics has been pointed out. However, these waves have not been reproduced in Venus atmospheric general circulation models (VGCMs). Recently, horizontal winds associated with the planetary-scale waves at the cloud top have been obtained from cloud images taken by cameras onboard Venus orbiters, which could enable us to clarify the structure and roles of Kelvin-type waves. In order to examine this possibility, our team carried out an idealized observing system simulation experiment (OSSE) with a data assimilation system which we developed. The wind velocity data provided by a CCSR/NIES (Center for Climate System Research/National Institute for Environmental Studies) VGCM where equatorial Kelvin-type waves were assumed below the cloud bottom was used as idealized observations. Results show that 4-day planetary-scale Kelvin-type waves are successfully reproduced if the wind velocity between 15° S and 15° N latitudes is assimilated every 6 h at 70 km altitude. It is strongly suggested that the Kelvin-type waves could be reproduced and investigated by the data assimilation with the horizontal wind data derived from Akatsuki ultraviolet images. The present results also contribute to planning future missions for understanding planetary atmospheres

Kelvin Wave and Its Impact on the Venus Atmosphere Tested by Observing System Simulation Experiment

At the cloud top of the Venus atmosphere, equatorial Kelvin waves have been observed and are considered to play an important role in the super-rotation. We were able to reproduce the wave in a general circulation model (GCM) by conducting an observing system simulation experiment (OSSE) with the help of a data assimilation system. The synthetic horizontal winds of the Kelvin wave produced by the linear wave propagating model are assimilated at the cloud top (~70 km) in realistic conditions, assuming they are obtained from cloud tracking of ultra-violet images (UVI) taken by the Venus orbiters. It is demonstrated using Eliassen–Palm (EP) fluxes that the reproduced Kelvin wave transports angular momentum and plays an important role in the magnitude and structure of the super-rotation, causing the acceleration and deceleration of zonal wind of ~0.1 m/s day−1. The conditions required in order to reproduce the Kelvin wave have also been investigated. It is desirable to have 24 hourly dayside satellite observations in an equatorial orbit, such as the Akatsuki Venus climate orbiter. The results of this type of data assimilation study will be useful in the planning of future observation missions to the atmospheres of planets

Kelvin Wave and Its Impact on the Venus Atmosphere Tested by Observing System Simulation Experiment

At the cloud top of the Venus atmosphere, equatorial Kelvin waves have been observed and are considered to play an important role in the super-rotation. We were able to reproduce the wave in a general circulation model (GCM) by conducting an observing system simulation experiment (OSSE) with the help of a data assimilation system. The synthetic horizontal winds of the Kelvin wave produced by the linear wave propagating model are assimilated at the cloud top (~70 km) in realistic conditions, assuming they are obtained from cloud tracking of ultra-violet images (UVI) taken by the Venus orbiters. It is demonstrated using Eliassen–Palm (EP) fluxes that the reproduced Kelvin wave transports angular momentum and plays an important role in the magnitude and structure of the super-rotation, causing the acceleration and deceleration of zonal wind of ~0.1 m/s day−1. The conditions required in order to reproduce the Kelvin wave have also been investigated. It is desirable to have 24 hourly dayside satellite observations in an equatorial orbit, such as the Akatsuki Venus climate orbiter. The results of this type of data assimilation study will be useful in the planning of future observation missions to the atmospheres of planets