Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage

One of the most important tasks for an autonomous robot is figuring out how to move from its current position and orientation to a new position and orientation. Despite significant progress in this area, active research is constantly looking for better ways to plan paths and traverse them. A specific type of path planning called coverage creates a path so that when the robot traverses the path its footprint covers the entire space. Most classical path planning and coverage path planning algorithms have some form of decomposition method for the target space. This work aims to provide a general way to decompose and represent the space so that it can be used both for classical path planning and for coverage. This work accomplishes the aim through using circle packing to tile a space with tangent circles that are the same size as the robot that will traverse the path. These circles are then converted into a planar graph which can be used for path planning and for coverage. The representation created by this decomposition uses less memory than traditional decomposition methods in practice and allows for shorter paths with less curvature to be created in most situations. These statements are shown to hold true for both planning a path between two points in an environment and planning a path to cover the entire environment

Interleaving Allocation, Planning, and Scheduling for Heterogeneous Multi-Robot Coordination through Shared Constraints

In a wide variety of domains, such as warehouse automation, agriculture, defense, and assembly, effective coordination of heterogeneous multi-robot teams is needed to solve complex problems. Effective coordination is predicated on the ability to solve the four fundamentally intertwined questions of coordination: what (task planning), who (task allocation), when (scheduling), and how (motion planning). Owing to the complexity of these four questions and their interactions, existing approaches to multi-robot coordination have resorted to defining and solving problems that focus on a subset of the four questions. Notable examples include Task and Motion Planning (what and how), Multi-Agent Planning (what and who), and Multi-Agent Path Finding (who and how). In fact, a holistic problem formulation that fully integrates the four questions lies beyond the scope of prior literature. This dissertation focuses on examining the use of shared constraints on tasks and robots to interleave algorithms for task planning, task allocation, scheduling, and motion planning and investigating the hypothesis that a framework that interleaves algorithms to these four sub-problems will lead to solutions with lower makespans, greater computational efficiency, and the ability to solve larger problems. To support this claim, this dissertation contributes: (i) a novel temporal planner that interleaves task planning and scheduling layers, (ii) a trait-based time-extended task allocation framework that interleaves task allocation, scheduling, and motion planning, (iii) the formulation of holistic heterogeneous multi-robot coordination problem that simultaneously considers all four questions, (iv) a framework that interleaves layers for all four questions to solve this holistic heterogeneous multi-robot coordination problem, (v) a scheduling algorithm that reasons about temporal uncertainty, provides a theoretical guarantee on risk, and can be utilized within our framework, and (vi) a learning-based scheduling algorithm that reasons about deadlines and can be utilized within our framework.Ph.D

Spatial calibration of an optical see-through head-mounted display

We present here a method for calibrating an optical see-through Head Mounted Display (HMD) using techniques usually applied to camera calibration (photogrammetry). Using a camera placed inside the HMD to take pictures simultaneously of a tracked object and features in the HMD display, we could exploit established camera calibration techniques to recover both the intrinsic and extrinsic properties of the~HMD (width, height, focal length, optic centre and principal ray of the display). Our method gives low re-projection errors and, unlike existing methods, involves no time-consuming and error-prone human measurements, nor any prior estimates about the HMD geometry

BFpack: Flexible Bayes Factor Testing of Scientific Theories in R

There have been considerable methodological developments of Bayes factors for hypothesis testing in the social and behavioral sciences, and related fields. This development is due to the flexibility of the Bayes factor for testing multiple hypotheses simultaneously, the ability to test complex hypotheses involving equality as well as order constraints on the parameters of interest, and the interpretability of the outcome as the weight of evidence provided by the data in support of competing scientific theories. The available software tools for Bayesian hypothesis testing are still limited however. In this paper we present a new R package called BFpack that contains functions for Bayes factor hypothesis testing for the many common testing problems. The software includes novel tools for (i) Bayesian exploratory testing (e.g., zero vs positive vs negative effects), (ii) Bayesian confirmatory testing (competing hypotheses with equality and/or order constraints), (iii) common statistical analyses, such as linear regression, generalized linear models, (multivariate) analysis of (co)variance, correlation analysis, and random intercept models, (iv) using default priors, and (v) while allowing data to contain missing observations that are missing at random

Physical and Genetic Structure of the Maize Genome Reflects Its Complex Evolutionary History

Maize (Zea mays L.) is one of the most important cereal crops and a model for the study of genetics, evolution, and domestication. To better understand maize genome organization and to build a framework for genome sequencing, we constructed a sequence-ready fingerprinted contig-based physical map that covers 93.5% of the genome, of which 86.1% is aligned to the genetic map. The fingerprinted contig map contains 25,908 genic markers that enabled us to align nearly 73% of the anchored maize genome to the rice genome. The distribution pattern of expressed sequence tags correlates to that of recombination. In collinear regions, 1 kb in rice corresponds to an average of 3.2 kb in maize, yet maize has a 6-fold genome size expansion. This can be explained by the fact that most rice regions correspond to two regions in maize as a result of its recent polyploid origin. Inversions account for the majority of chromosome structural variations during subsequent maize diploidization. We also find clear evidence of ancient genome duplication predating the divergence of the progenitors of maize and rice. Reconstructing the paleoethnobotany of the maize genome indicates that the progenitors of modern maize contained ten chromosomes

Unusual Regulation of a Leaderless Operon Involved in the Catabolism of Dimethylsulfoniopropionate in Rhodobacter sphaeroides

Rhodobacter sphaeroides strain 2.4.1 is a widely studied bacterium that has recently been shown to cleave the abundant marine anti-stress molecule dimethylsulfoniopropionate (DMSP) into acrylate plus gaseous dimethyl sulfide. It does so by using a lyase encoded by dddL, the promoter-distal gene of a three-gene operon, acuR-acuI-dddL. Transcription of the operon was enhanced when cells were pre-grown with the substrate DMSP, but this induction is indirect, and requires the conversion of DMSP to the product acrylate, the bona fide co-inducer. This regulation is mediated by the product of the promoter-proximal gene acuR, a transcriptional regulator in the TetR family. AcuR represses the operon in the absence of acrylate, but this is relieved by the presence of the co-inducer. Another unusual regulatory feature is that the acuR-acuI-dddL mRNA transcript is leaderless, such that acuR lacks a Shine-Dalgarno ribosomal binding site and 5′-UTR, and is translated at a lower level compared to the downstream genes. This regulatory unit may be quite widespread in bacteria, since several other taxonomically diverse lineages have adjacent acuR-like and acuI-like genes; these operons also have no 5′ leader sequences or ribosomal binding sites and their predicted cis-acting regulatory sequences resemble those of R. sphaeroides acuR-acuI-dddL

2007, Physical and genetic structure of the maize genome reflects its complex evolutionary history, PLoS

Maize (Zea mays L.) is one of the most important cereal crops and a model for the study of genetics, evolution, and domestication. To better understand maize genome organization and to build a framework for genome sequencing, we constructed a sequence-ready fingerprinted contig-based physical map that covers 93.5% of the genome, of which 86.1% is aligned to the genetic map. The fingerprinted contig map contains 25,908 genic markers that enabled us to align nearly 73% of the anchored maize genome to the rice genome. The distribution pattern of expressed sequence tags correlates to that of recombination. In collinear regions, 1 kb in rice corresponds to an average of 3.2 kb in maize, yet maize has a 6-fold genome size expansion. This can be explained by the fact that most rice regions correspond to two regions in maize as a result of its recent polyploid origin. Inversions account for the majority of chromosome structural variations during subsequent maize diploidization. We also find clear evidence of ancient genome duplication predating the divergence of the progenitors of maize and rice. Reconstructing the paleoethnobotany of the maize genome indicates that the progenitors of modern maize contained ten chromosomes. Citation: Wei F, Coe E, Nelson W, Bharti AK, Engler F, et al. (2007) Physical and genetic structure of the maize genome reflects its complex evolutionary history. PLoS Genet 3(7): e123

Using Skeletons for Void Filling in Large-Scale Additive Manufacturing

In additive manufacturing (AM), slicing software is used to generate tool paths that are then converted to G-Code, which tells the 3D printer how to build a part. Toolpaths are generated using closed-loop paths. Sometimes the space left for a closed-loop is not sized perfectly. This can lead to overfill or underfill issues. Therefore, skeletonization of a polygon seeks to resolve this issue by creating an open-loop path to fill the voids between adjacent toolpaths. A straight skeleton was used to explore this work. Straight skeletonization represents the topological skeleton of a shape through line segments. After skeletonization, the extrusion rate can be varied to adjust bead width more precisely to fill the gap.Mechanical Engineerin