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Respiratory rate can be a vital indicator of illness; however, tracking this is a non-trivial process. Phase-based Eulerian Video Magnification (EVM) is an exciting spatiotemporal video processing approach able to reveal subtle breathing motions within video sequences; however, its results are variant to large motions and camera blur. In the case of camera motion, a compensation strategy of stabilizing...
Research into the kinematic training of elite divers shows a demand for diver training using biomechanical feedback. With suitable inertial data and tactile feedback, divers and their coaches could better understand their dives and failure modes. This would help improve technique and reduce fatigue during both training and competition, resulting in higher quality dives. We developed the Diving Coach...
We describe an interactive approach for visual object analysis which exploits the ability of a robot to manipulate its environment. Knowledge of objects' mechanical properties is important in a host of robotics tasks, but their measurement can be impractical due to perceptual or mechanical limitations. By applying a periodic stimulus and matched video filtering and analysis pipeline, we show that...
Summary This paper describes an algorithm that tracks and localizes a helicopter using a ground-based trinocular camera array. The three cameras are placed independently in an arbitrary arrangement that allows each camera to view the helicopter’s flight volume. The helicopter then flies an unplanned path that allows the cameras to self-survey utilizing an algorithm based on structure from motion and...
Operations with flexible, compliant manipulators over large workspaces relative to the manipulator are complicated by noise, vibration, and measurement bias. These difficulties are compounded in unstructured environments, such as those encountered in humanitarian demining. By taking advantage of the static structure of the terrain and the manipulator’s fundamental mechanical characteristics, a series...
For a mechanical system it often arises that its planned motion will need to be corrected either to refine an approximate plan or to deal with disturbances. This paper develops an algorithmic framework allowing for fast and elegant path correction for nonholonomic underactuated systems with Lie group symmetries, which operates without the explicit need for control strategies. These systems occur frequently...
We investigate the effect of sensorimotor delay on the pursuit and interception control strategies in the context of robotics. A first-order lead-lag model is introduced to model interception as observed in nature. This model was studied via extensive simulations that incorporate both a sensorimotor delay and a compensatory feedforward controller, allowing examination of the effects of various sensorimotor...
For agile, accurate autonomous robotics, it is desirable to plan motion in the presence of uncertainty. The Partially Observable Markov Decision Process (POMDP) provides a principled framework for this. Despite the tremendous advances of POMDP-based planning, most can only solve problems with a small and discrete set of actions. This paper presents General Pattern Search in Adaptive Belief Tree (GPS-ABT),...
Legged robots offer the potential of locomotion across various types of terrains. Different terrains require different gait patterns to enable greater traversal efficiency. Consequently, as a legged robot transitions from one type of terrain to another, the gait pattern should be adapted so as to maximise traction and energy efficiency. This paper explores the use of power consumption as estimated...
This paper introduces autonomous sorting of moving coins via a robot as a multi-level task that supports the principled study of robotics fundamentals including kinematics, dynamics, perception, motion planning, controls, and optimization based around a widely obtainable, standardized, low-cost object (a coin). The paper also presents a demonstrated solution to this in the form of the CHARM (Coin...
From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP. The paper discusses the utility of a portable and flexible simulation framework...
Air conditioning systems are generally the largest systems in a home, both physically and energetically, and thus central to home automation efforts. Finding a balance between user comfort and efficiency is a complex problem given the considerable variation present. This paper focuses on comfort, as opposed to absolute temperature, as gauged using simple, sparse user inputs. A thermal model of the...
This paper presents a novel approach for constructing light-weight, low-cost air-deployable sensor modules and miniature unmanned aerial vehicles which consist of printed circuit boards as integrated electronic, structural and aerodynamic lift-producing devices. In this way, each aircraft can be a single-piece, single-manufacturing step assembly, reducing materials, processing and labour costs. This...
Operational space control has a number of desirable characteristics but is sensitive to model accuracy. For heavy machines the dynamics are difficult to model due to their friction and dynamic coupling, thus making full compensation imprecise. This work presents an approach in which a simplified model gives partial compensation via an open-loop feedforward input, pre-calculated in forward simulation...
Operational space control has a number of desirable characteristics but is sensitive to model accuracy. For heavy machines the dynamics are difficult to model due to their friction and dynamic coupling, thus making full compensation imprecise. This work presents an approach in which a simplified model gives partial compensation via an open-loop feedforward input, pre-calculated in forward simulation...
Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian positional traces. A continuous probabilistic function is determined using Gaussian process learning and used to infer the direction a robot should take in different parts of the environment...
Model uncertainty complicates most kinodynamic motion planning and control approaches due to their reliance on accurate forward prediction. If the model uncertainty is significant, a generated path or control strategy based on forward simulation of this model is potentially invalid and expensive to track (if possible). This paper explores the use of system identification/estimation to tune model parameters...
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