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In this paper, we consider the problem of generating control policies for a team of robots moving in an environment containing elements with probabilistic behaviors. The team is required to achieve an optimal surveillance mission, in which a certain proposition needs to be satisfied infinitely often. The goal is to minimize the average time between satisfying instances of the proposition, while ensuring...
A systematic process for eliciting safety trigger conditions is presented. Starting from a risk analysis of the monitored system, critical transitions to catastrophic system states are identified and handled in order to specify safety margins on them. The conditions for existence of such safety margins are given and an alternative solution is proposed if no safety margin can be defined. The proposed...
This paper studies an interactive learning system that couples internally guided learning and social interaction for robot learning of motor skills. We present Socially Guided Intrinsic Motivation with Interactive learning at the Meta level (SGIM-IM), an algorithm for learning forward and inverse models in high-dimensional, continuous and non-preset environments. The robot actively self-determines:...
Snap assembly automation remains a challenging task. While progress is being made in localization of parts, force controllers, and control strategies, little work has been done to help the robot reason about its current state, such that if necessary, the robot can assume corrective actions to accomplish the task. Error prone situations caused by the unexpected motion of parts, localization errors,...
We describe a method for learning planning operators for manipulation tasks from hand-written programs to provide a high-level command interface to a robot manipulator that allows tasks to be specified simply as goals. This is made challenging by the fact that a manipulator is a hybrid system—any model of it consists of discrete variables such as “holding cup” and continuous variables such as the...
This paper presents an embedded service oriented monitoring approach to enhance awareness of energy consumption at the shop floor and Manufacturing Execution System levels in factories. Appropriate aggregation of information allows fulfilling the needs of personnel having different levels of responsibility and knowledge. The method is applied on a real industrial testbed, originally utilized for mobile...
This paper presents the steps taken to retrofit a real multi robot factory automation testbed to achieve increased flexibility, reconfigurability and awareness of assets including energy-relevant, safety-relevant and quality-relevant parameters. Most changes made can be replicated on similar discrete manufacturing settings, as the leveraging technology is Web Services deploying Service Oriented Architecture...
The number of elderly population is increasing worldwide and often they need assistance in their daily activities. In many situations, these elders are placed in elderly care facilities in order to receive continuous assistance from the human caregivers. The caregivers usually keep a watchful eye on the elders and help them in their activities of daily living. However, study shows that the human caregivers...
This paper is concerned with the pursuit problem of indoor pursuit-evasion games (PEGs) with multiple pursuers and one fast evader. The system is implemented in multiple mobile robots with the ability of wireless communication. A model of the pursuit problem of fast evader in indoor PEGs is presented to consider the case that the exact position of evader is unavailable to the pursuers. To solve this...
This paper describes the development of an robotic helicopter for monitoring pollution and habitat in natural reserves. The particular environment under investigation is Tijuana River Estuary (TRE) south of the city of San Diego on the US-Mexico border. The ecology of TRE is briefly reviewed and the motivation for using an robotic helicopter is discussed. Next the application of aerial imaging to...
In this paper we propose a design using multiple remotely enhanced hand-computer interaction devices (REHCID) to design a real-time breathing detection system. Due to the restricted detection angle of our previously proposed system, unstable detection can be encountered when patients turn the body over. Our new REHCID placed on both sides of the bed allow the system to detect the patient's breathing...
This paper presents an on-line system used for monitoring power quality, transferred from producers up to distributors on the Romanian energy market. The system allow the analysis of methods and means for making all maintenance works inside transformer power stations, belonging to TRANSELECTRICA S.A., the National Company for Power Transport, at high efficiency. Monitoring the power quality indicators,...
This paper introduces a new test statistic that can detect systematic errors in vision systems. This can be used for integrity monitoring of vision navigation systems. Current integrity monitoring methods look for agreement among the measurements from a camera. This method looks for agreement between separate cameras. If the measurements do not agree then a parameter of one of the cameras has changed...
Following students' progress in robotics classes is difficult because student groups usually take different and unpredictable paths in problem solving. To improve teachers' possibilities for intervention at the right time, Open Monitoring Environment allows the teacher to monitor and model the learning process based on the data rising from the current learning setting. Since the amount of data that...
The behaviour of self adaptive systems can be emergent. The difficulty in predicting the system's behaviour means that there is scope for the system to surprise its customers and its developers. Because its behaviour is emergent, a self-adaptive system needs to garner confidence in its customers and it needs to resolve any surprise on the part of the developer during testing and mainteinance. We believe...
From our ethnographic studies on various kinds of museums, we discovered that guides routinely propose questions to visitors in order to draw their attention towards both his/her explanation and the exhibit. The guides' question sequences tend to begin with a pre-question which serves to not only monitor visitors' behavior and responses, but to also alert visitors that a primary question would follow...
Ant Colony Optimization (ACO) is used to solve problems with multiple objectives. Various extensions have been implemented to the traditional approach to improve algorithm performance or quality of solutions. In this paper we propose a novel ACO-based method that involves heterogeneity and hierarchy in the area of automated meal plans. The hierarchy consists of 2 levels: at the first there are ants...
Clips from an evaluation where participants, each paired with either a human or robot partner, were deployed to search a hallway for suspicious items, in a manner similar to tactics used by first responders handling bomb threats are presented. The teams used natural, verbal communication to collaborate, determine where hazards were located, and which items were suspicious. The video demonstrates that...
We present a robotic control system endowed with attentional mechanisms suitable for balancing the trade off between safe human-robot interaction and effective task execution. These mechanisms allow the robot to increase or decrease the degree of attention toward relevant activities modulating the frequency of the monitoring rate and the speed associated to the robot movements. In this framework,...
The objective of the SHE Project is to develop a solution for the Digital Home users allowing a progressive reduction in the electrical consumption in the home as well as encouraging a more appropriate and rational use of electric energy. With this objective, a platform for energetic management will be designed and developed. It will offer a cloud service which shelters the information for a progress...
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