195,999 research outputs found
Conditional Behavior Trees: Definition, Executability, and Applications
No full textBehavior Trees (BTs) are gaining acceptance in robotics to specify action policies at the deliberative level. Their advantages include modularity, ease of use and increasing tool support. In this paper, we define Conditional Behavior Trees (CBTs) as an extension of BTs wherein actions are decorated considering pre-and post-conditions. CBTs improve on basic BTs in that they enable monitoring the execution of single actions by checking pre-and post-conditions, respectively. Since there might exist action sequences wherein some preconditions are violated, CBT executability may depend on the success/failure of specific actions. We developed an encoding of CBT executability into satisfiability of propositional formulas to be checked off-line in a publicly-available tool that computes the encoding for generic CBTs. For the kind of application scenarios and related behavior specifications that we consider, we show that our approach is effective and yields formal guarantees about the executability of deliberative policies designed as CBTs
Towards Confidence-guided Shape Completion for Robotic Applications
No full textMany robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only provide incomplete information due to limited workspaces, clutter or object self-occlusion. In recent years, deep learning architectures for shape completion have begun taking traction as effective means of inferring a complete 3D object representation from partial visual data. Nevertheless, most of the existing state-of-The-Art approaches provide a fixed output resolution in the form of voxel grids, strictly related to the size of the neural network output stage. While this is enough for some tasks, e.g. obstacle avoidance in navigation, grasping and manipulation require finer resolutions and simply scaling up the neural network outputs is computationally expensive. In this paper, we address this limitation by proposing an object shape completion method based on an implicit 3D representation providing a confidence value for each reconstructed point. As a second contribution, we propose a gradient-based method for efficiently sampling such implicit function at an arbitrary resolution, tunable at inference time. We experimentally validate our approach by comparing reconstructed shape with ground truth, and by deploying our shape completion algorithm in a robotic grasping pipeline. In both cases, we compare results with a state-of-The-Art shape completion approach. The code is available at https://github.com/andrearosasco/hyperpcr
Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies
No full textIn this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected robot behaviors. To this end, we consider a message-passing model that accommodates both synchronous and asynchronous composition of parallel components, in which BTs and other components execute and interact according to the communication patterns commonly adopted in robotic software architectures. We introduce a formal property specification language to encode requirements and build runtime monitors. We performed a set of experiments, both on simulations and on the real robot, demonstrating the feasibility of our approach in a realistic application and its integration in a typical robot software architecture. We also provide an OS-level virtualization environment to reproduce the experiments in the simulated scenario
Learning Linear Temporal Properties for Autonomous Robotic Systems
No full textThe problem of passive learning of linear temporal logic formulae consists in finding the best explanation for how two sets of execution traces differ, in the form of the shortest formula that separates the two sets. We approach the problem by implementing an exhaustive search algorithm optimized for execution speed. We apply it to the use-case of a robot moving in an unstructured environment as its battery discharges, both in simulation and in the real world. The results of our experiments confirm that our approach can learn temporal formulas explaining task failures in a case of practical interest
Dr. Duane M. Jackson, Morehouse College, July 2011
No full textThis video is a conversation with Dr. Duane M. Jackson. Dr. Jackson talks about his paper, "Recall and the Serial Position Effect: The Role of Primacy and Recency on Accounting Students' Performance." Jackie Daniel, AUC Woodruff Library, is the interviewer
"Reflections on the subject of Emigration from Europe with a view to Settlement in the United States" By M. Carey.
No full text"Reflections on the subject of Emigration from Europe with a view to Settlement in the United States: containing bried sketches of the moral and political character of those states.
By M. Carey, member of the American philosophical, and of the American Antiquarian Society, and author of The Olive Branch, Cindiciae Hibernicae, essays on banking, on political economy, and on internal improvement.
To which are now added the English editor's comments on the subject; together with Important Advice to Emigrants, and Cautions Against Impositions Practiced in the Outports
Dispelling the Myths Behind First-author Citation Counts
No full textWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
Dr. Glendon Swarthout
No full textHosted by Roger M. Busfield, MSU Assistant Professor of Speech and Theater, Meet the Author is designed to introduce a general audience to a contemporary author and their work through in-depth interviews. This episode features a conversation between Dr. Glendon Swarthout, prolific author and English professor at MSU, and assistant professors Sam S. Baskett and Theodore B. Strandness
Simulation of thermal plant optimization and hydraulic aspects of thermal distribution loops for large campuses
No full textFollowing an introduction, the author describes Texas A&M University and its utilities system. After that, the author presents how to construct simulation models for chilled water and heating hot water distribution systems. The simulation model was used in a $2.3 million Ross Street chilled water pipe replacement project at Texas A&M University. A second project conducted at the University of Texas at San Antonio was used as an example to demonstrate how to identify and design an optimal distribution system by using a simulation model. The author found that the minor losses of these closed loop thermal distribution systems are significantly higher than potable water distribution systems. In the second part of the report, the author presents the latest development of software called the Plant Optimization Program, which can simulate cogeneration plant operation, estimate its operation cost and provide optimized operation suggestions. The author also developed detailed simulation models for a gas turbine and heat recovery steam generator and identified significant potential savings. Finally, the author also used a steam turbine as an example to present a multi-regression method on constructing simulation models by using basic statistics and optimization algorithms. This report presents a survey of the author??s working experience at the Energy Systems Laboratory (ESL) at Texas A&M University during the period of January 2002 through March 2004. The purpose of the above work was to allow the author to become familiar with the practice of engineering. The result is that the author knows how to complete a project from start to finish and understands how both technical and nontechnical aspects of a project need to be considered in order to ensure a quality deliverable and bring a project to successful completion. This report concludes that the objectives of the internship were successfully accomplished and that the requirements for the degree of Degree of Engineering have been satisfied
Intern experience at CH���M Hill, Inc.: an internship report
No full textIncludes author's vita"Submitted to the College of Engineering of Texas A&M University in partial
fulfillment of the requirement for the degree of Doctor of Engineering."Includes bibliographical referencesA review of the author's internship experience with CH���M HILL, Inc.
during the period September 1975 through May 1976 is presented. During this nine month
internship the author worked as an Engineer II in the Industrial Processes discipline of this
large consulting engineering firm... The author's prime responsibility was as one of three
lead design engineers on the design of a large wastewater treatment facility for a pulp mill
in Hoquiam, Washington owned by ITT Rayonier Inc. The work generally consisted of the design
of individual treatment units and associated piping and pumping. The purpose of the project
was to provide wastewater treatment capabilities that would satisfy the effluent limitations
(standards) imposed upon the mill by the State of Washington Department of Ecology and the
U.S. Environmental Protection Agency. The author's assignment also entailed necessary
interaction with the project manager and other CH���M HILL design engineers and support staff
members, the client's representatives, and representatives of two other consulting engineering
firms working on the project. Thus, the internship position at CH���M HILL provided considerable
experience coordinating the author's work with the work of other engineers, guiding the design
and administrative efforts of a support staff, and interacting regularly with the client and
other consulting firms. This broad exposure to a variety of engineering and organizational
problems provided a valuable educational experience
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