31161437
An adaptive mobility system for the disabled
A proof-of-concept prototype walking chair for the disabled is proposed with the objective of demonstrating the feasibility of a completely new approach to mobility. Our prototype system consists of a chair equipped with wheels and legs and is capable of walking on uneven terrain and circumventing obstacles. The important design considerations, the system design and an experimental prototype of a chair, are discussed. Redundancy in actuation enables the online optimization of tractive forces which enhances the adaptability of the system.<<ETX>>
29516211
Control of Contact Interactions with Acatastatic Nonholonomic Constraints
A robot arm performs many tasks by interacting with objects or other robots in the environment. It is important for the robot arm to be able to exhibit controlled interactions with the objects and other robots. The contact motion between the robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling contact between the robot arm and an external moving object. We assume that a nominal model of the motion of the moving object is available. The dynamic system that characterizes the motion of the robot arm and the moving object in this case is acatastatic and nonholonomic. We have designed a nonlinear feedback for the control of such a system that successfully maintains rolling contact. Simulation results are presented to demonstrate the effectiveness of the system.
5542960
Metrics for analysis and optimization of grasps and fixtures
We develop two quality measures for the analysis and optimization of grasps and fixtures. The first metric is a measure of stability and is obtained by analyzing the effect of small perturbations in the position of the grasped object or small disturbance forces on the grasped object The second metric is a measure of robustness to errors in the positions of the fixture elements. In addition, we explore the effect that the stiffness of the fixture elements has on these two quality measures and propose a design optimization approach to maximize stability and robustness to errors.
6879835
Calibrating an air-ground control system from motion correspondences
In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.
7023425
A Paradigm for Dynamic Coordination of Multiple Robots
In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.
15738427
A potential field based approach to multi-robot manipulation
We describe a framework for controlling and coordinating a group of robots for cooperative manipulation tasks. The framework enables a decentralized approach to planning and control. It allows the robots to approach the object, organize themselves into a formation that will trap the object, and then transport the object to the desired destination. Our controllers and planners are derived from simple potential fields and the hierarchical composition of potential fields. We show how these potential field based controllers and planners benefit complex group interactions, specifically for manipulating and transporting objects in the plane. Theoretically, we show how we can derive results on formation stability with potential field based controllers in many cases. Simulation results demonstrate successful application to a wide range of examples without showing sensitivity to parameters. Because the framework is decentralized at both trajectory generation level and the estimation and control agent level, our framework can potentially scale to groups of tens and hundreds of robots.
5947607
Enhancing data analysis with noise removal
Removing objects that are noisy is an important goal of data cleaning as noise hinders most types of data analysis. Most existing data cleaning methods focus on removing noise that is the product of low-level data errors that result from an imperfect data collection process, but data objects that are irrelevant or only weakly relevant can also significantly hinder data analysis. Thus, if the goal is to enhance the data analysis as much as possible, these objects should also be considered as noise, at least with respect to the underlying analysis. Consequently, there is a need for data cleaning techniques that remove both types of noise. Because data sets can contain large amounts of noise, these techniques also need to be able to discard a potentially large fraction of the data. This paper explores four techniques intended for noise removal to enhance data analysis in the presence of high noise levels. Three of these methods are based on traditional outlier detection techniques: distance-based, clustering-based, and an approach based on the local outlier factor (LOF) of an object. The other technique, which is a new method that we are proposing, is a hyperclique-based data cleaner (HCleaner). These techniques are evaluated in terms of their impact on the subsequent data analysis, specifically, clustering and association analysis. Our experimental results show that all of these methods can provide better clustering performance and higher quality association patterns as the amount of noise being removed increases, although HCleaner generally leads to better clustering performance and higher quality associations than the other three methods for binary data.
43139382
Data in Your Space
We envision a fully connected data space where flow of data between any two points, is continuous In this paper we discuss the research and development activities for managing this data flow and present our solutions to some of the problems in the areas of mobility, broadcast, web, and security.
34436430
An Integrated Data Structure with Multiple Access Paths for Database Systems and its Performance
Abstract In the past a number of file organizations have been proposed for processing different types of queries efficiently. To our knowledge none of the existing file organizations is capable of supporting all types of accesses equally efficiently. In this paper we have taken a different approach for designing an integated data structure which offers multiple access paths for processing different types of queries efficiently. The data structure reported here can be implemented on disk based as well as main memory database systems, however, in this paper we report its behavior mainly in main memory database environment. Our approach is to fuse those data structures which offer an efficient access paths for a particular type. To show the feasibility of our scheme we fused the B+-tree, the grid file and extendible hashing structures, using a proper interface. We implemented and measured its performance through simulation modeling. Our results show that the data structure does improve concurrency and offers a higher throughput for a variety of transaction processing workloads. We argue that our scheme is different than creating secondary indexes for improving concurrency. In the absence of a data strucure which can provide all types of access equally efficiently, an integrated data structure is an acceptable solution which offers an efficient way for increasing the performance of database management systems.
33192154
Performance measurement of some main memory database recovery algorithms
The performance of two main-memory database system (MDBS) algorithms is studied. M.H. Eich's (Proc. of the Fifth Int. Workshop on Database Machines., Oct. 1987) and T.J. Lehman's (Ph. D. Thesis, Univ. of Wisconsin-Madison, Aug 1986) algorithms are selected for this study. The investigation indicates that the shadow approach, as used by Eich, has some advantages over the update in-place strategy of Lehman. The shadow approach has faster response for normal transactions even though transaction commit is slower compared to update in-place approach. It is concluded that irrespective of the recovery algorithm an efficient load balancing plays an important part in the performance of the system. It is suggested that processors should be allocated to any kind of activity on a demand basis. It is discovered that individual recovery of lockable units as used in Lehman's algorithm is a better choice since it increases the system availability after a system failure. It also allows background recovery to go in parallel to normal transaction processing.<<ETX>>
15030712
Impact of mobility on transaction management
We examine the impact of mobility on three different options to managing mobile transactions. Using an analytic performance study we show that no one management approach is always the best and that the performance is impacted by the location management strategy used. The primary objective of this work is to illustrate that the underlying implementation strategies do indeed impact mobile transaction processing and should be considered when proposing mobile transaction processing techniques.