Mobile robot localization with gyroscope and constrained Kalman filter

The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However, results from conventional Kalman filtering methods that use a gyroscope with odometry can unfeasible because the parameters are estimated regardless of the physical constraints of the robot. In this paper, a novel constrained Kalman filtering method is proposed that estimates the parameters under the physical constraints using a general constrained optimization technique. The state observability is improved by additional state variables and the accuracy is also improved through the use of a nonapproximated Kalman filter design. Experimental results show that the proposed method effectively offsets the localization error while yielding feasible parameter estimation.     

A hybrid observer for characterization and compensation of periodic disturbances

Usage of frequency based error correction methods for repetitive disturbances becomes popular in data storage devices that use a rotating mechanical power plant. Two distinct disturbance cancellation methods, disturbance observer (DOB) and adaptive feed forward control (AFC) are the most popular approaches used for current drive servo integration. DOB reduces error using a predetermined function that is calculated thorough a complicated process. Generally the response to disturbance and initiation of control action of DOB is relatively fast even if the amount of error reduction is limited. Meanwhile the error elimination capability of AFC for the repetitive disturbance is normally better than DOB as it utilizes a Fourier coefficients updating feature that supports an enhanced fine adaptation of a certain frequency disturbance. Of course, AFC suffers for disturbances that have neighboring close frequencies due to the inherent fundamental frequency dependencies of AFC formulation. In the present work, an attempt for combining benefits of AFC and DOB is made. This might enables control action not only to generate fast response to disturbance but also perform an accurate error rejection. This feature also provides to the closed loop system a frequency selection for enabling a strategic selective error rejection. The proposed method named Hybrid Disturbance Observer (HDOB) is compared to the traditional AFC and DOB.     

Asymmetric information distances for automated taxonomy construction

A novel method for automatically constructing taxonomies for specific research domains is presented. The proposed methodology uses term co-occurrence frequencies as an indicator of the semantic closeness between terms. To support the automated creation of taxonomies or subject classifications we present a simple modification to the basic distance measure, and describe a set of procedures by which these measures may be converted into estimates of the desired taxonomy. To demonstrate the viability of this approach, a pilot study on renewable energy technologies is conducted, where the proposed method is used to construct a hierarchy of terms related to alternative energy. These techniques have many potential applications, but one activity in which we are particularly interested is the mapping and subsequent prediction of future developments in the technology and research.     

DOM tree browsing of a very large XML document: Design and implementation

Browsing the DOM tree of an XML document is an act of following the links among the nodes of the DOM tree to find some desired nodes without any knowledge for search. When the structure of the XML document is not known to a user, browsing is the basic operation performed for referring the contents of the XML document. If the size of the XML document is very large, however, using a general-purpose XML parser for browsing the DOM tree of the XML document to access arbitrary node may suffer from the lack of memory space for constructing the large DOM tree. To alleviate this problem, we suggest a method to browse the DOM tree of a very large XML document by splitting the XML document into n small XML documents and generating sequentially the DOM tree of each of those small n XML documents. For later reference, the information of some nodes accessed from the DOM tree already generated has been also kept using the concept of their virtual nodes. With our suggested approach, the memory space necessary for browsing the DOM tree of a very large XML document is reduced such that it can be managed by a personal computer.     

Simplicial powers of graphs

In a graph, a vertex is simplicial if its neighborhood is a clique. For an integer k≥1, a graph G=(V_G,E_G) is the k-simplicial power of a graph H=(V_H,E_H) (H a root graph of G) if V_G is the set of all simplicial vertices of H, and for all distinct vertices x and y in V_G, xyE_G if and only if the distance in H between x and y is at most k. This concept generalizes k-leaf powers introduced by Nishimura, Ragde and Thilikos which were motivated by the search for underlying phylogenetic trees; k-leaf powers are the k-simplicial powers of trees. Recently, a lot of work has been done on k-leaf powers and their roots as well as on their variants phylogenetic roots and Steiner roots. For k≤5, k-leaf powers can be recognized in linear time, and for k≤4, structural characterizations are known. For k≥6, the recognition and characterization problems of k-leaf powers are still open. Since trees and block graphs (i.e., connected graphs whose blocks are cliques) have very similar metric properties, it is natural to study k-simplicial powers of block graphs. We show that leaf powers of trees and simplicial powers of block graphs are closely related, and we study simplicial powers of other graph classes containing all trees such as ptolemaic graphs and strongly chordal graphs.     

A review of audio guides in the era of smart tourism

The tourism industry is intimately related to the development of technology. Currently, technology-integrated “smart tourism” provides convenience and interactivity, and offers personalized services to tourists. However, the use of the technology-mediated audio guides among tourists in cultural heritage sites is not as active as expected. The underutilization of the audio guides in palaces is confirmed by a survey at Gyeongbok-gung palace, and the underlying reasons are examined by interviewing visitors to Chateau de Versailles. This paper analyzes the low usage of audio guides as a case-study, utilizing Cohen’s basic concepts of tour guides, Dann’s tourist motivation theory and the museum ecology of Bell. Consequently, this paper confirms the multifunctional complexity of audio guides, and suggests improvement of them in functionality (user-friendliness, usability, interactivity and social functions) for program developers, and the strategic use of ICT in promotion of palaces as smart tourism destination in cultural heritage management.     

Team THOR's Entry in the DARPA Robotics Challenge Finals 2015

This paper describes Team THOR's approach to human‐in‐the‐loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable networking and terrain, fluid operator interactions and dynamic disturbance rejection become major concerns for effective teleoperation. We present a humanoid robot designed to effectively traverse a disaster environment while allowing for a wide range of manipulation abilities. To complement the robot hardware, a hierarchical software foundation implements network strategies that provide real‐time feedback to an operator under restricted bandwidth using layered user interfaces. Our strategy for humanoid locomotion includes a backward‐facing knee configuration paired with specialized toe and heel lifting strategies that allow the robot to traverse difficult surfaces while rejecting external perturbations. With an upper body planner that encodes operator preferences, predictable motion plans are executed in unforeseen circumstances. These plans are critical for manipulation in unknown environments. Our approach was validated during the DRC Finals competition, where Team THOR scored three points in 18 min of operation time, and the results are presented along with an analysis of each task.     

B-plane targeting method for orbit maneuver using low thrust

International Journal of Control, Automation and Systems - In this research, a new control law for the trajectory correction maneuver (TCM) is proposed for a spacecraft assumed to be actuated by a...     

Structural application of a shape optimization method based on a genetic algorithm

This paper presents a structural application of a shape optimization method based on a Genetic Algorithm (GA). The method produces a sequence of fixed-distance step-wise movements of the boundary nodes of a finite element model to derive optimal shapes from an arbitrary initial design space. The GA is used to find the optimal or near-optimal combination of boundary nodes to be moved for a given step movement. The GA uses both basic and advanced operators. For illustrative purposes, the method has been applied to structural shape-optimization. The shape-optimization methodology presented allows local optimization, where only crucial parts of a structure are optimized as well as global shape-optimization which involves finding the optimal shape of the structure as a whole for a given environment as described by its loading and freedom conditions. Material can be removed or added to reach the optimal shape. Two examples of structural shape optimization are included showing local and global optimization through material removal and addition. Received October 14, 1999     

Contour matching using epipolar geometry

Matching features computed in images is an important process in multiview image analysis. When the motion between two images is large, the matching problem becomes very difficult. In this paper, we propose a contour matching algorithm based on geometric constraints. With the assumption that the contours are obtained from images taken from a moving camera with static scenes, we apply the epipolar constraint between two sets of contours and compute the corresponding points on the contours. From the initial epipolar constraints obtained from corner point matching, candidate contours are selected according to the epipolar geometry, contour end point constraints, and contour distance measures. In order to reduce the possibility of false matches, the number of match points on a contour is also used as a selection measure. The initial epipolar constraint is refined from the matched sets of contours. The algorithm can be applied to a pair or two pairs of images. All of the processes are fully automatic and successfully implemented and tested with various real images