Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Mimicking human motion with a humanoid robot is essential for allowing humanoid robots to be used in service applications. Simply creating motions without considerations for balance and stability or directly copying motion from a human using motion capture and implementing it on a humanoid robot may not be successful because of the difference in physical properties between the human and the humanoid robot, which may cause instability and make it fall. Using the Zero Moment Point as the stability criteria, this work proposes a Constrained Analytical Trajectory Filter as part of an Analytical Motion Filter, which stabilizes a reference motion that can come from human motion capture data, kinematic synthesis, or animation software. The resulting solutions used in the Constrained Analytical Trajectory Filter provide insight into the complex interactions of motion and stability. The solutions were verified in simulation and with hardware, showing that the analytical filter can be successfully applied for stabilizing reference motions for humanoid robots which may be unstable otherwise.     

Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.     

Controlling patterns of geospatial phenomena

Modeling spatially distributed phenomena in terms of its controlling factors is a recurring problem in geoscience. Most efforts concentrate on predicting the value of response variable in terms of controlling variables either through a physical model or a regression model. However, many geospatial systems comprises complex, nonlinear, and spatially non-uniform relationships, making it difficult to even formulate a viable model. This paper focuses on spatial partitioning of controlling variables that are attributed to a particular range of a response variable. Thus, the presented method surveys spatially distributed relationships between predictors and response. The method is based on association analysis technique of identifying emerging patterns, which are extended in order to be applied more effectively to geospatial data sets. The outcome of the method is a list of spatial footprints, each characterized by a unique “controlling pattern”—a list of specific values of predictors that locally correlate with a specified value of response variable. Mapping the controlling footprints reveals geographic regionalization of relationship between predictors and response. The data mining underpinnings of the method are given and its application to a real world problem is demonstrated using an expository example focusing on determining variety of environmental associations of high vegetation density across the continental United States.     

The physiological mirror—a system for unconscious control of a virtual environment through physiological activity

This paper introduces a system for real-time physiological measurement, analysis, and metaphorical visualization within a virtual environment (VE). Our goal is to develop a method that allows humans to unconsciously relate to parts of an environment more strongly than to others, purely induced by their own physiological responses to the virtual reality (VR) displays. In particular, we exploit heart rate, respiration, and galvanic skin response in order to control the behavior of virtual characters in the VE. Such unconscious processes may become a useful tool for storytelling or assist guiding participants through a sequence of tasks in order to make the application more interesting, e.g., in rehabilitation. We claim that anchoring of subjective bodily states to a virtual reality (VR) can enhance a person’s sense of realism of the VR and ultimately create a stronger relationship between humans and the VR.     

Heuristics for the multi-period orienteering problem with multiple time windows

We present the multi-period orienteering problem with multiple time windows (MuPOPTW), a new routing problem combining objective and constraints of the orienteering problem (OP) and team orienteering problem (TOP), constraints from standard vehicle routing problems, and original constraints from a real-world application. The problem itself comes from a real industrial case. Specific route duration constraints result in a route feasibility subproblem. We propose an exact algorithm for this subproblem, and we embed it in a variable neighborhood search method to solve the whole routing problem. We then provide experimental results for this method. We compare them to a commercial solver. We also adapt our method to standard benchmark OP and TOP instances, and provide comparative tables with state-of-the-art algorithms.     

Variable neighborhood search for the dial-a-ride problem

In dial-a-ride problems passengers have to be transported between pre-specified pickup and delivery locations under user inconvenience considerations. The problem variant considered in this paper aims at minimizing total routing costs while respecting maximum route duration limits, time windows, and maximum user ride time limits. We propose a competitive variable neighborhood search-based heuristic, using three classes of neighborhoods. The first neighborhood class uses simple swap operations tailored to the dial-a-ride problem; the second neighborhood class is based on the ejection chain idea; and the third neighborhood class exploits the existence of arcs where the vehicle load is zero, giving rise to natural sequences of requests. We report new best results for 16 out of 20 benchmark instances.     

Polynomial regression under arbitrary product distributions

In recent work, Kalai, Klivans, Mansour, and Servedio (2005) studied a variant of the “Low-Degree (Fourier) Algorithm” for learning under the uniform probability distribution on {0,1} ⁿ . They showed that the L ₁ polynomial regression algorithm yields agnostic (tolerant to arbitrary noise) learning algorithms with respect to the class of threshold functions—under certain restricted instance distributions, including uniform on {0,1} ⁿ and Gaussian on ? ⁿ . In this work we show how all learning results based on the Low-Degree Algorithm can be generalized to give almost identical agnostic guarantees under arbitrary product distributions on instance spaces X ₁×???×X _n . We also extend these results to learning under mixtures of product distributions. The main technical innovation is the use of (Hoeffding) orthogonal decomposition and the extension of the “noise sensitivity method” to arbitrary product spaces. In particular, we give a very simple proof that threshold functions over arbitrary product spaces have δ-noise sensitivity $O(\sqrt{\delta})$ , resolving an open problem suggested by Peres (2004).     

Study on the replication quality of micro-structures in the injection molding process with dynamical tool tempering systems

The injection molding of micro-structures is a promising mass-production method for a broad range of materials. However, the replication quality of these structures depends significantly on the heat flow during the filling stage. In this paper, the filling and heat transfer of v-groove and random structures below 5 μm is investigated with the help of an AFM (atomic force microscope) and thermo couples. A numerical model is developed to predict the filling of surface structures during the filling and packing stage. The model implies the use of simple fully developed flow models taking the power-law material model into account. This permits investigation into which ways several processing parameters affect the polymer flow in the surface structures. The mold wall temperature, which has significant effects on the polymer flow, is varied by using a variothermal mold temperature control system to validate the model proposed.     

Improving component selection and monitoring with controlled experimentation and automated measurements

Context: A number of approaches have been proposed for the general problem of software component evaluation and selection. Most approaches come from the field of Component-Based Software Development (CBSD), tackle the problem of Commercial-off-the-shelf component selection and use goal-oriented requirements modelling and multi-criteria decision making techniques. Evaluation of the suitability of components is carried out largely manually and partly relies on subjective judgement. However, in dynamic, distributed environments with high demands for transparent selection processes leading to trustworthy, auditable decisions, subjective judgements and vendor claims are not considered sufficient. Furthermore, continuous monitoring and re-evaluation of components after integration is sometimes needed.Objective: This paper describes how an evidence-based approach to component evaluation can improve repeatability and reproducibility of component selection under the following conditions: (1) Functional homogeneity of candidate components and (2) High number of components and selection problem instances.Method: Our evaluation and selection method and tool empirically evaluate candidate components in controlled experiments by applying automated measurements. By analysing the differences to system-development-oriented scenarios, the paper shows how the process of utility analysis can be tailored to fit the problem space, and describes a method geared towards automated evaluation in an empirical setting. We describe tool support and a framework for automated measurements.We further present a taxonomy of decision criteria for the described scenario and discuss the data collection means needed for each category of criteria.Results: To evaluate our approach, we discuss a series of case studies in the area of digital preservation. We analyse the criteria defined in these case studies, classify them according to the taxonomy, and discuss the quantitative coverage of automated measurements.Conclusion: The results of the analysis show that an automated measurement, evaluation and selection framework is necessary and feasible to ensure trusted and repeatable decisions.