Dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments

Robots are ever increasing in a variety of different workplaces providing an array of benefits such alternative solutions to traditional human labor. While developing fully autonomous robots is the ultimate goal in many robotic applications the reality is that there still exist many situationswere robots require some level of teleoperation in order to achieve assigned goals especially when deployed in non-deterministic environments. For instance teleoperation is commonly used in areas such as search and rescue, bomb disposal and exploration of inaccessible or harsh terrain. This is due to a range of factors such as the lack of ability for robots to quickly and reliably navigate unknown environments or provide high-level decision making especially intime critical tasks. To provide an adequate solution for such situations human-in-the-loop control is required. When developing human-in-the-loop control it is important to take advantage of the complimentary skill-sets that both humans and robots share. For example robots can performrapid calculations, provide accurate measurements through hardware such as sensors and store large amounts of data while humans provide experience, intuition, risk management and complex decision making capabilities. Shared autonomy is the concept of building robotic systems that take advantage of these complementary skills-sets to provide a robust an efficient robotic solution. While the requirement of human-in-the-loop control exists Human Machine Interaction (HMI) remains an important research topic especially the area of User Interface (UI) design.In order to provide operators with an effective teleoperation system it is important that the interface is intuitive and dynamic while also achieving a high level of immersion. Recent advancements in virtual and augmented reality hardware is giving rise to innovative HMI systems. Interactive hardware such as Microsoft Kinect, leap motion, Oculus Rift, Samsung Gear VR and even CAVE Automatic Virtual Environments [1] are providing vast improvements over traditional user interface designs such as the experimental web browser JanusVR [2]. This combined with the introduction of standardized robot frameworks such as ROS and Webots [3] that now support a large number of different robots provides an opportunity to develop a universal UI for teleoperation control to improve operator efficiency while reducing teleoperation training.This research introduces the concept of a dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments that require human-in-the-loop control. The system first identifies the connected robots through the use kinematic information then determines its network capabilities such as latency and bandwidth. Given the robot type and network capabilities the system can then provide the operator with available teleoperation modes such as pick and place control or waypoint navigation while also allowing them to manipulate the virtual workspace layout to provide information from onboard camera’s or sensors.

Learning multi-faceted activities from heterogeneous data with the product space hierarchical Dirichlet processes

Hierarchical Dirichlet processes (HDP) was originally designed and experimented for a single data channel. In this paper we enhanced its ability to model heterogeneous data using a richer structure for the base measure being a product-space. The enhanced model, called Product Space HDP (PS-HDP), can (1) simultaneously model heterogeneous data from multiple sources in a Bayesian nonparametric framework and (2) discover multilevel latent structures from data to result in different types of topics/latent structures that can be explained jointly. We experimented with the MDC dataset, a large and real-world data collected from mobile phones. Our goal was to discover identity–location– time (a.k.a who-where-when) patterns at different levels (globally for all groups and locally for each group). We provided analysis on the activities and patterns learned from our model, visualized, compared and contrasted with the ground-truth to demonstrate the merit of the proposed framework. We further quantitatively evaluated and reported its performance using standard metrics including F1-score, NMI, RI, and purity. We also compared the performance of the PS-HDP model with those of popular existing clustering methods (including K-Means, NNMF, GMM, DP-Means, and AP). Lastly, we demonstrate the ability of the model in learning activities with missing data, a common problem encountered in pervasive and ubiquitous computing applications.

Heterogeneous cooperative co-evolution memetic differential evolution algorithms for big data optimisation problems

Evolutionary algorithms (EAs) have recently been suggested as candidate for solving big data optimisation problems that involve very large number of variables and need to be analysed in a short period of time. However, EAs face scalability issue when dealing with big data problems. Moreover, the performance of EAs critically hinges on the utilised parameter values and operator types, thus it is impossible to design a single EA that can outperform all other on every problem instances. To address these challenges, we propose a heterogeneous framework that integrates a cooperative co-evolution method with various types of memetic algorithms. We use the cooperative co-evolution method to split the big problem into sub-problems in order to increase the efficiency of the solving process. The subproblems are then solved using various heterogeneous memetic algorithms. The proposed heterogeneous framework adaptively assigns, for each solution, different operators, parameter values and local search algorithm to efficiently explore and exploit the search space of the given problem instance. The performance of the proposed algorithm is assessed using the Big Data 2015 competition benchmark problems that contain data with and without noise. Experimental results demonstrate that the proposed algorithm, with the cooperative co-evolution method, performs better than without cooperative co-evolution method. Furthermore, it obtained very competitive results for all tested instances, if not better, when compared to other algorithms using a lower computational times.

Exponential stability of non-autonomous neural networks with heterogeneous time-varying delays and destabilizing impulses

In this paper, the problem of global exponential stability analysis of a class of non-autonomous neural networks with heterogeneous delays and time-varying impulses is considered. Based on the comparison principle, explicit conditions are derived in terms of testable matrix inequalities ensuring that the system is globally exponentially stableunder destabilizing impulsive effects. Numerical examples are given to demonstrate the effectiveness of the obtained results.