A Colony Architecture for an Artificial Creature

This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents.

Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.

Some last thoughts on compositional data analysis

One of the disadvantages of old age is that there is more past than future: this, however, may be turned into an advantage if the wealth of experience and, hopefully, wisdom gained in the past can be reflected upon and throw some light on possible future trends. To an extent, then, this talk is necessarily personal, certainly nostalgic, but also self critical and inquisitive about our understanding of the discipline of statistics. A number of almost philosophical themes will run through the talk: search for appropriate modelling in relation to the real problem envisaged, emphasis on sensible balances between simplicity and complexity, the relative roles of theory and practice, the nature of communication of inferential ideas to the statistical layman, the inter-related roles of teaching, consultation and research. A list of keywords might be: identification of sample space and its mathematical structure, choices between transform and stay, the role of parametric modelling, the role of a sample space metric, the underused hypothesis lattice, the nature of compositional change, particularly in relation to the modelling of processes. While the main theme will be relevance to compositional data analysis we shall point to substantial implications for general multivariate analysis arising from experience of the development of compositional data analysis…

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Graphical simulators for AUV development

A long development time is needed from the design to the implementation of an AUV. During the first steps, simulation plays an important role, since it allows for the development of preliminary versions of the control system to be integrated. Once the robot is ready, the control systems are implemented, tuned and tested. The use of a real-time simulator can help closing the gap between off-line simulation and real testing using the already implemented robot. When properly interfaced with the robot hardware, a real-time graphical simulation with a "hardware in the loop" configuration, can allow for the testing of the implemented control system running in the actual robot hardware. Hence, the development time is drastically reduced. These paper overviews the field of graphical simulators used for AUV development proposing a classification. It also presents NEPTUNE, a multi-vehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Physiotherapy cervicothoracic PPIVMs

A script for a streaming video clip modelling the movements of thoracic PPIVMs as performed by a physiotherapist. Access to this clip requires an ISS username and password. Please enter in the format soton\username when prompted. Creation date: 08.02.2008 Academic year: 2007/08 Produced by: School of Health Professions and Rehabilitation Sciences Length of clip: 4 min Level: Level 2 pre-registration neuromusculoskeletal manipulation of the cervicothorax Distribution: Can be viewed by all staff and students at the University of Southampton. Requires an ISS username and password.

¿Pueden pensar las máquinas? Una evaluación del problema de la inteligencia artificial mediante el equilibrio refractivo

Revisión del problema de la filosofía de la Inteligencia Artificial a la vista del Equilibrio refractivo. La revisión del problema se lleva a cabo para mostrar como "¿pueden pensar las máquinas?" sólo se ha evaluado en los terminos humanos. El equilibrio refractivo se plantea como una herramienta para definir conceptos de tal modo que la experiencia y los preceptos se encuentren en equilibrio, para con él construir una definición de pensar que no esté limitada exclusivamente a "pensar tal y como lo hacen los humanos".

Estudio de seguimiento de las audiometrías de los años 2009, 2010 y 2011 de los pilotos de las fuerzas militares

La audición es el segundo mecanismo sensorial más importante después de la visión para obtener información durante la operación de una aeronave. Les permite a los pilotos percibir, procesar identificar los sonidos del ambiente que los rodea. Así necesita oír bien tanto en vuelo como en tierra, especialmente entre 500 y 3000 Hz para la recepción del lenguaje hablado y de las señales auditivas. Objetivo: Determinar los cambios progresivos en el tiempo y las frecuencias auditivas que se afectan en las audiometrías de los pilotos militares de las fuerzas militares en los años 2009, 2010 y 2011. Material y Métodos: Se trata de un estudio longitudinal de cohorte en el cual se identificará el comportamiento de las audiometrías de la población de pilotos de las fuerzas militares de Colombia en los años 2009, 2010 y 2011. Se hará una revisión retrospectiva de dichas audiometrías. Para dicho fin se tomó la población de pilotos de fuerzas militares que fueron distribuidos en grupos de pilotos de aeronave de ala fija que corresponden a 47 pilotos y ala rotatoria que son 155. Conclusiones: Se encontró que la frecuencia mas alterada en la población total fue la de 6000 Hz, que en lo pilotos de ala fija las frecuencias más afectadas fueron las de 4000 Hz y la de 6000Hz, la frecuencia más afectada en los pilotos de ala rotatoria fueron las de 4000 Hz, 6000 Hz y 8000 Hz, con lo que se concluye que la exposición en los pilotos afecta las frecuencias altas en las audiometrías. Se observó una relación con el número de horas de vuelo y las alteraciones audiométricas encontrándose una alteración en los pilotos entre 1000 y 4000 horas de vuelo en las frecuencias de 4000 Hz, 6000 Hz y 8000 Hz y una alteración de las todas las frecuencias en aquellos pilotos con más de 5000 horas de vuelo en el año 2009, presentando posterior recuperación en los años posteriores sin poder determinar en este estudio las causas de dicha recuperación. Los pilotos de ala rotatoria presentaron un incremento sostenido en todas las frecuencias en comparación con los pilotos de ala fija.

Valor en riesgo del portafolio de TES de los bancos colombianos

En este trabajo se realiza la medición del riesgo de mercado para el portafolio de TES de un banco colombiano determinado, abordando el pronóstico de valor en riesgo (VaR) mediante diferentes modelos multivariados de volatilidad: EWMA, GARCH ortogonal, GARCH robusto, así como distintos modelos de VaR con distribución normal y distribución t-student, evaluando su eficiencia con las metodologías de backtesting propuestas por Candelon et al. (2011) con base en el método generalizado de momentos, junto con los test de independencia y de cobertura condicional planteados por Christoffersen y Pelletier (2004) y por Berkowitz, Christoffersen y Pelletier (2010). Los resultados obtenidos demuestran que la mejor especificación del VaR para la medición del riesgo de mercado del portafolio de TES de los bancos colombianos, es el construido a partir de volatilidades EWMA y basado en la distribución normal, ya que satisface las hipótesis de cobertura no condicional, independencia y cobertura condicional, al igual que los requerimientos estipulados en Basilea II y en la normativa vigente en Colombia.

Análisis de sensibilidad para un modelo de medición de percepción de marca basado en simulación computacional por agentes

Se presenta el análisis de sensibilidad de un modelo de percepción de marca y ajuste de la inversión en marketing desarrollado en el Laboratorio de Simulación de la Universidad del Rosario. Este trabajo de grado consta de una introducción al tema de análisis de sensibilidad y su complementario el análisis de incertidumbre. Se pasa a mostrar ambos análisis usando un ejemplo simple de aplicación del modelo mediante la aplicación exhaustiva y rigurosa de los pasos descritos en la primera parte. Luego se hace una discusión de la problemática de medición de magnitudes que prueba ser el factor más complejo de la aplicación del modelo en el contexto práctico y finalmente se dan conclusiones sobre los resultados de los análisis.