Motion Planning and Controls with Safety and Temporal Constraints

Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task.

Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is thought to be a result of intelligent behaviour selection on the part of the idiotypic robot. In this paper an attempt is made to imitate idiotypic dynamics by creating controllers that use reinforcement with a number of different probabilistic schemes to select robot behaviour. The aims are to show that the idiotypic system is not merely performing some kind of periodic random behaviour selection, and to try to gain further insight into the processes that govern the idiotypic mechanism. Trials are carried out using simulated Pioneer robots that undertake navigation exercises. Results show that a scheme that boosts the probability of selecting highly-ranked alternative behaviours to 50% during stall conditions comes closest to achieving the properties of the idiotypic system, but remains unable to match it in terms of all round performance.

Construcción de un prototipo de robot sembrador de maíz Agrobot II

64 p.

CLARK - Smart Clinic Assistant Robot for CGA

En esta presentación se exponen la arquitectura general y el estado actual de desarrollo del sistema CLARK. Dicho sistema tiene como objetivo el despliegue de un asistente robótico para ayudar a un médico en la realización de procedimientos CGA (Comprehensive Geriatric Assessment), de forma que ciertas tareas, tales como la realización de cuestionarios o pruebas de movimiento, puedan ser realizadas por el robot de forma paralela al resto del procedimiento CGA, aumentando así su eficiencia.

Robot acuático hidrostático espectral de rayos laser, para el control larvario de mosquitos de importancia médica en Salud Pública.

Diseñar y construir un robot acuático que destruya la presencia de larvas o pupas de mosquitos en contenedores de agua. Se construyó y se diseñó un robot con materiales reciclables construido con tubos de cañería PVC, lupa, sensores de luz y barrera, motor de fuente 110 v, resistencias, LCR, cargador 9 v y focos led, para que destruya larvas de mosquitos en un contenedor de agua. Como resultado hay una cero prevalencia de índice larvario porque el robot detecta presencia larvaria con sensores y rayos laser activándose automáticamente con el efecto de succión y destrucción larvas en su interior eliminándolas desechas al utilizar filtros de 10 micras y aspas metálicas, el robot se activa por cinco a diez minutos y se apaga automáticamente hasta esperar la alarma otra vez según disposición de larvas. Conclusión el uso del robot acuático en contenedores de agua no se encuentra índices larvarios, así como pupas, que puede ser utilizado como control antilarvario para el combate transmisor de Dengue, Zika, Chikungunya entre otros.
Design and build an aquatic robot to destroy the presence of larvae or pupae of mosquitoes in water containers. It was built and a robot with recyclables built with tubes pipe PVC, magnifier, light sensors and barrier, engine power 110 v, resistors, LCR, charger 9 vy spotlights led, to destroy mosquito larvae was designed in a container of water. As a result there is a zero prevalence Larval rate because the robot detects larval presence sensors and lasers automatically activated with the suction effect and larvae destruction their killing the inner cast off using filters of 10 microns and metal blades, the robot is activated by five to ten minutes to wait automatically turns off the alarm again available as larvae. Conclusion use water in water containers robot is not larval indices and pupae, which can be used as anti larval control for transmitter combat Dengue, Zika, Chikungunya among others.

Where Are We After Five Editions?: Robot Vision Challenge, a Competition that Evaluates Solutions for the Visual Place Classification Problem

This article describes the Robot Vision challenge, a competition that evaluates solutions for the visual place classification problem. Since its origin, this challenge has been proposed as a common benchmark where worldwide proposals are measured using a common overall score. Each new edition of the competition introduced novelties, both for the type of input data and subobjectives of the challenge. All the techniques used by the participants have been gathered up and published to make it accessible for future developments. The legacy of the Robot Vision challenge includes data sets, benchmarking techniques, and a wide experience in the place classification research that is reflected in this article.

ViDRILO: The Visual and Depth Robot Indoor Localization with Objects information dataset

In this article we describe a semantic localization dataset for indoor environments named ViDRILO. The dataset provides five sequences of frames acquired with a mobile robot in two similar office buildings under different lighting conditions. Each frame consists of a point cloud representation of the scene and a perspective image. The frames in the dataset are annotated with the semantic category of the scene, but also with the presence or absence of a list of predefined objects appearing in the scene. In addition to the frames and annotations, the dataset is distributed with a set of tools for its use in both place classification and object recognition tasks. The large number of labeled frames in conjunction with the annotation scheme make this dataset different from existing ones. The ViDRILO dataset is released for use as a benchmark for different problems such as multimodal place classification and object recognition, 3D reconstruction or point cloud data compression.

Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

obtención de barridos láser 3D nivelados conn el robot móvil Andábata en movimiento

Este artículo describe la adquisición de barridos tridimensionales (3D) nivelados en el robot móvil Andábata sin necesidad de detener su movimiento. Para ello, la computadora de Andábata debe integrar cada uno de los rangos láser, adquiridos con unos determinados ángulos de cabeceo y guiñada, con la información odométrica y las medidas de inclinación del vehículo para producir coordenadas Cartesianas niveladas referenciadas al inicio de cada barrido. Todo ello se ha realizado bajo el sistema operativo de robots ROS con la ayuda de paquetes estándard. El correcto funcionamiento de este esquema local de Localización y Modelado Simultáneos (SLAM) se ha comprobado experimentalmente sobre terreno inclinado.

Studio e realizzazione dell’emulatore μARM e del progetto JaeOS per la didattica dei Sistemi Operativi

La maggior parte degli strumenti per la didattica dei sistemi operativi sono basati sull'architettura MIPS, che è ampiamente superata. Questo lavoro introduce μARM, un emulatore, basato su architettura ARM7TDMI adeguato all'insegnamento a livello universitario. Inoltre viene presentato JaeOS, un manuale di specifiche per un sistema operativo multi-strato che supporti esecuzione multi-processo, memoria virtuale, sincronizzazione dei thread, gestione di dispositivi esterni ed un file system. I progetti tradizionali, come OSP2 o OS/161, forniscono un buon quantitativo di codice già sviluppato agli studenti, i quali devono modificare i moduli del sistema già implementati ed aggiungerne di nuovi. Con μARM/JaeOS gli studenti sono sottoposti ad un'esperienza pedagogicamente differente, partendo dal solo emulatore hardware e finendo con un sistema operativo, interamente sviluppato da loro, in grado di eseguire programmi sviluppati dagli studenti stessi.

Fitness cost and interference of Arm/Rmt aminoglycoside resistance with the RsmF housekeeping methyltransferases

Arm/Rmt methyltransferases have emerged recently in pathogenic bacteria as enzymes that confer high-level resistance to 4,6-disubstituted aminoglycosides through methylation of the G1405 residue in the 16S rRNA (like ArmA and RmtA to -E). In prokaryotes, nucleotide methylations are the most common type of rRNA modification, and they are introduced posttranscriptionally by a variety of site-specific housekeeping enzymes to optimize ribosomal function. Here we show that while the aminoglycoside resistance methyltransferase RmtC methylates G1405, it impedes methylation of the housekeeping methyltransferase RsmF at position C1407, a nucleotide that, like G1405, forms part of the aminoglycoside binding pocket of the 16S rRNA. To understand the origin and consequences of this phenomenon, we constructed a series of in-frame knockout and knock-in mutants of Escherichia coli, corresponding to the genotypes rsmF(+), ΔrsmF, rsmF(+) rmtC(+), and ΔrsmF rmtC(+). When analyzed for the antimicrobial resistance pattern, the ΔrsmF bacteria had a decreased susceptibility to aminoglycosides, including 4,6- and 4,5-deoxystreptamine aminoglycosides, showing that the housekeeping methylation at C1407 is involved in intrinsic aminoglycoside susceptibility in E. coli. Competition experiments between the isogenic E. coli strains showed that, contrary to expectation, acquisition of rmtC does not entail a fitness cost for the bacterium. Finally, matrix-assisted laser desorption ionization (MALDI) mass spectrometry allowed us to determine that RmtC methylates the G1405 residue not only in presence but also in the absence of aminoglycoside antibiotics. Thus, the coupling between housekeeping and acquired methyltransferases subverts the methylation architecture of the 16S rRNA but elicits Arm/Rmt methyltransferases to be selected and retained, posing an important threat to the usefulness of aminoglycosides worldwide.

Coiled armrings: an Hiberno-Viking silver arm-ring type

The purpose of this paper is to isolate and discuss a distinctive type of Hiberno-Viking silver armring. Here termed the 'coiled armring', it is dated to the late ninth/early tenth centuries. The methods of manufacture, ornamentation, date and origins of the type are discussed and the objects are assessed against the background of hoard-associated material and related types of silver armrings. A descriptive catalogue of the material is provided.

Évaluation de l’état des dalles en béton armé enterrées

Dans le souci d’améliorer le réseau de distribution de l'énergie électrique, tout en maintenant l'intégrité de certains sites urbains protégés, plusieurs municipalités du Québec ont choisi d’enfouir leurs fils électriques. Ce type d’installation requiert des chambres de raccordement souterraines afin de réaliser l’entretien du réseau et le câblage. Ces chambres sont typiquement placées à tous les 300 mètres du réseau et sont généralement recouvertes d’épaisseurs de remblai allant de 0,6 m à 1m. L’un des principaux problèmes affectant l’état structural de ces chambres est la dégradation du béton de la surface externe de celles-ci. Dans certains cas, la dégradation peut atteindre une portion non négligeable de l’épaisseur de la dalle, jusqu’à en causer l’effondrement. En plus de présenter un danger pour la population, ces effondrements entraînent des coûts d’entretien élevés pour les propriétaires d’ouvrages. En outre, ces chambres sont difficiles à inspecter par l’intérieur. Cette problématique est d’autant plus importante étant donné la grande quantité de chambres de raccordement souterraines construites par le passé. Dans ce contexte, Hydro-Québec a lancé un programme de recherche visant à faire l'évaluation par des techniques de contrôle non destructif de l’état du béton du toit des chambres de raccordement souterraines. C'est dans ce cadre que s'inscrit cette étude. Le but de notre projet est d'évaluer les capacités de la technique du Géoradar à détecter l’endommagement du béton et, si possible, déterminer l’étendue en profondeur des dégradations dans le béton de ces dalles en béton armé enterrées. Ce mémoire de maîtrise présente la méthode proposée pour atteindre cet objectif. Des simulations numériques ont été réalisées, dans un premier temps, pour établir les limites de l'application Géoradar dans le cadre de notre problématique. Les résultats obtenus ont ensuite été confrontés à des essais réalisés sur des dalles réelles enterrées. Les travaux ont permis de montrer sans équivoque qu'avec le Géoradar, il est possible de déceler la dégradation au niveau des dalles enterrées, lorsque celles-ci se situaient à une profondeur maximale de 75 cm sous un sol de type sableux. Mais, il est encore difficile de pouvoir estimer l’étendue en profondeur de la dégradation, sans connaître l'état initial des dalles.

Quantification de l'amortissement visqueux élastique des piles en béton armé des ponts routiers québécois

Le dimensionnement des ponts et viaducs au Canada se base sur la norme CAN/CSA S6-14. Pour le calcul de ces structures sous des charges extrêmes, des cartes d'aléa sismique sont produites par la Commission géologique du Canada selon un taux d'amortissement de 5 %. La norme propose des taux d'amortissement visqueux élastique de 2 % pour le béton et de 1 % pour l'acier. Un nouveau facteur de correction selon l'amortissement est mentionné dans cette norme pour modifier les spectres de réponse provenant des cartes sismiques. Plusieurs études sur des ouvrages d'art quantifient les taux d'amortissement visqueux élastique entre 1 % et 2 %, confirmant ainsi qu'il est nécessaire d'utiliser un facteur de correction des spectres pour éviter une sous-évaluation des déplacements au niveau du tablier. Le projet de recherche consiste à quantifier le taux d'amortissement visqueux élastique des ponts routiers grâce à des essais in situ sur des ouvrages du Québec. Les essais débutent avec l'acquisition de données à l'aide d'accéléromètres alors que le pont est sous vibrations ambiantes. Une fois les propriétés modales extraites, un essai sous vibrations forcées par balayage des fréquences est effectué, en ciblant les fréquences propres. L'interprétation de la réponse de la structure à ce dernier essai permet de trouver précisément l'amortissement. Une étude paramétrique sur le logiciel OpenSees est aussi effectuée pour évaluer l'impact de la variation du taux d'amortissement utilisé sur les déplacements du tablier lors d'un séisme. Les résultats démontrent que le taux d'amortissement visqueux élastique peut être aussi bas que 1 %, ce qui peut doubler la réponse en déplacements aux joints d'un pont par rapport à une analyse avec 5 % d'amortissement. Le mémoire cherche à clarifier l'utilisation de la norme S6-14, à démontrer l'importance d'utiliser un bon taux d'amortissement et à encourager l'utilisation d'un facteur de correction des spectres adéquat pour calculer la réponse sismique des ponts routiers québécois et canadiens. Des recommandations sont proposées dans ce sens.