WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Testing for Hidden Information and Action in Automobile Insurance Market

I test the presence of hidden information and action in the automobile insurance market using a data set from several Colombian insurers. To identify the presence of hidden information I find a common knowledge variable providing information on policyholder s risk type which is related to both experienced risk and insurance demand and that was excluded from the pricing mechanism. Such unused variable is the record of policyholder s traffic offenses. I find evidence of adverse selection in six of the nine insurance companies for which the test is performed. From the point of view of hidden action I develop a dynamic model of effort in accident prevention given an insurance contract with bonus experience rating scheme and I show that individual accident probability decreases with previous accidents. This result brings a testable implication for the empirical identification of hidden action and based on that result I estimate an econometric model of the time spans between the purchase of the insurance and the first claim, between the first claim and the second one, and so on. I find strong evidence on the existence of unobserved heterogeneity that deceives the testable implication. Once the unobserved heterogeneity is controlled, I find conclusive statistical grounds supporting the presence of moral hazard in the Colombian insurance market.

Hypothesis Testing

PowerPoint slides for Hypothesis Testing. Examples are taken from the Medical Literature

Hypothesis Testing.ppt (10)

PowerPoint Slides for Hypothesis testing Used in Research Skills for Biomedical Science

Usability testing on EdShare

The first set of Usability testing on EdShare (7th June). Tests where carried out using Silverback on the Mac. This is unedited footage - Each video is around 20minutes long.

Programming Principles: Testing and Debugging

In this session we look at the sorts of errors that occur in programs, and how we can use different testing and debugging strategies (such as unit testing and inspection) to track them down. We also look at error handling within the program and at how we can use Exceptions to manage errors in a more sophisticated way. These slides are based on Chapter 6 of the Book 'Objects First with BlueJ'

testing 123

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Software Development: Testing

This presentation discusses the role and purpose of testing in the systems/Software Development Life Cycle. We examine the consequences of the 'cost curve' on defect removal and how agile methods can reduce its effects. We concentrate on Black Box Testing and use Equivalence Partitioning and Boundary Value Analysis to construct the smallest number of test cases, test scenarios necessary for a test plan.

Event Driven Programming in Java

Event driven programming is a way of writing a program that works by responding to things happening (rather than executing a preplanned series of tasks). It is most often used to manage more advanced user interactions, such as GUI programs. In this session we look at how event driven programming works in Java GUIs, as both an introduction to events (using MouseListeners), and also to the way that GUI programs are constructed.

testing for mutex

mutex