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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

Optimal repairing schemes for Reed-Solomon codes with alphabet sizes linear in lengths under the rack-aware model

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arXiv 2019年

作者： Jin, Lingfei Luo, Gaojun Xing, Chaoping Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Fudan-Zhongan Joint Laboratory of Blockchain and Information Security Shanghai Engineering Research Center of Blockchain Shanghai Institute of Intelligent Electronics and Systems Shanghai Department of Mathematics Nanjing University of Aeronautics and Astronautics Nanjing211100 School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Physical and Mathematical Sciences Nanyang Technological University Singapore Singapore

In modern practical data centers, storage nodes are usually organized into equally sized groups, which is called racks. The cost of cross-rack communication is much more expensive compared with the intra-rack communication cost. The codes for this system are called rack-aware regenerating codes. Similar to standard minimum storage regenerating (MSR) codes, it is a challenging task to construct minimum storage rack-aware regenerating (MSRR) codes achieving the cut-set bound. The known constructions of MSRR codes achieving the cut-set bound give codes with alphabet size q exponential in the code length n, more precisely, q = Ω(exp(nn)). The main contribution of this paper is to provide explicit construction of MSRR codes achieving the cut-set bound with the alphabet size linear in n. To achieve this goal, we first present a general framework to repair Reed-Solomon codes. It turns out that the known repairing schemes of Reed-Solomon codes can be realized under our general framework. Several techniques are used in this paper. In particular, we use the degree decent method to repair failure node. This technique allows us to get Reed-Solomon codes with the alphabet size linear in n. The other techniques include choice of good polynomials. Note that good polynomials are used for construction of locally repairable code in literature. To the best of our knowledge, it is the first time in this paper to make use of good polynomials for constructions of regenerating codes. Keywods: Rack-aware model, Reed-solomon codes, minimum storage regenerating codes. Copyright © 2019, The Authors. All rights reserved.

关键词： Reed-Solomon codes

Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance

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arXiv 2019年

作者： Klamt, Tobias Schwarz, Max Lenz, Christian Baccelliere, Lorenzo Buongiorno, Domenico Cichon, Torben Guardo, Antonio Di Droeschel, David Gabardi, Massimiliano Kamedula, Malgorzata Kashiri, Navvab Laurenzi, Arturo Leonardis, Daniele Muratore, Luca Pavlichenko, Dmytro Periyasamy, Arul Selvam Rodriguez, Diego Solazzi, Massimiliano Frisoli, Antonio Gustmann, Michael Roßmann, Jürgen Süss, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Bonn Germany PERCRO Laboratory TeCIP Institute Scuola Superiore Sant’Anna Pisa Italy Man-Machine Interaction RWTH Aachen University Aachen Germany Department of Advanced Robotics Italian Institute of Technology Genoa Italy Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. Copyright © 2019, The Authors. All rights reserved.

关键词： Visual communication

Multi-AUVs Cooperative Complete Coverage Path Planning Based on GBNN Algorithm 29

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Multi-AUVs Cooperative Complete Coverage Path Planning Based...

第29届中国控制与决策会议

作者： Daqi Zhu Chen Tian Xiaofei Jiang Chaomin Luo Laboratory of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Department of Electrical and Computer Engineering University of Detroit Mercy

ISBN: (纸本)9781509046584

For the complete coverage path planning of multi-AUVs(autonomous underwater vehicles),a method of cooperative complete coverage path planning for multi-AUVs based on GBNN algorithm is proposed in this paper,where all AUVs share the common working environment information,and each AUV treats other AUVs as moving ***,a grid map is constructed by discretizing the underwater ***,the corresponding dynamic neural networks are built on the grid map,and there are N neural networks for N AUVs,***,each AUV plans its reasonable coverage path according to its own neural activity through GBNN strategy,until work together to cover the entire *** simulation results show that multi-AUVs can not only cooperatively accomplish the common coverage tasks without any mutual collision and overlapped coverage,but also automatically avoid obstacles and escape from deadlocks,and effectively improve work efficiency of each single AUV,reduce complete coverage time and save AUVs' power.

关键词： Multi-AUVs Complete coverage path planning GBNN algorithm Neural network

Forecasting intracranial hypertension using multi-scale waveform metrics

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arXiv 2019年

作者： Hüser, Matthias Kündig, Adrian Karlen, Walter De Luca, Valeria Jaggi, Martin Biomedical Informatics Group Department of Computer Science ETH Zürich Universitätstrasse 6 Zürich8092 Switzerland Mobile Health Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zürich Zürich8008 Switzerland Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland Machine Learning & Optimization Lab EPFL Lausanne1015 Switzerland

Objective: Acute intracranial hypertension is an important risk factor of secondary brain damage after traumatic brain injury. Hypertensive episodes are often diagnosed reactively, leading to late detection and lost time for intervention planning. A pro-active approach that predicts critical events several hours ahead of time could assist in directing attention to patients at risk. Approach: We developed a prediction framework that forecasts onsets of acute intracranial hypertension in the next 8 hours. It jointly uses cerebral auto-regulation indices, spectral energies and morphological pulse metrics to describe the neurological state of the patient. One-minute base windows were compressed by computing signal metrics, and then stored in a multi-scale history, from which physiological features were derived. Main results: Our model predicted events up to 8 hours in advance with alarm recall rates of 90% at a precision of 30.3% in the MIMIC-III waveform database, improving upon two baselines from the literature. We found that features derived from high-frequency waveforms substantially improved the prediction performance over simple statistical summaries of low-frequency time serie1s, and each of the three feature classes contributed to the performance gain. The inclusion of long-term history up to 8 hours was especially important. Significance: Our results highlight the importance of information contained in high-frequency waveforms in the neurological intensive care unit. They could motivate future studies on pre-hypertensive patterns and the design of new alarm algorithms for critical events in the injured brain. Copyright © 2019, The Authors. All rights reserved.

关键词： Morphology

Publisher Correction: The ENCODE Imputation Challenge: a critical assessment of methods for cross-cell type imputation of epigenomic profiles

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Genome biology 2025年第1期26卷 31页

作者： Jacob Matthew Schreiber Carles A Boix Jin Wook Lee Hongyang Li Yuanfang Guan Chun-Chieh Chang Jen-Chien Chang Alex Hawkins-Hooker Bernhard Schölkopf Gabriele Schweikert Mateo Rojas Carulla Arif Canakoglu Francesco Guzzo Luca Nanni Marco Masseroli Mark James Carman Pietro Pinoli Chenyang Hong Kevin Y Yip Jefrey P Spence Sanjit Singh Batra Yun S Song Shaun Mahony Zheng Zhang Wuwei Tan Yang Shen Yuanfei Sun Minyi Shi Jessika Adrian Richard S Sandstrom Nina P Farrell Jessica M Halow Kristen Lee Lixia Jiang Xinqiong Yang Charles B Epstein J Seth Strattan Bradley E Bernstein Michael P Snyder Manolis Kellis William S Noble Anshul Bharat Kundaje Department of Genetics Stanford University Stanford CA USA. jmschreiber91@***. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA. Department of Genetics Stanford University Stanford CA USA. Department of Computational Medicine and Bioinformatics University of Michigan Ann Arbor MI USA. Department of Research and Development DeepSeq.AI San Francisco CA USA. RIKEN Center for Integrative Medical Sciences Yokohama Japan. Department of Empirical Inference Max Planck Institute for Intelligent Systems Stuttgart Germany. School of Life Sciences University of Dundee Dundee UK. Department of Electronics Information and Bioengineering Politecnico Di Milano Milan Italy. Department of Computational Biology University of Lausanne Lausanne Switzerland. Department of Computer Science and Engineering The Chinese University of Hong Kong Sha Tin Hong Kong. Sanford Burnham Prebys Medical Discovery Institute San Diego CA USA. Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA. Department of Statistics University of California Berkeley Berkeley CA USA. Department of Biochemistry & Molecular Biology Center for Eukaryotic Gene Regulation Pennsylvania State University University Park PA USA. Department of Statistics Pennsylvania State University University Park PA USA. Department of Electrical and Computer Engineering Texas A&M University College Station TX USA. Altius Institute Seattle WA USA. Epigenomics Program The Broad Institute of MIT and Harvard Cambridge MA USA. Department of Genome Sciences University of Washington Seattle WA USA. Department of Computer Science Stanford University Stanford CA USA.

Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

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IFAC-PapersOnLine 2019年第15期52卷 67-72页

作者： Qun Lu Zhiqiang Miao Dan Zhang Li Yu Wenjun Ye Simon X. Yang Chun-Yi Su College of Electrical Engineering Yancheng Institute of Technology Yancheng 224003 China College of Electrical and Information Engineering Hunan University Changsha 410082 China College of Information Engineering Zhejiang University of Technology Hangzhou 310023 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada School of Automation Guangdong University of Technology Guangzhou 510006 China on leave from Concordia University Montreal QC H3G 1M8 Canada

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.

关键词： Distributed formation control nonholonomic mobile robots distributed formation control persistent exciting conditions

Social Energy:Mining Energy From the Society

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 466-482页

作者： Jun Jason Zhang David Wenzhong Gao Yingchen Zhang Xiao Wang Xiangyang Zhao Dongliang Duan Xiaoxiao Dai Jun Hao Fei-Yue Wang Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer ScienceUniversity of Denver IEEE National Renewable Energy Laboratory Qingdao Academy of Intelligent Industries(QAII) QingdaoShandongChinaand SKL-MCCSCASIA School of Automation Science and Electrical Engineering Beihang University Department of Electrical and Computer Engineering College of Engineering and Applied ScienceUniversity of Wyoming State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Research Center of Computational Experiments and Parallel Systems National University of Defense Technology

The inherent nature of energy,i.e.,physicality,sociality and informatization,implies the inevitable and intensive interaction between energy systems and social *** this perspective,we define "social energy" as a complex sociotechnical system of energy systems,social systems and the derived artificial virtual systems which characterize the intense intersystem and intra-system *** recent advancement in intelligent technology,including artificial intelligence and machine learning technologies,sensing and communication in Internet of Things technologies,and massive high performance computing and extreme-scale data analytics technologies,enables the possibility of substantial advancement in socio-technical system optimization,scheduling,control and *** this paper,we provide a discussion on the nature of energy,and then propose the concept and intention of social energy systems for electrical power.A general methodology of establishing and investigating social energy is proposed,which is based on the ACP approach,i.e., "artificial systems"(A), "computational experiments"(C) and "parallel execution"(P),and parallel system methodology.A case study on the University of Denver(DU) campus grid is provided and studied to demonstrate the social energy *** the concluding remarks,we discuss the technical pathway,in both social and nature sciences,to social energy,and our vision on its future.

关键词： ACP distribution locational marginal pricing intelligent operation in power systems parallel control parallel intelligence parallel management social energy socio-technical energy systems

Why is the Winner the Best?

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Why is the Winner the Best?

Conference on computer Vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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