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Reachability-Based Delayed Decision Guidance for Conventional Interceptors 63

63rd Israel Annual Conference on Aerospace Sciences, IACAS 2024

作者： Shalumov, Vitaly Merkulov, Gleb Shima, Tal Technion – Israel Institute of Technology Haifa3200003 Israel The Technion Program for Autonomous Systems and Robotics Israel Faculty of Aerospace Engineering Israel

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A Slices Perspective for Incremental Nonparametric Inference in High Dimensional State Spaces

A Slices Perspective for Incremental Nonparametric Inference...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Moshe Shienman Ohad Levy-Or Michael Kaess Vadim Indelman Technion Autonomous Systems Program (TASP) Technion - Israel Institute of Technology Haifa Israel Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Aerospace Engineering Technion - Israel Institute of Technology Haifa Israel

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We introduce an innovative method for incremental nonparametric probabilistic inference in high-dimensional state spaces. Our approach leverages slices from highdimensional surfaces to efficiently approximate posterior distributions of any shape. Unlike many existing graph-based methods, our slices perspective eliminates the need for additional intermediate reconstructions, maintaining a more accurate representation of posterior distributions. Additionally, we propose a novel heuristic to balance between accuracy and efficiency, enabling real-time operation in nonparametric scenarios. In empirical evaluations on synthetic and real-world datasets, our slices approach consistently outperforms other state-of-the-art methods. It demonstrates superior accuracy and achieves a significant reduction in computational complexity, often by an order of magnitude.

关键词： Surface reconstruction Accuracy Shape Probabilistic logic Real-time systems Iterative methods Computational complexity Intelligent robots

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On the Minimal Recognizable Image Patch

On the Minimal Recognizable Image Patch

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International Conference on Pattern Recognition

作者： Mark Fonaryov Michael Lindenbaum Autonomous Systems and Robotics Program Technion Haifa Israel Haifa Israel

In contrast to human vision, common recognition algorithms often fail on partially occluded images. We propose characterizing, empirically, the algorithmic limits by finding a minimal recognizable patch (MRP) that is by itself sufficient to recognize the image. A specialized deep network allows us to find the most informative patches of a given size, and serves as an experimental tool. A human vision study recently characterized related (but different) minimally recognizable configurations (MIRCs) [1], for which we specify computational analogues (denoted cMIRCs). The drop in human decision accuracy associated with size reduction of these MIRCs is substantial and sharp. Interestingly, such sharp reductions were also found for the computational versions we specified.

关键词： Image recognition Tools Character recognition Task analysis Materials requirements planning

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Fluid-driven traveling waves in soft robots

arXiv

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arXiv 2021年

作者： Salem, Lior Gat, Amir D. Or, Yizhar Faculty of Mechanical Engineering TASP- Technion Autonomous Systems and Robotics Program Technion - Israel Institute of Technology Technion City Haifa3200003 Israel

Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and experimentally the use of embedded pneumatic networks as a mechanism to mimic nature and generate bi-directional traveling waves in soft robots. We apply long-wave approximation to theoretically calculate the required distribution of pneumatic network and inlet pressure oscillations needed to create desired moving wave patterns. We then fabricate soft robots with internal pneumatic network geometry based on these analytical results. The experimental results agree well with our model and demonstrate the propagation of moving waves in soft robots, along with locomotion capabilities. The presented results allow fabricating soft robots capable of continuous moving waves via the common approach of embedded pneumatic networks and requiring only two input controls. Copyright © 2021, The Authors. All rights reserved.

关键词： Fluid structure interaction

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Efficient belief space planning in high-dimensional state spaces using PIVOT: Predictive incremental variable ordering tactic

arXiv

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arXiv 2021年

作者： Elimelech, Khen Indelman, Vadim Robotics and Autonomous Systems Program Technion-Israel Institute of Technology Haifa3200003 Israel Department of Aerospace Engineering Technion-Israel Institute of Technology

In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over high-dimensional states (e.g., entire trajectories) was not only shown to significantly improve accuracy, but also allows planning with information-theoretic objectives, as required for the tasks of active SLAM and information gathering. Nonetheless, planning under this "smoothing" paradigm holds a high computational complexity, which makes it challenging for online solution. Thus, we suggest the following idea: before planning, perform a standalone state variable reordering procedure on the initial belief, and "push forwards" all the predicted loop closing variables. Since the initial variable order determines which subset of them would be affected by incoming updates, such reordering allows us to minimize the total number of affected variables, and reduce the computational complexity of candidate evaluation during planning. We call this approach PIVOT: Predictive Incremental Variable Ordering Tactic. Applying this tactic can also improve the state inference efficiency;if we maintain the PIVOT order after the planning session, then we should similarly reduce the cost of loop closures, when they actually occur. To demonstrate its effectiveness, we applied PIVOT in a realistic active SLAM simulation, where we managed to significantly reduce the computation time of both the planning and inference sessions. The approach is applicable to general distributions, and induces no loss in accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Computational complexity

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Simplified decision making in the belief space using belief sparsification

arXiv

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arXiv 2019年

作者： Elimelech, Khen Indelman, Vadim Robotics and Autonomous Systems Program Technion — Israel Institute of Technology Department of Aerospace Engineering Technion — Israel Institute of Technology

In this work, we introduce a new and efficient solution approach for the problem of decision making under uncertainty, which can be formulated as decision making in a belief space, over a possibly high-dimensional state space. Typically, to solve a decision problem, one should identify the optimal action from a set of candidates, according to some objective. We claim that one can often generate and solve an analogous yet simplified decision problem, which can be solved more efficiently. A wise simplification method can lead to the same action selection, or one for which the maximal loss in optimality can be guaranteed. Furthermore, such simplification is separated from the state inference and does not compromise its accuracy, as the selected action would finally be applied on the original state. First, we present the concept for general decision problems and provide a theoretical framework for a coherent formulation of the approach. We then practically apply these ideas to decision problems in the belief space, which can be simplified by considering a sparse approximation of their initial belief. The scalable belief sparsification algorithm we provide is able to yield solutions which are guaranteed to be consistent with the original problem. We demonstrate the benefits of the approach in the solution of a realistic active-SLAM problem and manage to significantly reduce computation time, with no loss in the quality of solution. This work is both fundamental and practical, and holds numerous possible extensions. Copyright © 2019, The Authors. All rights reserved.

关键词： Decision making

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Consistent sparsification for efficient decision making under uncertainty in high dimensional state spaces

Consistent sparsification for efficient decision making unde...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Khen Elimelech Vadim Indelman Robotics and Autonomous Systems Program (TASP) Technion - Israel Institute of Technology Haifa Israel Department of Aerospace Engineering Technion - Israel Institute of Technology Haifa Israel

In this paper we introduce a novel approach for efficient decision making under uncertainty and belief space planning, in high dimensional state spaces. While recently developed methods focus on sparsifying the inference process, the sparsification here is done in the context of efficient decision making, with no impact on the state inference. By identifying state variables which are uninvolved in the decision, we generate a sparse version of the state's information matrix, to be used in the examination of candidate actions. This sparse approximation is action-consistent, i.e. has no influence on the action selection. Overall we manage to maintain the same quality of solution, while reducing the computational complexity of the problem. The approach is put to the test in a SLAM simulation, where a significant improvement in runtime is achieved. Nevertheless, the method is generic, and not tied to a specific type of problem.

关键词： Decision making Sparse matrices Covariance matrices Uncertainty Jacobian matrices Simultaneous localization and mapping

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Zero-voltage switching implementation of a virtual infinite capacitor

Zero-voltage switching implementation of a virtual infinite ...

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International Conference on Power Engineering, Energy and Electrical Drives, POWERENG

作者： Guy Yona George Weiss Program of Autonomous Systems and Robotics Technion - Israel Institute of Technology Haifa Israel School of Electrical Engineering Tel-Aviv University Tel-Aviv Israel

We define the virtual infinite capacitor (VIC) as a nonlinear capacitor that has the property that for an interval of the charge Q (the operating range), the voltage V remains constant. We propose a lossless zero-voltage switching realization for the VIC using a switched power converter and capacitors. This circuit is simple but it requires a complex control algorithm that we describe. There are two controllers needed to operate a VIC: the voltage controller acts fast to maintain the desired terminal voltage, while the charge controller acts more slowly and maintains the charge Q in the desired operating range by influencing the incoming current. The VIC is useful as a filter capacitor for various applications, for example power factor compensators (PFC), as we describe. In spite of using small capacitors, the VIC can replace a very large capacitor in applications that do not require substantial energy storage. We give simulation results for a PFC working in critical conduction mode with a VIC for output voltage filtering.

关键词： Capacitors Switches Mathematical model Capacitance Zero voltage switching Voltage control Energy storage

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The virtual infinite capacitor

The virtual infinite capacitor

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IEEE Convention of the Electrical and ELectronic Engineers in Israel

作者： Guy Yona George Weiss Program of Autonomous Systems and Robotics Technion - Israel Institute of Technology Haifa Israel School of Electrical Engineering Tel-Aviv University Tel-Aviv Israel

We define the virtual infinite capacitor (VIC) as a nonlinear capacitor that has the property that for an interval of the charge Q (the operating range), the voltage V remains constant. We propose a lossless approximate realization for the VIC using a switched power converter and capacitors. This circuit is simple but it requires a complex control algorithm that we describe. There are two controllers needed to operate a VIC: the voltage controller acts fast to maintain the desired terminal voltage, while the charge controller acts more slowly and maintains the charge Q in the desired operating range by influencing the incoming current. The VIC is useful as a filter capacitor for various applications, for example power factor compensators (PFC), as we describe. In spite of using small capacitors, the VIC can replace a very large capacitor in applications that do not require substantial energy storage. We give simulation results for a PFC working in critical conduction mode with a VIC for output voltage filtering.

关键词： Capacitors Switches Voltage control Energy storage Sliding mode control Reactive power Capacitance

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