206447917
Creating Autonomous Roboticists
KISS Institute's Botball program is a national program, designed for middle and high school students, that uses the activities of robot building and programming to engage students in science, technology, engineering and mathematics. Botball puts robotics equipment into schools, then trains students and teachers in that equipment's use. The program is organized into spring regional tournaments and a national Botball tournament held at the Annual National Conference on Artificial Intelligence. This program is playing an important role in creating and inspiring the next generation of AI and robotics technologists, many of whom might very well be the engineers and computer scientists who design and build sophisticated, highly autonomous rovers and other space platforms for future NASA missions of exploration. The inspiration cuts both ways.
39419808
A Twelve-Step Program to More Efficient Robotics
Sensor abuse is a serious and debilitating condition. However, one must remember that it is a disease, not a crime.1 As such, it can be treated. This article presents a case study in sensor abuse. This particular subject was lucky enough to pull himself out of his pitiful condition, but others are not so lucky. The article also describes a 12- step behavior-modification program modeled on this and other successful case studies.
303726
Simplified navigation and traverse planning for a long-range planetary rover
This paper presents the sensor and control system for SR2, a planetary rover prototype capable of km+/day traverses through Mars-like terrain. The control system described allowed the rover to successfully navigate Mars-like terrain given a set of way-points spaced approximately 100 m apart. The control system uses input from a variety of sensors including heading, roll, pitch, an array of proximity sensors, voltage and current sensors, and a depth from stereo camera system. The control system is adequate, when combined with the rover's mobility system to make its way over or around almost all hazards a rover is likely to encounter, and to know when it is getting diverted so far off course that it needs to ask for help. In a recent field test, the robot autonomously navigated through 1.3 km of Mars like terrain to reach its goal. The SR2 is a solar powered, four-wheeled rover that masses 21 kg and fits inside a 90/spl times/65/spl times/40 cm envelope.
42391520
Are You Being Served?
There has been a lot of talk about service robots over the past decade, and indeed some service robots are starting to make their way into the real world; delivering food in hospitals, turning book pages for people with physical diabilities, and the like. Unfortunately, while functional, these robots perform their jobs with all the panache of machines. When people want service robots they really want “servant robots” but without the social guilt that now often accompanies the hiring of actual human servants. To do servants correctly, it is necessary to have a hierarchy in the ‘help’. Only the Dark Knight has been able to maintain style and social standing with a single servant The AAAI-97 Conference Reception is the AI community’s social event of the season. Here, as with almost all AI activities, style and social standing are everything. AI researchers work hard, and when they party, they want to be pampered. Procuring one’s own food is gauche; the AI community wants to be served. Towards this end, KIPR is creating a pair of servant robots (Capt. Peacock and Mr. Humphries) to serve and cater to their charges every gastromical need, while maintaining that old-world flavor that lets you know that while your servants may be smarter, stronger and more expensive than you, they are definitely your social inferiors.
657782
Experiences with an Architecture for Intelligent, Reactive Agents
This paper briefly describes a robot architecture that has been under development for the last eight years. This architecture uses several levels of abstraction and description languages that are compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviors for dealing with dynamic environments. In recent years, many architectures have been created with similar attributes. The two features that distinguish this architecture from most of those are: 1) a variety of useful software tools have been created to help implement this architecture on multiple real robots; and 2) this architecture, or parts of it have been implemented on over half a dozen very different robot systems using a variety of processors, operating systems, effectors and sensor suites.
16341198
Global Symbolic Maps from Local Navigation
In order to navigate autonomously, most robot systems are provided with some sort of global terrain map. To make storage practical, these maps usually have a high-level symbolic representation of the terrain. The robot's symbolic map is then used to plan a local path. This paper describes a system which uses the reverse (and perhaps more natural) process. This system processes local sensor data in such a way as to allow efficient, reactive local navigation. A byproduct of this navigation process is an abstraction of the terrain information which forms a global symbolic terrain map of the terrain through which the robot has passed. Since this map is in the same format as that used by the local navigation system, the map is easy for the system to use, augment, or correct. Compared with the data from which the maps are created, the maps are very space efficient, and can be modified, or used for navigation in real-time. Experiments with this system, both in simulation, and with a real robot operating in natural terrain, are described.
3255666
Logic Programming in a Fragment of Intuitionistic Linear Logic
The intuitionistic notion of context is refined by using a fragment of J.-Y. Girard's (Theor. Comput. Sci., vol.50, p.1-102, 1987) linear logic that includes additive and multiplicative conjunction, linear implication, universal quantification, the of course exponential, and the constants for the empty context and for the erasing contexts. It is shown that the logic has a goal-directed interpretation. It is also shown that the nondeterminism that results from the need to split contexts in order to prove a multiplicative conjunction can be handled by viewing proof search as a process that takes a context, consumes part of it, and returns the rest (to be consumed elsewhere). Examples taken from theorem proving, natural language parsing, and database programming are presented: each example requires a linear, rather than intuitionistic, notion of context to be modeled adequately. >
17886110
Using a single address space operating system for distributed computing and high performance
Recent 64-bit microprocessors have made a huge 18.4 quintillion byte address space potentially available to programs. This has led to the design of Operating Systems that provide a single virtual address space in which all code and data reside in and that spans all levels of storage and all nodes of a distributed system. These operating systems called SASOSs, have characteristics that can be used to support synchronization and coherency in a distributed system in ways that provide an improved program development environment and higher performance than that available from conventional operating systems. Sombrero, our SASOS design, makes use of its hardware support for object-grained protection, separate thread related protection domains and implicit protection domain crossing to provide synchronization and coherency support for distributed object copy set management not available in SASOSs built on stock processors. Its design, which provides direct system level support for object oriented programming includes a number of system architectural features targeted at modern distributed computing.
8816413
Uses of Higher-Order Unification for Implementing Program Transformers
Source-to-source program transformers belong to the class of meta-programs that manipulate programs as objects. It has previously been argued that a higher-order extension of Prolog, such as λProlog, makes a suitable implementation language for such meta-programs. In this paper, we consider this claim in more detail. In λProlog, object-level programs and program schemata can be represented using simply typed λ-terms and higher-order (functional) variables. Unification of these λ-terms, called higher-order unification, can elegantly describe several important meta-level operations on programs. We detail some properties of higher-order unification that make it suitable for analyzing program structures. We then present (in λProlog) the specification of several simple program transformers together with a more involved partial evaluator. With the depth-first control strategy of λProlog for both clause selection and unifier selection all the above mentioned specifications can be and have been executed and tested. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-88-46. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/698 USES OF HIGHER-ORDER UNIFICATION FOR IMPLEMENTING PROGRAM TRANSFORMERS JohnHannan Dale Miller MS-CIS-88-46 LlNC LAB 118 Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 19104
11019674
A Deterministic Annealing Approach for Parsimonious Design of Piecewise Regression Models
A new learning algorithm is proposed for piecewise regression modeling. It employs the technique of deterministic annealing to design space partition regression functions. While the performance of traditional space partition regression functions such as CART and MARS is limited by a simple tree-structured partition and by a hierarchical approach for design, the deterministic annealing algorithm enables the joint optimization of a more powerful piecewise structure based on a Voronoi partition. The new method is demonstrated to achieve consistent performance improvements over regular CART as well as over its extension to allow arbitrary hyperplane boundaries. Comparison tests, on several benchmark data sets from the regression literature, are provided.
45307048
Image decoding over noisy channels using minimum mean-squared estimation and a Markov mesh
Recently, we developed a sequence-based minimum mean-squared error (MMSE) estimator for decoding quantized data transmitted over noisy channels. The method effectively views the encoder and noisy channel tandem as a discrete hidden Markov model (HMM), with transmitted indices the unknown states and received indices the observable symbols. Here, we extend this 1D approach to images, using a Markov mesh random field to model the encoded image. Our decoder is based on an approximate forward/backward algorithm for calculating pixel "label probabilities" in Markov meshes which may also have application to image labeling and segmentation. For a DPCM-based image coding system and a high error-rate channel, the new decoder obtains significant performance gains, both objective and visually discernable, over the standard decoder, as well as over several other competing techniques.