A5083966468- Robotic Path Planning Algorithms
- Autonomous Vehicle Technology and Safety
- Robotics and Sensor-Based Localization
- Inorganic and Organometallic Chemistry
- Advanced Software Engineering Methodologies
- Virtual Reality Applications and Impacts
- Historical Art and Culture Studies
- Chemistry and Chemical Engineering
- Ferrocene Chemistry and Applications
- Modular Robots and Swarm Intelligence
- Historical Art and Architecture Studies
- Data Analysis with R
- Death Anxiety and Social Exclusion
- Behavioral Health and Interventions
- 3D Surveying and Cultural Heritage
- Organic and Inorganic Chemical Reactions
- Chemical Reactions and Mechanisms
- Real-Time Systems Scheduling
- Augmented Reality Applications
- Renaissance Literature and Culture
- Scientific Computing and Data Management
- Medieval Literature and History
- Reformation and Early Modern Christianity
- Chemical Synthesis and Reactions
- Architecture and Art History Studies
Liverpool John Moores University
2020-2024
University of Liverpool
2021
School of the Art Institute of Chicago
2019
Western University
2019
University of Brighton
2013-2016
Purdue University West Lafayette
2014
Carnegie Mellon University
2003-2011
Carnegie Mellon University Qatar
2009
National and Kapodistrian University of Athens
2008
Ollscoil na Gaillimhe – University of Galway
2008
Abstract Boss is an autonomous vehicle that uses on‐board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, localize itself relative a road model. A three‐layer planning system combines mission, behavioral, motion drive in urban environments. The mission layer considers which street take achieve goal. behavioral determines when change lanes precedence at intersections performs error recovery maneuvers. selects actions avoid...
Previous findings reveal that older adults favor positive over negative stimuli in both memory and attention (for a review, see Mather & Carstensen, 2005). This study used eye tracking to investigate the role of cognitive control adults' selective visual attention. Younger viewed emotional-neutral emotional-emotional pairs faces pictures while their gaze patterns were recorded under full or divided conditions. Replicating previous eye-tracking findings, allocated less negative-neutral...
This paper describes two robotic systems developed for acquiring accurate volumetric maps of underground mines. One system is based on a cart instrumented by laser range finders, pushed through mine people. Another remotely controlled mobile robot equipped with finders. To build consistent large mines many cycles, we describe an algorithm estimating global correspondences and aligning paths. enables us to recover several hundreds meters in diameter, without odometric information. We report...
This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. A new set tools is presented, enabling robots acquire maps unprecedented size accuracy. On 30 May 2003, robot "Groundhog" successfully explored mapped a main corridor Mathies mine near Courtney, Pennsylvania. also some challenges that arise in subterranean environments difficulties building truly robots.
This paper describes the obstacle detection and tracking algorithms developed for Boss, which is Carnegie Mellon University 's winning entry in 2007 DARPA Urban Challenge. We describe subsystem show how it functions context of larger perception system. The gives robot ability to understand complex scenarios urban driving safely operate proximity other vehicles. system fuses sensor data from more than a dozen sensors with additional information about environment generate coherent situational...
Abstract The lexicon of 6‐month‐olds is comprised names and body part words. Unlike names, words do not often occur in isolation the input. This presents a puzzle: How have infants been able to pull out these from continuous stream speech at such young age? We hypothesize that caregivers' interactions directed on infant's may be root their early acquisition An artificial language segmentation study shows experimenter‐provided synchronous tactile cues help 4‐month‐olds find speech. A...
Arteriovenous aneurysms in the lesser circulation produce a clear-cut clinical picture and illustrate again that we do not know how commonly con- ditions occur until they are first described.The number reported since Rodes' paper 1938 indicate it is by no means rare condition can be successfully treated.It striking, however, although congenital lesion, often with obvious evidence from early years, has so far been diagnosed almost exclusively adults.The recent interest cyanotic heart disease,...
The Urban Challenge represents a technological leap beyond the previous Grand Challenges. challenge encompasses three primary behaviors: driving on roads, handling intersections and maneuvering in zones. In implementing urban we have decomposed problem into five components. Mission Planning determines an efficient route through network of roads. A behavioral layer executes environment, adapting to local traffic exceptional situations as necessary. motion planning safeguards robot by...
Unknown, unexplored and abandoned subterranean voids threaten mining operations, surface developments the environment. Hazards within these spaces preclude human access to create verify extensive maps or characterize analyze To that end, we have developed a mobile robot capable of autonomously exploring mapping mines. operate without communications in harsh environment with little chance rescue, this must robust electro-mechanical platform, reliable software system, dependable means failure...
We describe an autonomous robotic software subsystem for managing mission execution and discrete traffic interaction in the 2007 DARPA Urban Challenge. Its role is reviewed context of system that controls ldquoBossrdquo, Tartan Racingpsilas winning entry competition. Design criteria are presented, followed by application design principles to derive architecture well suited rigors developing complex systems. Combined with a discussion robust behavioral algorithms, designpsilas effectiveness...
Urban driving is a demanding task for autonomous vehicles as it requires the development and integration of several challenging capabilities, including high-level route planning, interaction with other vehicles, complex maneuvers, ultra-reliability. In this paper, we present reasoning framework an vehicle navigating through urban environments. Our approach combines route-level context-sensitive local decision making, sophisticated motion planning to produce safe, intelligent actions vehicle....
Negativity bias, i.e., tendency to respond strongly negative stimuli, can be captured via behavioural and psychophysiological responses potential threat. A virtual environment (VE) was created at room-scale wherein participants traversed a grid of ice blocks placed 200 m above the ground. Threat manipulated by increasing probability encountering that disintegrated led fall. Participants interacted with sensors on their feet. Thirty-four people were recruited for study, who divided into High...
Abstract Trait impulsivity represents a tendency to take action without forethought or consideration of consequences. This trait is multifaceted and can be decomposed into attentional, motor non-planning subtypes impulsivity. The purpose the current study was investigate how responded different degrees threat within room-scale virtual reality (VR) with respect behaviour level physiological activation. Thirty-four participants were required negotiate environment (VE) where they walked at...
In this paper we report on the results of a large scale user survey investigating status setting and interruption management behavior mobile instant messaging (IM) users with existing systems. The motivation for study was to inform design interface tools that support by contextually appropriate awareness messages. Our demonstrate many desktop IM practices have been appropriated laptop users, but in face increasingly situated computer usage an "always online" culture, several frictions are...
The Urban Challenge was an autonomous vehicle competition sponsored by the U.S. Defense Advanced Research Projects Agency (DARPA) in November 2007. Contestant robots were required to autonomously execute a series of navigation missions through simplified urban environment consisting roads, intersections, and parking lots while obeying road rules interacting safely correctly with other traffic. In contrast previous DARPA challenges, which focused on rough-terrain navigation, this system...
The DARPA Urban Challenge required robots to drive 60 miles on suburban roads while following the rules of road in interactions with human drivers and other robots. Tartan Racing’s Boss won competition, completing course just over 4 hours. This paper describes software infrastructure developed by team support perception, planning, behavior generation, artificial intelligence components Boss. We discuss organizing principles infrastructure, as well details operator interface, interprocess...
The kinetics of turnover a surface receptor for IgM were studied in six cases hairy cell leukemia and four chronic lymphocytic the results used as an indicator membrane pathologic cells these two leukemias. Rosette formation, shedding, reexpression with EA (IgM) by cells, process which was shown to require protein synthesis, followed cyclical pattern modal peak-to-peak time 6 hr. Membrane 12 hr or more. This work indicates that reduced rate is not essential feature more general application...
This paper summarizes ongoing work with a mobile manipulator (Mobipulator). We describe the system architecture of latest version robot, hierarchy robot motion commands (the Mobipulation library) that can be snapped together to generate complicated paths easily, configuration space planner plans wheel motions manipulate paper, and visual servoing monitor correct errors in motion.