A mechanism for real-time decision making and system maintenance for resource constrained robotic systems through ReFrESH

Cui, Yanzhe; Voyles, Richard M.; Lane, Josh T.; Krishnamoorthy, Akshay; Mahoor, Mohammad H.

doi:10.1007/s10514-015-9472-x

Cited by 10 publications

(2 citation statements)

References 25 publications

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“…In general, two distinguished decision-making mechanisms for target detection are employed [23], which are (1) soft-decision making based on the decoding and fusing of raw sensing data and (2) hard-decision making based on the deployment of multiple parallel sensing elements in communicating condition.…”

Section: Tacking Overviewmentioning

confidence: 99%

Multi-sensing based target tracking by using decision-making strategy with spatial and temporal properties

Liu

Xiu-ju

Jin

et al. 2019

J Wireless Com Network

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Multi-sensing system for target tracking has been addressed by many researchers from different fields. In this work, a multi-sensing system within the time, space, and frequency domains is first described. The system development is based on sensor spatial and temporal characteristics, and therefore is reliable and stable. The frequency outcome of sensors is employed to segment the detection scope into different domains, and is simple to implement. For resolving the challenge of decision-making strategy, this work combines the spatial and temporal properties with the determination mechanism as well as optimizes the system devising-making it a very promising basis for the realization of tracking accuracy improvement. With this strategy, target detection results are obtained and evaluated by probability-based parameters. The proposed decision-making scheme receives a high detection accuracy as well as a good working performance according to statistical analysis, allowing a straightforward methodology for the configuration of multi-sensing system.

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Section: Tacking Overviewmentioning

confidence: 99%

Multi-sensing based target tracking by using decision-making strategy with spatial and temporal properties

Liu

Xiu-ju

Jin

et al. 2019

J Wireless Com Network

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“…hmanojkr@purdue.edu variations in the environment because they are constantly inspecting while interacting. We call this inspection-on-thefly and feel it is a precursor to more intelligent and selfadaptive behaviors [13] for all types of manipulative robots engaging in physical interactions. The challenges associated with unknown environment requires the robot to perform inspection-on-the-fly, to understand the physical state of the environment, while simultaneously performing interaction tasks.…”

Section: Introductionmentioning

confidence: 99%

Inspection-on-the-fly using Hybrid Physical Interaction Control for Aerial Manipulators

Abbaraju

Ma²,

Manoj

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Inspection for structural properties (surface stiffness and coefficient of restitution) is crucial for understanding and performing aerial manipulations in unknown environments, with little to no prior knowledge on their state. Inspection-onthe-fly is the uncanny ability of humans to infer states during manipulation, reducing the necessity to perform inspection and manipulation separately. This paper presents an infrastructure for inspection-on-the-fly method for aerial manipulators using hybrid physical interaction control. With the proposed method, structural properties (surface stiffness and coefficient of restitution) can be estimated during physical interactions. A three-stage hybrid physical interaction control paradigm is presented to robustly approach, acquire and impart a desired force signature onto a surface. This is achieved by combining a hybrid force/motion controller with a model-based feed-forward impact control as intermediate phase. The proposed controller ensures a steady transition from unconstrained motion control to constrained force control, while reducing the lag associated with the force control phase. And an underlying Operational Space dynamic configuration manager permits complex, redundant vehicle/arm combinations. Experiments were carried out in a mock-up of a Dept. of Energy exhaust shaft, to show the effectiveness of the inspection-on-the-fly method to determine the structural properties of the target surface and the performance of the hybrid physical interaction controller in reducing the lag associated with force control phase.

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Quanta - A platform for rapid control and monitoring of heterogeneous rbots

Reddy

Agrawal

Anupama

2020

Digital Communications and Networks

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A mechanism for real-time decision making and system maintenance for resource constrained robotic systems through ReFrESH

Cited by 10 publications

References 25 publications

Multi-sensing based target tracking by using decision-making strategy with spatial and temporal properties

Multi-sensing based target tracking by using decision-making strategy with spatial and temporal properties

Inspection-on-the-fly using Hybrid Physical Interaction Control for Aerial Manipulators

Quanta - A platform for rapid control and monitoring of heterogeneous rbots

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