Integration of Symbolic Task Planning into Operations within an Unstructured Environment

2012 ◽  
Vol 2 (3) ◽  
pp. 38-57 ◽  
Author(s):  
Renxi Qiu ◽  
Alexandre Noyvirt ◽  
Ze Ji ◽  
Anthony Soroka ◽  
Dayou Li ◽  
...  
Keyword(s):  
Real Time ◽  
Time Perception ◽  
Domain Knowledge ◽  
Task Planning ◽  
Task Execution ◽  
Unstructured Environments ◽  
Planning Approach ◽  
The World ◽  
Unstructured Environment ◽  
High Level

To ensure a robot capable of robust task execution in unstructured environments, task planners need to have a high-level understanding of the nature of the world, reasoning for deliberate actions, and reacting to environment changes. Proposed is a practical task planning approach that seamlessly integrating deeper domain knowledge, real time perception and symbolic planning for robot operation. A higher degree of autonomy under unstructured environment will be endowed to the robot with the proposed approach.

scholarly journals RTPO: A Domain Knowledge Base for Robot Task Planning

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1105 ◽  
Author(s):  
Sun ◽  
Zhang ◽  
Chen
Keyword(s):  
Knowledge Base ◽  
Domain Knowledge ◽  
Task Planning ◽  
Specific Domain ◽  
Goal State ◽  
Ontology Language ◽  
Planning Algorithm ◽  
Domain Knowledge Base ◽  
Robot Task ◽  
High Level

Knowledge can enhance the intelligence of robots’ high-level decision-making. However, there is no specific domain knowledge base for robot task planning in this field. Aiming to represent the knowledge in robot task planning, the Robot Task Planning Ontology (RTPO) is first designed and implemented in this work, so that robots can understand and know how to carry out task planning to reach the goal state. In this paper, the RTPO is divided into three parts: task ontology, environment ontology, and robot ontology, followed by a detailed description of these three types of knowledge, respectively. The OWL (Web Ontology Language) is adopted to represent the knowledge in robot task planning. Then, the paper proposes a method to evaluate the scalability and responsiveness of RTPO. Finally, the corresponding task planning algorithm is designed based on RTPO, and then the paper conducts experiments on the basis of the real robot TurtleBot3 to verify the usability of RTPO. The experimental results demonstrate that RTPO has good performance in scalability and responsiveness, and the robot can achieve given high-level tasks based on RTPO.

Temporal representation of state transitions

1999 ◽  
Vol 13 (2) ◽  
pp. 67-78
Author(s):  
JIXIN MA ◽  
BRIAN KNIGHT ◽  
EPHRAIM NISSAN
Keyword(s):  
Real Time ◽  
State Transitions ◽  
Positive Form ◽  
Knowledge Based ◽  
Temporal Representation ◽  
The World ◽  
High Level ◽  
Causal Laws ◽  
Time Systems ◽  
Negative Time

This paper describes a knowledge-based temporal representation of state transitions for industrial real-time systems. To allow expression of uncertainty, we shall define fluents as disjuncts of positive/negative time-varying properties. A state of the world is represented as a collection of fluents, which is usually incomplete in the sense that neither the positive form nor the negative form of some properties can be implied from it. The world under consideration is assumed to persist in a given state until an action(s) takes place to effect a transition of it into another state, where actions may either be instantaneous or durative. High-level causal laws are characterized in terms of relationships between actions and the involved world states. An effect completion axiom is imposed on each causal law to guarantee that all the fluents that can be affected by the performance of the corresponding action are governed. This completion requirement is practical for most industrial real-time applications and in fact provides a simple and effective treatment to the so-called frame problem.

Her Majesty Queen Rania Al Abdullah

2019 ◽  
Author(s):  
Adib Rifqi Setiawan
Keyword(s):  
Education System ◽  
Ministry Of Education ◽  
Childhood Experiences ◽  
The Sustainable Development ◽  
American University ◽  
The North ◽  
The World ◽  
Development Goals ◽  
High Level ◽  
Education And Development

“The real treasure is in the minds of our children, and all we have to do is extract it.” Her Majesty Queen Rania Al Abdullah writes in website Queen Rania Foundation For Education And Development www.qrf.org/en. Rania Al Yassin was born on August 31, 1970. She obtained her Bachelor’s degree in Business Administration from the American University of Cairo in 1991. She applied this, first, to a banking career in Jordan and, later, to the information technology sector. After marrying Prince Abdullah bin Al Hussein on June 10, 1993, they went on to have four children: Prince Hussein, Princess Iman, Princess Salma, and Prince Hashem. In addition to being a wife and mother, Queen Rania works hard to lift the lives of Jordanians by supporting their endeavours and helping to create new opportunities for them. Locally, she is committed to breathe new life into the public education system; empower communities and women especially through microfinance initiatives; protect children and families; and drive innovation, technology and entrepreneurship, especially amongst young people. Internationally, Queen Rania is an advocate for tolerance, compassion and bridge building between people of all cultures and backgrounds. Her efforts to simultaneously challenge stereotypes of Arabs and Muslims, and promote greater understanding and acceptance between people of all faiths and cultures, have won her global recognition. Her Majesty’s passion is education. She believes that every Jordanian girl and boy, and all children, should have access not only to stimulating classrooms and modern curricula, but inspiring teachers and technology that can connect Jordan’s children to the world and the world to Jordan’s children. Her efforts in the education sector complement the work of the Ministry of Education through initiatives such as the Jordan Education Initiative, the Queen Rania Teachers Academy, Madrasati, Edraak and others. To realize these and so much more, Queen Rania has encouraged private sector partners to drive improvements and strengthen the foundations of Jordan’s education system. Queen Rania is also a global voice for access to quality education for children around the world. In 2009, Her Majesty championed the 1 Goal campaign for education; she is Honorary Chair of the UN Girl’s Education Initiatives and has advocated access to education in forums and gatherings around the world. Her work and her efforts to improve the learning opportunities for children have been recognized at the highest levels, nationally, regionally and internationally. Additionally, through her position on their boards, Her Majesty contributes to the work of the United Nations Fund and the World Economic Forum. She is the Eminent Advocate for UNICEF; and she was part of the UN appointed High Level Panel who advised on the shape and content of the Sustainable Development Goals which aim to improve the lives of millions of people before 2030. In recognition of her work, Her Majesty has humbly accepted many awards, locally, regionally and globally. These include the Walther Rathenau Award from the Walther RathenauInstitut in Germany for her efforts to greater peace and understanding; the James C. Morgan Global Humanitarian Award from Tech Awards, USA; the Arab Knight of Giving Award from Arab Giving Forum, UAE; the North South Prize by the North South Prize, Portugal; as well as the YouTube Visionary Award. Her Majesty authored several books primarily for children including the Sandwich Swap, which was inspired by her own childhood experiences.

Global warming influences dynamics of plague’s epidemic manifestations in XX-XXI centuries

2017 ◽  
pp. 38-40
Author(s):  
E.S. Zenkevich ◽  
N.V. Popov
Keyword(s):  
Global Warming ◽  
20Th Century ◽  
Modern Trend ◽  
Climate Fluctuations ◽  
The World ◽  
Low Incidence ◽  
High Level

During the second half of 20th century, a high level of plague incidence in the world was in 1960–1979 and 1990–2009. The significant decrease of infection cases was in 1950–1959, 1980–1989, 2010–2015. It is noticed, that the observed cyclical nature of the alternation of high and low incidence plague’s periods, in many respects related to modern trend of climate fluctuations.

SYNONYMY OF STABLE PHRASES IN THE DICTIONARY OF SMOLENSK DIALECTS: THE ANALYSIS EXPERIENCE

2019 ◽  
pp. 122-132
Author(s):  
Nina Maksimchuk
Keyword(s):  
Native Speakers ◽  
National Language ◽  
Cultural Value ◽  
Semantic Structure ◽  
Spiritual World ◽  
Key Word ◽  
The World ◽  
Volumetric Representation ◽  
High Level ◽  
Linguistic Units

The attention of modern linguistics to the study of verbal representatives of the mental essence (both individual and collective one) of the native speakers involves an appeal to all subsystems of the national language where territorial dialects take a significant part. The analysis of dialect linguistic units possessing linguistic and cultural value is considered as a necessary way for the study of people’s worldview and perception of the world, national mentality as a whole. The ability of stable phrases (phraseological units) to preserve and express a native speaker’s attitude to the world around them is the basis for the use of the analysis of folk phraseology as a way of penetration into a speaker’s spiritual world. Volumetric representation of the external and internal peculiarities of stable phrases allows the author to get their systematization in the form of phraseosemantic field consisting of different kinds singled out in phraseosemantic groups. The article deals with stable phrases of synonymic value recorded in the Dictionary of Smolensk dialects and stable phrases forming a phraseosemantic group. These phrases are analyzed taking into account the semantic structure of the key word, the characteristics of the dependent word, and the method of forming phraseological semantics. On the example of the analysis of phrases with the key word «bit’» and a synonymic series with the semantic dominant «bezdel’nichat’», the article discusses the peculiarities of phraseological nomination in Smolensk dialects and confirms a high level of connotativity and evaluation in the folk phraseology.

scholarly journals Graph-Based Construction of 3D Korean Giwa House Models

Buildings ◽  
2019 ◽  
Vol 9 (3) ◽  
pp. 68
Author(s):  
Mankyu Sung
Keyword(s):  
Data Structure ◽  
Computer Graphics ◽  
Real Time ◽  
Texture Image ◽  
Time Rate ◽  
Commercial Software ◽  
Spline Curve ◽  
High Level ◽  
Complicated Part ◽  
Different Parts

This paper proposes a graph-based algorithm for constructing 3D Korean traditional houses automatically using a computer graphics technique. In particular, we target designing the most popular traditional house type, a giwa house, whose roof is covered with a set of Korean traditional roof tiles called giwa. In our approach, we divided the whole design processes into two different parts. At a high level, we propose a special data structure called ‘modeling graphs’. A modeling graph consists of a set of nodes and edges. A node represents a particular component of the house and an edge represents the connection between two components with all associated parameters, including an offset vector between components. Users can easily add/ delete nodes and make them connect by an edge through a few mouse clicks. Once a modeling graph is built, then it is interpreted and rendered on a component-by-component basis by traversing nodes in a procedural way. At a low level, we came up with all the required parameters for constructing the components. Among all the components, the most beautiful but complicated part is the gently curved roof structures. In order to represent the sophisticated roof style, we introduce a spline curve-based modeling technique that is able to create curvy silhouettes of three different roof styles. In this process, rather than just applying a simple texture image onto the roof, which is widely used in commercial software, we actually laid out 3D giwa tiles on the roof seamlessly, which generated more realistic looks. Through many experiments, we verified that the proposed algorithm can model and render the giwa house at a real time rate.

scholarly journals Emotional Impact of Dishes versus Wines on Restaurant Diners: From Haute Cuisine Open Innovation

2021 ◽  
Vol 7 (1) ◽  
pp. 96
Author(s):  
Ana Mengual-Recuerda ◽  
Victoria Tur-Viñes ◽  
David Juárez-Varón ◽  
Faustino Alarcón-Valero
Keyword(s):  
Qualitative Research ◽  
Empirical Study ◽  
Open Innovation ◽  
Social Life ◽  
Fundamental Importance ◽  
Emotional Impact ◽  
The World ◽  
Unique Experience ◽  
General Experience ◽  
High Level

Haute cuisine is emblematic in the world of tourism and is of fundamental importance in the economic and social life in most countries worldwide. Haute cuisine gastronomic experiences play with the senses, involving the diner, thus generating a unique experience for the customer. This empirical study aims to analyze the influence on the consumer of the characteristic stimuli of a high-level gastronomic experience in a restaurant with two Michelin stars. Using neuromarketing biometrics, combined with a qualitative research technique, the objective of this research was to determine the emotional impact of the presentation and tasting of dishes compared to wines and to draw conclusions about each variable in the general experience. The results indicate that the dishes have a greater influence on the level of interest than the wines, and both have a different emotional impact at different moments of the experience due to its duration.

scholarly journals Real-Time High-Level Acute Pain Detection Using a Smartphone and a Wrist-Worn Electrodermal Activity Sensor

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 3956
Author(s):  
Youngsun Kong ◽  
Hugo F. Posada-Quintero ◽  
Ki H. Chon
Keyword(s):  
Real Time ◽  
Electrodermal Activity ◽  
Smartphone Application ◽  
Real Time Processing ◽  
Pain Stimulation ◽  
Significant Difference ◽  
Before And After ◽  
Electrical Pulses ◽  
Pain Detection ◽  
High Level

The subjectiveness of pain can lead to inaccurate prescribing of pain medication, which can exacerbate drug addiction and overdose. Given that pain is often experienced in patients’ homes, there is an urgent need for ambulatory devices that can quantify pain in real-time. We implemented three time- and frequency-domain electrodermal activity (EDA) indices in our smartphone application that collects EDA signals using a wrist-worn device. We then evaluated our computational algorithms using thermal grill data from ten subjects. The thermal grill delivered a level of pain that was calibrated for each subject to be 8 out of 10 on a visual analog scale (VAS). Furthermore, we simulated the real-time processing of the smartphone application using a dataset pre-collected from another group of fifteen subjects who underwent pain stimulation using electrical pulses, which elicited a VAS pain score level 7 out of 10. All EDA features showed significant difference between painless and pain segments, termed for the 5-s segments before and after each pain stimulus. Random forest showed the highest accuracy in detecting pain, 81.5%, with 78.9% sensitivity and 84.2% specificity with leave-one-subject-out cross-validation approach. Our results show the potential of a smartphone application to provide near real-time objective pain detection.

scholarly journals Real-time SARS-CoV-2 diagnostic and variants tracking over multiple candidates using nanopore DNA sequencing

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
François Stüder ◽  
Jean-Louis Petit ◽  
Stefan Engelen ◽  
Marco Antonio Mendoza-Parra
Keyword(s):  
Real Time ◽  
Optimal Solution ◽  
Proof Of Concept ◽  
Gene Encoding ◽  
Spike Gene ◽  
Long Period ◽  
The World ◽  
Receptor Recognition ◽  
Nanopore Dna Sequencing ◽  
Novel Coronavirus

AbstractSince December 2019, a novel coronavirus responsible for a severe acute respiratory syndrome (SARS-CoV-2) is accountable for a major pandemic situation. The emergence of the B.1.1.7 strain, as a highly transmissible variant has accelerated the world-wide interest in tracking SARS-CoV-2 variants’ occurrence. Similarly, other extremely infectious variants, were described and further others are expected to be discovered due to the long period of time on which the pandemic situation is lasting. All described SARS-CoV-2 variants present several mutations within the gene encoding the Spike protein, involved in host receptor recognition and entry into the cell. Hence, instead of sequencing the whole viral genome for variants’ tracking, herein we propose to focus on the SPIKE region to increase the number of candidate samples to screen at once; an essential aspect to accelerate diagnostics, but also variants’ emergence/progression surveillance. This proof of concept study accomplishes both at once, population-scale diagnostics and variants' tracking. This strategy relies on (1) the use of the portable MinION DNA sequencer; (2) a DNA barcoding and a SPIKE gene-centered variant’s tracking, increasing the number of candidates per assay; and (3) a real-time diagnostics and variant’s tracking monitoring thanks to our software RETIVAD. This strategy represents an optimal solution for addressing the current needs on SARS-CoV-2 progression surveillance, notably due to its affordable implementation, allowing its implantation even in remote places over the world.

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