Currently, most rescue robots are mainly teleoperated and integrate some level of autonomy to reduce the operator’s workload, allowing them to focus on the primary mission tasks. One of the main causes of mission failure are human errors and increasing the robot’s autonomy can increase the probability of success. For this reason, in this work, a stair detection and characterization pipeline is presented. The pipeline is tested on a differential drive robot using the ROS middleware, YOLOv4-tiny and a region growing based clustering algorithm. The pipeline’s staircase detector was implemented using the Neural Compute Engines (NCEs) of the OpenCV AI Kit with Depth (OAK-D) RGB-D camera, which allowed the implementation using the robot’s computer without a GPU and, thus, could be implemented in similar robots to increase autonomy. Furthermore, by using this pipeline we were able to implement a Fuzzy controller that allows the robot to align itself, autonomously, with the staircase. Our work can be used in different robots running the ROS middleware and can increase autonomy, allowing the operator to focus on the primary mission tasks. Furthermore, due to the design of the pipeline, it can be used with different types of RGB-D cameras, including those that generate noisy point clouds from low disparity depth images.
In this paper, we address reasoning tasks from open vocabulary Knowledge Bases (openKBs) using state-of-the-art Neural Language Models (NLMs) with applications in scientific literature. For this purpose, self-attention based NLMs are trained using a common sense KB as a source task. The NLMs are then tested on a target KB for open vocabulary reasoning tasks involving scientific knowledge related to the most prevalent chronic diseases (also known as noncommunicable diseases, NCDs). Our results identified NLMs that performed consistently and with significance in knowledge inference for both source and target tasks. Furthermore, in our analysis by inspection we discussed the semantic regularities and reasoning capabilities learned by the models, while showing a first insight into the potential benefits of our approach to aid NCD research.
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