Matching Items (2)
Filtering by

Clear all filters

153492-Thumbnail Image.png
Description
Although current urban search and rescue (USAR) robots are little more than remotely controlled cameras, the end goal is for them to work alongside humans as trusted teammates. Natural language communications and performance data are collected as a team of humans works to carry out a simulated search and rescue

Although current urban search and rescue (USAR) robots are little more than remotely controlled cameras, the end goal is for them to work alongside humans as trusted teammates. Natural language communications and performance data are collected as a team of humans works to carry out a simulated search and rescue task in an uncertain virtual environment. Conditions are tested emulating a remotely controlled robot versus an intelligent one. Differences in performance, situation awareness, trust, workload, and communications are measured. The Intelligent robot condition resulted in higher levels of performance and operator situation awareness (SA).
ContributorsBartlett, Cade Earl (Author) / Cooke, Nancy J. (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Wu, Bing (Committee member) / Arizona State University (Publisher)
Created2015
128965-Thumbnail Image.png
Description

Tikhonov regularization for projected solutions of large-scale ill-posed problems is considered. The Golub{Kahan iterative bidiagonalization is used to project the problem onto a subspace and regularization then applied to nd a subspace approximation to the full problem. Determination of the regularization, parameter for the projected problem by unbiased predictive risk

Tikhonov regularization for projected solutions of large-scale ill-posed problems is considered. The Golub{Kahan iterative bidiagonalization is used to project the problem onto a subspace and regularization then applied to nd a subspace approximation to the full problem. Determination of the regularization, parameter for the projected problem by unbiased predictive risk estimation, generalized cross validation, and discrepancy principle techniques is investigated. It is shown that the regularized parameter obtained by the unbiased predictive risk estimator can provide a good estimate which can be used for a full problem that is moderately to severely ill-posed. A similar analysis provides the weight parameter for the weighted generalized cross validation such that the approach is also useful in these cases, and also explains why the generalized cross validation without weighting is not always useful. All results are independent of whether systems are over- or underdetermined. Numerical simulations for standard one-dimensional test problems and two- dimensional data, for both image restoration and tomographic image reconstruction, support the analysis and validate the techniques. The size of the projected problem is found using an extension of a noise revealing function for the projected problem [I. Hn etynkov a, M. Ple singer, and Z. Strako s, BIT Numer. Math., 49 (2009), pp. 669{696]. Furthermore, an iteratively reweighted regularization approach for edge preserving regularization is extended for projected systems, providing stabilization of the solutions of the projected systems and reducing dependence on the determination of the size of the projected subspace.

ContributorsRenaut, Rosemary (Author)
Created2017-03-08