| 1. |
- Chung, Michael Jae-Yoon, et al.
(författare)
-
Autonomous Question Answering with Mobile Robots in Human-Populated Environments
- 2016
-
Ingår i: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’16). - : IEEE.
-
Konferensbidrag (refereegranskat)abstract
- Autonomous mobile robots will soon become ubiquitous in human-populated environments. Besides their typical applications in fetching, delivery, or escorting, such robots present the opportunity to assist human users in their daily tasks by gathering and reporting up-to-date knowledge about the environment. In this paper, we explore this use case and present an end-to-end framework that enables a mobile robot to answer natural language questions about the state of a large-scale, dynamic environment asked by the inhabitants of that environment. The system parses the question and estimates an initial viewpoint that is likely to contain information for answering the question based on prior environment knowledge. Then, it autonomously navigates towards the viewpoint while dynamically adapting to changes and new information. The output of the system is an image of the most relevant part of the environment that allows the user to obtain an answer to their question. We additionally demonstrate the benefits of a continuously operating information gathering robot by showing how the system can answer retrospective questions about the past state of the world using incidentally recorded sensory data. We evaluate our approach with a custom mobile robot deployed in a university building, with questions collected from occupants of the building. We demonstrate our system's ability to respond to these questions in different environmental conditions.
|
|
| 2. |
- Chung, Michael Jae-Yoon, et al.
(författare)
-
Designing Information Gathering Robots for Human-Populated Environments
- 2015
-
Ingår i: Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’15). - : IEEE.
-
Konferensbidrag (refereegranskat)abstract
- Advances in mobile robotics have enabled robots that can autonomously operate in human-populated environments. Although primary tasks for such robots might be fetching, delivery, or escorting, they present an untapped potential as information gathering agents that can answer questions for the community of co-inhabitants. In this paper, we seek to better understand requirements for such information gathering robots (InfoBots) from the perspective of the user requesting the information. We present findings from two studies: (i) a user survey conducted in two office buildings and (ii) a 4-day long deployment in one of the buildings, during which inhabitants of the building could ask questions to an InfoBot through a web-based interface. These studies allow us to characterize the types of information that InfoBots can provide for their users.
|
|
| 3. |
- Chung, Michael Jae-Yoon, et al.
(författare)
-
Exploring the Potential of Information Gathering Robots
- 2015
-
Ingår i: Proceedings of the 10th Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts (HRI’15). - New York, NY, USA : ACM Digital Library.
-
Konferensbidrag (refereegranskat)abstract
- Autonomous mobile robots equipped with a number of sensors will soon be ubiquitous in human populated environments. In this paper we present an initial exploration into the potential of using such robots for information gathering. We present findings from a formative user survey and a 4-day long Wizard-of-Oz deployment of a robot that answers questions such as "Is there free food on the kitchen table?" Our studies allow us to characterize the types of information that InfoBots might be most useful for.
|
|
| 4. |
- Rohde, M., et al.
(författare)
-
A blind, numerical benchmark study on supercritical water heat transfer experiments in a 7-rod bundle
- 2016
-
Ingår i: Journal of Nuclear Engineering and Radiation Science. - : American Society of Mechanical Engineers (ASME). - 2332-8983 .- 2332-8975. ; 2:2
-
Tidskriftsartikel (refereegranskat)abstract
- Heat transfer in supercritical water reactors (SCWRs) shows a complex behavior, especially when the temperatures of the water are near the pseudocritical value. For example, a significant deterioration of heat transfer may occur, resulting in unacceptably high cladding temperatures. The underlying physics and thermodynamics behind this behavior are not well understood yet. To assist the worldwide development in SCWRs, it is therefore of paramount importance to assess the limits and capabilities of currently available models, despite the fact that most of these models were not meant to describe supercritical heat transfer (SCHT). For this reason, the Gen-IV International Forum initiated the present blind, numerical benchmark, primarily aiming to show the predictive ability of currently available models when applied to a real-life application with flow conditions that resemble those of an SCWR. This paper describes the outcomes of ten independent numerical investigations and their comparison with wall temperatures measured at different positions in a 7-rod bundle with spacer grids in a supercritical water test facility at JAEA. The wall temperatures were not known beforehand to guarantee the blindness of the study. A number of models have been used, ranging from a one-dimensional (1-D) analytical approach with heat transfer correlations to a RANS simulation with the SST turbulence model on a mesh consisting of 62 million cells. None of the numerical simulations accurately predicted the wall temperature for the test case in which deterioration of heat transfer occurred. Furthermore, the predictive capabilities of the subchannel analysis were found to be comparable to those of more laborious approaches. It has been concluded that predictions of SCHT in rod bundles with the help of currently available numerical tools and models should be treated with caution.
|
|
