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— We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and… (More)
This paper summarizes self-reports made by many of the DARPA Robotics Challenge teams on how much autonomy was used and why errors occurred. We also include observations about commonalities and differences in robot behavior across teams, and discuss lessons learned.
— Door traversal is generally a trivial task for human beings but particularly challenging for humanoid robots. This paper describes a holistic approach for a full-sized humanoid robot to traverse through a door in an outdoor unstructured environment as specified by the requirements of the DARPA Robotics Challenge. Door traversal can be broken down into… (More)
WIMAX is a wireless high speed internet communication technology in geographical areas which is having higher data transfer rate. This is a emerging data transfer mechanism for its superior quality over their former communication technology like cable-modem and DSL connections. Mobile devices scans more channels in order to search neighboring base stations… (More)
This paper describes the research to reduce high false positive discovery rates when discovering possible molecular diagnostic patterns. This effort combines information from the gene ontology with multiple sets of discriminating patterns discovered in a publicly available gene expression dataset on breast cancer. Using a second validation dataset, we… (More)
In both developing and developed countries, reducing the cost of medical care is a primary goal of science and government. In this project we seek to find and extract information from a video of a human that tells us the pulse rate and the oxygen level of the blood, with the eventual aim to create a virtual pulse oximeter. Features to be extracted were… (More)