Last Friday, Andrée-Anne Dion-Dallaire presented her MASc work, titled “A 3D Solution-Adaptive Framework for Hyperbolic PDEs with Application to Explosive Dispersal of Radioactive Material”. Supervisor Professor James McDonald was present for the talk and obligatory photo. Congrats to Andrée-Anne and Prof. McDonald!
This past Friday, Cameron Frazier presented his MASc thesis seminar, with a talk titled “Re-Active Vector Equilibrium (RAVE): A Novel Method of Autonomous Rover Local Navigation Using Potential Fields.” The abstract of the seminar is below. Check out the photo of Cameron with his happy supervisor! 😉
The use of potential eld based navigation schemes in robotics has been limited by inherent local minima issues. Local minima traps, small passages, unstable motion, and targets positioned near objects all pose major concerns when using potential fields for local vehicle control. This work proposes a new algorithm, “Re-Active Vector Equilibrium” (RAVE) that mitigates many of these issues. The vehicle representation model is expanded to use multiple points and the addition of two forces, a velocity dependent risk force and a velocity and direction dependent tangential force. Expanding the vehicle representation model from a single reactive point to a series of points that define the vehicle body is also done, providing better and simpler vehicle control. This has the effect of simplifying the required calculations at the cost of increasing the calculation count. The risk force allows for dynamic adaptation to the immediate environment by acting in opposition to the net obstacle force, and is
inversely proportional to the vehicle speed. The tangential force encourages better wall-following behaviour and provides a biasing mechanism to resolve obstacle aligned with target local minima issues. Presented here is a brief background on the topic, a description of the proposed algorithm, presentation of simulations and results, and presentation of implementation videos.
Cameron and supervisor (Dr. Baddour)
The graduate student poster competition took place last week and I got the chance to walk around with my camera to take photos of our grads. Check them out – click on the images for larger photos.
Pat Dumond at 2013 Grad Poster Competition.
Muhammad Alam at 2013 Grad Poster Competition.
Christina Vanderwel at 2013 Grad Poster Competition.
Geoffrey Ng at 2013 Grad Poster Competition.
Geoffrey Ng and supervisor Dr. Michel Labrosse.
Nona Ahmadi at 2013 Grad Poster Competition.
Amir Ketabchi at 2013 Grad Poster Competition.
Steve showing off his project at the 2013 Grad poster competition.
Jaime Murillo at 2013 Grad Poster Competition.
Jaime Murillo shows off his artificial muscle to Dr. Ed Lemaire while supervisor Dr. Marc Doumit looks on.
Marco Tundo with his mother and one very proud Nonna (grandmother) at the 2013 Grad poster competition.
Drs. Spinello and Radulescu at the 2013 grad poster competition.
Marco Tundo at 2013 Grad Poster Competition.
Steve Recoskie at 2013 Grad Poster Competition.
George Choueiri at 2013 Grad Poster Competition.
Azadeh Dastmalchi at 2013 grad student poster day
Dr. Nistor MC’ing the awards of the poster competition.
Geoff Ng takes the third place prize in the MCG division of the poster competition.
Steve Recoskie takes the second place prize in the MCG division of the poster competition.
Azadeh Dastmalchi takes first prize in the MCG division of the 2013 grad poster competition.