Carnegie Mellon University

About: Carnegie Mellon University is a education organization based out in Pittsburgh, Pennsylvania, United States. It is known for research contribution in the topics: Computer science & Robot. The organization has 36317 authors who have published 104359 publications receiving 5975734 citations. The organization is also known as: CMU & Carnegie Mellon.

On the control of automatic processes: A parallel distributed processing account of the stroop effect

Abstract: : A growing body of evidence suggests that traditional views of automaticity are in need of revision. For example, automaticity has often been treated as an all-or-none phenomenon, and traditional theories have held that automatic processes are independent of attention. Yet recent empirial data suggests that automatic processes are continuous, and furthermore are subject to attentional control. In this paper we present a model of attention which addresses these issues. Using a parallel distributed processing framework we propose that the attributes of automaticity depend upon the strength of a process and that strength increases with training. Using the Stroop effect as an example, we show how automatic processes are continuous and emerge gradually with practice. Specifically, we present a computational model of the Stroop task which simulates the time course of processing as well as the effects of learning.

Functional impact of global rare copy number variation in autism spectrum disorders

Abstract: The autism spectrum disorders (ASDs) are a group of conditions characterized by impairments in reciprocal social interaction and communication, and the presence of restricted and repetitive behaviours. Individuals with an ASD vary greatly in cognitive development, which can range from above average to intellectual disability. Although ASDs are known to be highly heritable ( approximately 90%), the underlying genetic determinants are still largely unknown. Here we analysed the genome-wide characteristics of rare (<1% frequency) copy number variation in ASD using dense genotyping arrays. When comparing 996 ASD individuals of European ancestry to 1,287 matched controls, cases were found to carry a higher global burden of rare, genic copy number variants (CNVs) (1.19 fold, P = 0.012), especially so for loci previously implicated in either ASD and/or intellectual disability (1.69 fold, P = 3.4 x 10(-4)). Among the CNVs there were numerous de novo and inherited events, sometimes in combination in a given family, implicating many novel ASD genes such as SHANK2, SYNGAP1, DLGAP2 and the X-linked DDX53-PTCHD1 locus. We also discovered an enrichment of CNVs disrupting functional gene sets involved in cellular proliferation, projection and motility, and GTPase/Ras signalling. Our results reveal many new genetic and functional targets in ASD that may lead to final connected pathways.

FastSLAM: a factored solution to the simultaneous localization and mapping problem

Abstract: The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-based algorithms, for example, require time quadratic in the number of landmarks to incorporate each sensor observation. This paper presents FastSLAM, an algorithm that recursively estimates the full posterior distribution over robot pose and landmark locations, yet scales logarithmically with the number of landmarks in the map. This algorithm is based on an exact factorization of the posterior into a product of conditional landmark distributions and a distribution over robot paths. The algorithm has been run successfully on as many as 50,000 landmarks, environments far beyond the reach of previous approaches. Experimental results demonstrate the advantages and limitations of the FastSLAM algorithm on both simulated and real-world data.

Fast planning through planning graph analysis

Abstract: We introduce a new approach to planning in STRIPS-like domains based on constructing and analyzing a compact structure we call a Planning Graph. We describe a new planner, Graphplan, that uses this paradigm. Graphplan always returns a shortest-possible partial-order plan, or states that no valid plan exists. We provide empirical evidence in favor of this approach, showing that Graphplan outperforms the total-order planner, Prodigy, and the partial-order planner, UCPOP, on a variety of interesting natural and artificial planning problems. We also give empirical evidence that the plans produced by Graphplan are quite sensible. Since searches made by this approach are fundamentally different from the searches of other common planning methods, they provide a new perspective on the planning problem.

High resolution maps from wide angle sonar

Abstract: We describe the use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot. A sonar range reading provides information concerning empty and occupied volumes in a cone (subtending 30 degrees in our case) in front of the sensor. The reading is modelled as probability profiles projected onto a rasterized map, where somewhere occupied and everywhere empty areas are represented. Range measurements from multiple points of view (taken from multiple sensors on the robot, and from the same sensors after robot moves) are systematically integrated in the map. Overlapping empty volumes re-inforce each other, and serve to condense the range of occupied volumes. The map definition improves as more readings are added. The final map shows regions probably occupied, probably unoccupied, and unknown areas. The method deals effectively with clutter, and can be used for motion planning and for extended landmark recognition. This system has been tested on the Neptune mobile robot at CMU.