---
_id: '1097'
abstract:
- lang: eng
text: We present an interactive system for computational design, optimization, and
fabrication of multicopters. Our computational approach allows non-experts to
design, explore, and evaluate a wide range of different multicopters. We provide
users with an intuitive interface for assembling a multicopter from a collection
of components (e.g., propellers, motors, and carbon fiber rods). Our algorithm
interactively optimizes shape and controller parameters of the current design
to ensure its proper operation. In addition, we allow incorporating a variety
of other metrics (such as payload, battery usage, size, and cost) into the design
process and exploring tradeoffs between them. We show the efficacy of our method
and system by designing, optimizing, fabricating, and operating multicopters with
complex geometries and propeller configurations. We also demonstrate the ability
of our optimization algorithm to improve the multicopter performance under different
metrics.
acknowledgement: "We thank Nobuyuki Umetani for his insightful suggestions in our
discussions. We thank Alan Schultz and his colleagues at NRL for building the hexacopter
and for the valuable discussions. We thank Randall Davis, Boris Katz, and Howard
Shrobe at MIT for their advice. We are grateful to Nick Bandiera for preprocessing
mechanical parts and providing 3D printing technical support; Charles Blouin from
RCBenchmark for dynamometer hardware support; Brian Saavedra for the composition
UI; Yingzhe Yuan for data acquisition and video recording in the experiments; Michael
Foshey and David Kim for their comments on the draft of the paper. \r\n\r\n\r\nThis
work was partially supported by Air Force Research Laboratory’s sponsorship of Julia:
A Fresh Approach to Technical Computing and Data Processing (Sponsor Award ID FA8750-15-2-
0272, MIT Award ID 024831-00003), and NSF Expedition project (Sponsor Award ID CCF-1138967,
MIT Award ID 020610-00002). The views expressed herein are not endorsed by the sponsors.
This project has also received funding from the European Union’s Horizon 2020 research
and innovation program under grant agreement No 645599. "
alternative_title:
- ACM Transactions on Graphics
article_number: '227'
author:
- first_name: Tao
full_name: Du, Tao
last_name: Du
- first_name: Adriana
full_name: Schulz, Adriana
last_name: Schulz
- first_name: Bo
full_name: Zhu, Bo
last_name: Zhu
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
- first_name: Wojciech
full_name: Matusik, Wojciech
last_name: Matusik
citation:
ama: 'Du T, Schulz A, Zhu B, Bickel B, Matusik W. Computational multicopter design.
In: Vol 35. ACM; 2016. doi:10.1145/2980179.2982427'
apa: 'Du, T., Schulz, A., Zhu, B., Bickel, B., & Matusik, W. (2016). Computational
multicopter design (Vol. 35). Presented at the SIGGRAPH Asia: Conference and Exhibition
on Computer Graphics and Interactive Techniques in Asia, Macao, China: ACM. https://doi.org/10.1145/2980179.2982427'
chicago: Du, Tao, Adriana Schulz, Bo Zhu, Bernd Bickel, and Wojciech Matusik. “Computational
Multicopter Design,” Vol. 35. ACM, 2016. https://doi.org/10.1145/2980179.2982427.
ieee: 'T. Du, A. Schulz, B. Zhu, B. Bickel, and W. Matusik, “Computational multicopter
design,” presented at the SIGGRAPH Asia: Conference and Exhibition on Computer
Graphics and Interactive Techniques in Asia, Macao, China, 2016, vol. 35, no.
6.'
ista: 'Du T, Schulz A, Zhu B, Bickel B, Matusik W. 2016. Computational multicopter
design. SIGGRAPH Asia: Conference and Exhibition on Computer Graphics and Interactive
Techniques in Asia, ACM Transactions on Graphics, vol. 35, 227.'
mla: Du, Tao, et al. Computational Multicopter Design. Vol. 35, no. 6, 227,
ACM, 2016, doi:10.1145/2980179.2982427.
short: T. Du, A. Schulz, B. Zhu, B. Bickel, W. Matusik, in:, ACM, 2016.
conference:
end_date: 2016-12-08
location: Macao, China
name: 'SIGGRAPH Asia: Conference and Exhibition on Computer Graphics and Interactive
Techniques in Asia'
start_date: 2016-12-05
date_created: 2018-12-11T11:50:07Z
date_published: 2016-11-01T00:00:00Z
date_updated: 2021-01-12T06:48:15Z
day: '01'
ddc:
- '006'
department:
- _id: BeBi
doi: 10.1145/2980179.2982427
ec_funded: 1
file:
- access_level: open_access
content_type: application/pdf
creator: system
date_created: 2018-12-12T10:17:42Z
date_updated: 2018-12-12T10:17:42Z
file_id: '5298'
file_name: IST-2017-759-v1+1_copter.pdf
file_size: 33114420
relation: main_file
file_date_updated: 2018-12-12T10:17:42Z
has_accepted_license: '1'
intvolume: ' 35'
issue: '6'
language:
- iso: eng
month: '11'
oa: 1
oa_version: Submitted Version
project:
- _id: 25082902-B435-11E9-9278-68D0E5697425
call_identifier: H2020
grant_number: '645599'
name: Soft-bodied intelligence for Manipulation
publication_status: published
publisher: ACM
publist_id: '6278'
pubrep_id: '759'
quality_controlled: '1'
scopus_import: 1
status: public
title: Computational multicopter design
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
volume: 35
year: '2016'
...
---
_id: '1098'
abstract:
- lang: eng
text: Better understanding of the potential benefits of information transfer and
representation learning is an important step towards the goal of building intelligent
systems that are able to persist in the world and learn over time. In this work,
we consider a setting where the learner encounters a stream of tasks but is able
to retain only limited information from each encountered task, such as a learned
predictor. In contrast to most previous works analyzing this scenario, we do not
make any distributional assumptions on the task generating process. Instead, we
formulate a complexity measure that captures the diversity of the observed tasks.
We provide a lifelong learning algorithm with error guarantees for every observed
task (rather than on average). We show sample complexity reductions in comparison
to solving every task in isolation in terms of our task complexity measure. Further,
our algorithmic framework can naturally be viewed as learning a representation
from encountered tasks with a neural network.
acknowledgement: "This work was in parts funded by the European Research Council under
the European Union’s Seventh Framework Programme (FP7/2007-2013)/ERC grant agreement
no 308036.\r\n\r\n"
alternative_title:
- Advances in Neural Information Processing Systems
author:
- first_name: Anastasia
full_name: Pentina, Anastasia
id: 42E87FC6-F248-11E8-B48F-1D18A9856A87
last_name: Pentina
- first_name: Ruth
full_name: Urner, Ruth
last_name: Urner
citation:
ama: 'Pentina A, Urner R. Lifelong learning with weighted majority votes. In: Vol
29. Neural Information Processing Systems; 2016:3619-3627.'
apa: 'Pentina, A., & Urner, R. (2016). Lifelong learning with weighted majority
votes (Vol. 29, pp. 3619–3627). Presented at the NIPS: Neural Information Processing
Systems, Barcelona, Spain: Neural Information Processing Systems.'
chicago: Pentina, Anastasia, and Ruth Urner. “Lifelong Learning with Weighted Majority
Votes,” 29:3619–27. Neural Information Processing Systems, 2016.
ieee: 'A. Pentina and R. Urner, “Lifelong learning with weighted majority votes,”
presented at the NIPS: Neural Information Processing Systems, Barcelona, Spain,
2016, vol. 29, pp. 3619–3627.'
ista: 'Pentina A, Urner R. 2016. Lifelong learning with weighted majority votes.
NIPS: Neural Information Processing Systems, Advances in Neural Information Processing
Systems, vol. 29, 3619–3627.'
mla: Pentina, Anastasia, and Ruth Urner. Lifelong Learning with Weighted Majority
Votes. Vol. 29, Neural Information Processing Systems, 2016, pp. 3619–27.
short: A. Pentina, R. Urner, in:, Neural Information Processing Systems, 2016, pp.
3619–3627.
conference:
end_date: 2016-12-10
location: Barcelona, Spain
name: 'NIPS: Neural Information Processing Systems'
start_date: 2016-12-05
date_created: 2018-12-11T11:50:08Z
date_published: 2016-12-01T00:00:00Z
date_updated: 2021-01-12T06:48:15Z
day: '01'
ddc:
- '006'
department:
- _id: ChLa
ec_funded: 1
file:
- access_level: open_access
content_type: application/pdf
creator: system
date_created: 2018-12-12T10:12:42Z
date_updated: 2018-12-12T10:12:42Z
file_id: '4961'
file_name: IST-2017-775-v1+1_main.pdf
file_size: 237111
relation: main_file
- access_level: open_access
content_type: application/pdf
creator: system
date_created: 2018-12-12T10:12:43Z
date_updated: 2018-12-12T10:12:43Z
file_id: '4962'
file_name: IST-2017-775-v1+2_supplementary.pdf
file_size: 185818
relation: main_file
file_date_updated: 2018-12-12T10:12:43Z
has_accepted_license: '1'
intvolume: ' 29'
language:
- iso: eng
month: '12'
oa: 1
oa_version: Published Version
page: 3619-3627
project:
- _id: 2532554C-B435-11E9-9278-68D0E5697425
call_identifier: FP7
grant_number: '308036'
name: Lifelong Learning of Visual Scene Understanding
publication_status: published
publisher: Neural Information Processing Systems
publist_id: '6277'
pubrep_id: '775'
quality_controlled: '1'
scopus_import: 1
status: public
title: Lifelong learning with weighted majority votes
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
volume: 29
year: '2016'
...
---
_id: '1099'
abstract:
- lang: eng
text: We present FlexMolds, a novel computational approach to automatically design
flexible, reusable molds that, once 3D printed, allow us to physically fabricate,
by means of liquid casting, multiple copies of complex shapes with rich surface
details and complex topology. The approach to design such flexible molds is based
on a greedy bottom-up search of possible cuts over an object, evaluating for each
possible cut the feasibility of the resulting mold. We use a dynamic simulation
approach to evaluate candidate molds, providing a heuristic to generate forces
that are able to open, detach, and remove a complex mold from the object it surrounds.
We have tested the approach with a number of objects with nontrivial shapes and
topologies.
acknowledgement: "The armadillo, bunny and dragon models are courtesy of the Stanford
\ 3D Scanning Repository. The bimba, fertility and elephant models are courtesy
of the AIM@SHAPE Shape Repository. \r\nThis project has received funding from the
European Union’s Horizon 2020 research and innovation programme under grant
\ agreement\r\nNo. 645599."
alternative_title:
- ACM Transactions on Graphics
article_number: '223'
author:
- first_name: Luigi
full_name: Malomo, Luigi
last_name: Malomo
- first_name: Nico
full_name: Pietroni, Nico
last_name: Pietroni
- first_name: Bernd
full_name: Bickel, Bernd
id: 49876194-F248-11E8-B48F-1D18A9856A87
last_name: Bickel
orcid: 0000-0001-6511-9385
- first_name: Paolo
full_name: Cignoni, Paolo
last_name: Cignoni
citation:
ama: 'Malomo L, Pietroni N, Bickel B, Cignoni P. FlexMolds: Automatic design of
flexible shells for molding. In: Vol 35. ACM; 2016. doi:10.1145/2980179.2982397'
apa: 'Malomo, L., Pietroni, N., Bickel, B., & Cignoni, P. (2016). FlexMolds:
Automatic design of flexible shells for molding (Vol. 35). Presented at the SIGGRAPH
Asia: Conference and Exhibition on Computer Graphics and Interactive Techniques
in Asia, Macao, China: ACM. https://doi.org/10.1145/2980179.2982397'
chicago: 'Malomo, Luigi, Nico Pietroni, Bernd Bickel, and Paolo Cignoni. “FlexMolds:
Automatic Design of Flexible Shells for Molding,” Vol. 35. ACM, 2016. https://doi.org/10.1145/2980179.2982397.'
ieee: 'L. Malomo, N. Pietroni, B. Bickel, and P. Cignoni, “FlexMolds: Automatic
design of flexible shells for molding,” presented at the SIGGRAPH Asia: Conference
and Exhibition on Computer Graphics and Interactive Techniques in Asia, Macao,
China, 2016, vol. 35, no. 6.'
ista: 'Malomo L, Pietroni N, Bickel B, Cignoni P. 2016. FlexMolds: Automatic design
of flexible shells for molding. SIGGRAPH Asia: Conference and Exhibition on Computer
Graphics and Interactive Techniques in Asia, ACM Transactions on Graphics, vol.
35, 223.'
mla: 'Malomo, Luigi, et al. FlexMolds: Automatic Design of Flexible Shells for
Molding. Vol. 35, no. 6, 223, ACM, 2016, doi:10.1145/2980179.2982397.'
short: L. Malomo, N. Pietroni, B. Bickel, P. Cignoni, in:, ACM, 2016.
conference:
end_date: 2016-12-08
location: Macao, China
name: 'SIGGRAPH Asia: Conference and Exhibition on Computer Graphics and Interactive
Techniques in Asia'
start_date: 2016-12-05
date_created: 2018-12-11T11:50:08Z
date_published: 2016-11-01T00:00:00Z
date_updated: 2021-01-12T06:48:16Z
day: '01'
ddc:
- '000'
- '005'
department:
- _id: BeBi
doi: 10.1145/2980179.2982397
ec_funded: 1
file:
- access_level: open_access
content_type: application/pdf
creator: system
date_created: 2018-12-12T10:12:01Z
date_updated: 2018-12-12T10:12:01Z
file_id: '4918'
file_name: IST-2017-760-v1+1_flexmolds.pdf
file_size: 11122029
relation: main_file
file_date_updated: 2018-12-12T10:12:01Z
has_accepted_license: '1'
intvolume: ' 35'
issue: '6'
language:
- iso: eng
month: '11'
oa: 1
oa_version: Submitted Version
project:
- _id: 25082902-B435-11E9-9278-68D0E5697425
call_identifier: H2020
grant_number: '645599'
name: Soft-bodied intelligence for Manipulation
publication_status: published
publisher: ACM
publist_id: '6276'
pubrep_id: '760'
quality_controlled: '1'
scopus_import: 1
status: public
title: 'FlexMolds: Automatic design of flexible shells for molding'
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
volume: 35
year: '2016'
...
---
_id: '1102'
abstract:
- lang: eng
text: Weakly-supervised object localization methods tend to fail for object classes
that consistently co-occur with the same background elements, e.g. trains on tracks.
We propose a method to overcome these failures by adding a very small amount of
model-specific additional annotation. The main idea is to cluster a deep network\'s
mid-level representations and assign object or distractor labels to each cluster.
Experiments show substantially improved localization results on the challenging
ILSVC2014 dataset for bounding box detection and the PASCAL VOC2012 dataset for
semantic segmentation.
acknowledgement: "This work was funded in parts by the European Research Council\r\nunder
the European Union’s Seventh Framework Programme (FP7/2007-2013)/ERC grant\r\nagreement
no 308036. We gratefully acknowledge the support of NVIDIA Corporation with\r\nthe
donation of the GPUs used for this research."
author:
- first_name: Alexander
full_name: Kolesnikov, Alexander
id: 2D157DB6-F248-11E8-B48F-1D18A9856A87
last_name: Kolesnikov
- first_name: Christoph
full_name: Lampert, Christoph
id: 40C20FD2-F248-11E8-B48F-1D18A9856A87
last_name: Lampert
orcid: 0000-0001-8622-7887
citation:
ama: 'Kolesnikov A, Lampert C. Improving weakly-supervised object localization by
micro-annotation. In: Proceedings of the British Machine Vision Conference
2016. Vol 2016-September. BMVA Press; 2016:92.1-92.12. doi:10.5244/C.30.92'
apa: 'Kolesnikov, A., & Lampert, C. (2016). Improving weakly-supervised object
localization by micro-annotation. In Proceedings of the British Machine Vision
Conference 2016 (Vol. 2016–September, p. 92.1-92.12). York, United Kingdom:
BMVA Press. https://doi.org/10.5244/C.30.92'
chicago: Kolesnikov, Alexander, and Christoph Lampert. “Improving Weakly-Supervised
Object Localization by Micro-Annotation.” In Proceedings of the British Machine
Vision Conference 2016, 2016–September:92.1-92.12. BMVA Press, 2016. https://doi.org/10.5244/C.30.92.
ieee: A. Kolesnikov and C. Lampert, “Improving weakly-supervised object localization
by micro-annotation,” in Proceedings of the British Machine Vision Conference
2016, York, United Kingdom, 2016, vol. 2016–September, p. 92.1-92.12.
ista: 'Kolesnikov A, Lampert C. 2016. Improving weakly-supervised object localization
by micro-annotation. Proceedings of the British Machine Vision Conference 2016.
BMVC: British Machine Vision Conference vol. 2016–September, 92.1-92.12.'
mla: Kolesnikov, Alexander, and Christoph Lampert. “Improving Weakly-Supervised
Object Localization by Micro-Annotation.” Proceedings of the British Machine
Vision Conference 2016, vol. 2016–September, BMVA Press, 2016, p. 92.1-92.12,
doi:10.5244/C.30.92.
short: A. Kolesnikov, C. Lampert, in:, Proceedings of the British Machine Vision
Conference 2016, BMVA Press, 2016, p. 92.1-92.12.
conference:
end_date: 2016-09-22
location: York, United Kingdom
name: 'BMVC: British Machine Vision Conference'
start_date: 2016-09-19
date_created: 2018-12-11T11:50:09Z
date_published: 2016-09-01T00:00:00Z
date_updated: 2021-01-12T06:48:18Z
day: '01'
department:
- _id: ChLa
doi: 10.5244/C.30.92
ec_funded: 1
language:
- iso: eng
main_file_link:
- open_access: '1'
url: http://www.bmva.org/bmvc/2016/papers/paper092/paper092.pdf
month: '09'
oa: 1
oa_version: Published Version
page: 92.1-92.12
project:
- _id: 2532554C-B435-11E9-9278-68D0E5697425
call_identifier: FP7
grant_number: '308036'
name: Lifelong Learning of Visual Scene Understanding
publication: Proceedings of the British Machine Vision Conference 2016
publication_status: published
publisher: BMVA Press
publist_id: '6273'
quality_controlled: '1'
scopus_import: 1
status: public
title: Improving weakly-supervised object localization by micro-annotation
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
volume: 2016-September
year: '2016'
...
---
_id: '1103'
abstract:
- lang: eng
text: We propose two parallel state-space-exploration algorithms for hybrid automaton
(HA), with the goal of enhancing performance on multi-core shared-memory systems.
The first uses the parallel, breadth-first-search algorithm (PBFS) of the SPIN
model checker, when traversing the discrete modes of the HA, and enhances it with
a parallel exploration of the continuous states within each mode. We show that
this simple-minded extension of PBFS does not provide the desired load balancing
in many HA benchmarks. The second algorithm is a task-parallel BFS algorithm (TP-BFS),
which uses a cheap precomputation of the cost associated with the post operations
(both continuous and discrete) in order to improve load balancing. We illustrate
the TP-BFS and the cost precomputation of the post operators on a support-function-based
algorithm for state-space exploration. The performance comparison of the two algorithms
shows that, in general, TP-BFS provides a better utilization/load-balancing of
the CPU. Both algorithms are implemented in the model checker XSpeed. Our experiments
show a maximum speed-up of more than 2000 χ on a navigation benchmark, with respect
to SpaceEx LGG scenario. In order to make the comparison fair, we employed an
equal number of post operations in both tools. To the best of our knowledge, this
paper represents the first attempt to provide parallel, reachability-analysis
algorithms for HA.
acknowledgement: This work was supported in part by DST-SERB, GoI under Project No.
YSS/2014/000623 and by the European Research Council (ERC) under grant 267989 (QUAREM)
and by the Austrian Science Fund (FWF) under grants S11402-N23, S11405-N23 and S11412-N23
(RiSE/SHiNE) and Z211-N23 (Wittgenstein Award).
article_number: '7797741'
author:
- first_name: Amit
full_name: Gurung, Amit
last_name: Gurung
- first_name: Arup
full_name: Deka, Arup
last_name: Deka
- first_name: Ezio
full_name: Bartocci, Ezio
last_name: Bartocci
- first_name: Sergiy
full_name: Bogomolov, Sergiy
id: 369D9A44-F248-11E8-B48F-1D18A9856A87
last_name: Bogomolov
orcid: 0000-0002-0686-0365
- first_name: Radu
full_name: Grosu, Radu
last_name: Grosu
- first_name: Rajarshi
full_name: Ray, Rajarshi
last_name: Ray
citation:
ama: 'Gurung A, Deka A, Bartocci E, Bogomolov S, Grosu R, Ray R. Parallel reachability
analysis for hybrid systems. In: IEEE; 2016. doi:10.1109/MEMCOD.2016.7797741'
apa: 'Gurung, A., Deka, A., Bartocci, E., Bogomolov, S., Grosu, R., & Ray, R.
(2016). Parallel reachability analysis for hybrid systems. Presented at the MEMOCODE:
International Conference on Formal Methods and Models for System Design, Kanpur,
India : IEEE. https://doi.org/10.1109/MEMCOD.2016.7797741'
chicago: Gurung, Amit, Arup Deka, Ezio Bartocci, Sergiy Bogomolov, Radu Grosu, and
Rajarshi Ray. “Parallel Reachability Analysis for Hybrid Systems.” IEEE, 2016.
https://doi.org/10.1109/MEMCOD.2016.7797741.
ieee: 'A. Gurung, A. Deka, E. Bartocci, S. Bogomolov, R. Grosu, and R. Ray, “Parallel
reachability analysis for hybrid systems,” presented at the MEMOCODE: International
Conference on Formal Methods and Models for System Design, Kanpur, India , 2016.'
ista: 'Gurung A, Deka A, Bartocci E, Bogomolov S, Grosu R, Ray R. 2016. Parallel
reachability analysis for hybrid systems. MEMOCODE: International Conference on
Formal Methods and Models for System Design, 7797741.'
mla: Gurung, Amit, et al. Parallel Reachability Analysis for Hybrid Systems.
7797741, IEEE, 2016, doi:10.1109/MEMCOD.2016.7797741.
short: A. Gurung, A. Deka, E. Bartocci, S. Bogomolov, R. Grosu, R. Ray, in:, IEEE,
2016.
conference:
end_date: 2016-11-20
location: 'Kanpur, India '
name: 'MEMOCODE: International Conference on Formal Methods and Models for System
Design'
start_date: 2016-11-18
date_created: 2018-12-11T11:50:09Z
date_published: 2016-12-27T00:00:00Z
date_updated: 2021-01-12T06:48:18Z
day: '27'
department:
- _id: ToHe
doi: 10.1109/MEMCOD.2016.7797741
ec_funded: 1
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://arxiv.org/abs/1606.05473
month: '12'
oa: 1
oa_version: Preprint
project:
- _id: 25EE3708-B435-11E9-9278-68D0E5697425
call_identifier: FP7
grant_number: '267989'
name: Quantitative Reactive Modeling
- _id: 25F42A32-B435-11E9-9278-68D0E5697425
call_identifier: FWF
grant_number: Z211
name: The Wittgenstein Prize
- _id: 25832EC2-B435-11E9-9278-68D0E5697425
call_identifier: FWF
grant_number: S 11407_N23
name: Rigorous Systems Engineering
publication_status: published
publisher: IEEE
publist_id: '6272'
quality_controlled: '1'
scopus_import: 1
status: public
title: Parallel reachability analysis for hybrid systems
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
year: '2016'
...