Articles+ start Author "Lyons, Damian M."

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1. WAVN: Wide Area Visual Navigation for Large-scale, GPS-denied Environments [2023]

  • Lyons, Damian M. and Rahouti, Mohamed
  • 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :2039-2045 May, 2023

2. Visual homing for coordinated robot team missions [2023]

  • Lyons, Damian M. and Petzinger, Noah
  • Proceedings of SPIE, the International Society for Optical Engineering. 12549:1254902-1254902-10

3. Towards Lakosian Multilingual Software Design Principles [2019]

  • Lyons, Damian M., Zahra, Saba B., and Marshall, Thomas M.
Subjects
Computer Science - Software Engineering
Abstract
Large software systems often comprise programs written in different programming languages. In the case when cross-language interoperability is accomplished with a Foreign Function Interface (FFI), for example pybind11, Boost.Python, Emscripten, PyV8, or JNI, among many others, common software engineering tools, such as call-graph analysis, are obstructed by the opacity of the FFI. This complicates debugging and fosters potential inefficiency and security problems. One contributing issue is that there is little rigorous software design advice for multilingual software. In this paper, we present our progress towards a more rigorous design approach to multilingual software. The approach is based on the existing approach to the design of large-scale C++ systems developed by Lakos. The Lakosian approach is one of the few design methodologies to address physical design rather than just logical design. Using the MLSA toolkit developed in prior work for analysis of multilingual software, we focus in on one FFI -- the pybind11 FFI. An extension to the Lakosian C++ design rules is proposed to address multilingual software that uses pybind11. Using a sample of 50 public GitHub repositories that use pybind11, we measure how many repositories would currently satisfy these rules. We conclude with a proposed generalization of the pybind11-based rules for any multilingual software using an FFI interface.
Comment: 8 Pages, submitted to ICSoft 2019

4. Lightweight Call-Graph Construction for Multilingual Software Analysis [2018]

  • Bogar, Anne Marie, Lyons, Damian M., and Baird, David
  • Anne-Marie Bogar, Damian Lyons, David Baird, Lightweight Call-Graph Construction for Multilingual Software Analysis 13th Int. Conf. on Software Technologies (ICSoft) Porto Portugal, July 2018
Subjects
Computer Science - Software Engineering
Abstract
Analysis of multilingual codebases is a topic of increasing importance. In prior work, we have proposed the MLSA (MultiLingual Software Analysis) architecture, an approach to the lightweight analysis of multilingual codebases, and have shown how it can be used to address the challenge of constructing a single call graph from multilingual software with mutual calls. This paper addresses the challenge of constructing monolingual call graphs in a lightweight manner (consistent with the objective of MLSA) which nonetheless yields sufficient information for resolving language interoperability calls. A novel approach is proposed which leverages information from a compiler-generated AST to provide the quality of call graph necessary, while the program itself is written using an Island Grammar that parses the AST providing the lightweight aspect necessary. Performance results are presented for a C/C++ implementation of the approach, PAIGE (Parsing AST using Island Grammar Call Graph Emitter) showing that despite its lightweight nature, it outperforms Doxgen, is robust to changes in the (Clang) AST, and is not restricted to C/C++.
Comment: 10 pages

5. Lightweight Multilingual Software Analysis [2018]

  • Lyons, Damian M., Bogar, Anne Marie, and Baird, David
  • Damian Lyons, Anne-Marie Bogar, David Baird Lightweight Multilingual Software Analysis in: Challenges and Opportunities in ICT Research Projects (Ed. C. Mota) SCITEPRESS 2018
Subjects
Computer Science - Software Engineering
Abstract
Developer preferences, language capabilities and the persistence of older languages contribute to the trend that large software codebases are often multilingual, that is, written in more than one computer language. While developers can leverage monolingual software development tools to build software components, companies are faced with the problem of managing the resultant large, multilingual codebases to address issues with security, efficiency, and quality metrics. The key challenge is to address the opaque nature of the language interoperability interface: one language calling procedures in a second (which may call a third, or even back to the first), resulting in a potentially tangled, inefficient and insecure codebase. An architecture is proposed for lightweight static analysis of large multilingual codebases: the MLSA architecture. Its modular and table-oriented structure addresses the open-ended nature of multiple languages and language interoperability APIs. We focus here as an application on the construction of call-graphs that capture both inter-language and intra-language calls. The algorithms for extracting multilingual call-graphs from codebases are presented, and several examples of multilingual software engineering analysis are discussed. The state of the implementation and testing of MLSA is presented, and the implications for future work are discussed.
Comment: 15 pages

6. Visual homing for robot teams: do you see what I see? [2022]

  • Lyons, Damian M. and Petzinger, Noah
  • Proceedings of SPIE, the International Society for Optical Engineering. 12124:121240A-121240A-9

7. Cluster computing for robotics and computer vision [2011]

  • Lyons, Damian M

8. Leveraging area bounds information for autonomous decentralized multi-robot exploration [2015]

  • Liu, Tsung-Ming and Lyons, Damian M.
  • In Robotics and Autonomous Systems December 2015 74 Part A:66-78

9. Using a 3D World to Address Perceptual Issues in Human-robot Coordination [2015]

  • Benjamin, D. Paul and Lyons, Damian M.
  • In Procedia Manufacturing 2015 3:1030-1037

10. Video tracking system and method [2018]

  • Sablak, Sezai, Katz, David N., Trajkovic, Miroslav, Bolotine, Michael D., and Lyons, Damian M.
Abstract
A video tracking system and method are provided for tracking a target object with a video camera.

11. Towards performance guarantees for emergent behavior [2004]

  • LYONS, Damian M and ARKIN, Ronald C
  • 2004 IEEE International Conference on Robotics and Automation (April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA). :4153-4158
Subjects
Control theory, operational research, Automatique, recherche opérationnelle, Sciences exactes et technologie, Exact sciences and technology, Sciences appliquees, Applied sciences, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Automatique théorique. Systèmes, Control theory. Systems, Robotique, Robotics, Automate, Automaton, Autómata, Dérapage, Side slip, Derrapaje, Modélisation, Modeling, Modelización, Risque accidentel, Hazard, Riesgo accidente, Robot mobile, Moving robot, Robot móvil, Robotique, Robotics, and Robótica
Abstract
It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework based on port automata and asynchronous communication is introduced in this paper. By looking at the internal transitions between port communications, an analysis approach is developed that removes the combinatoric issues of looking at an asynchronous combination of robot and environment. An example application of the approach to wheel slippage in a mobile robot is presented.

12. A Kinect-based system for automatic recording of some pigeon behaviors [2015]

  • Lyons, Damian M., MacDonall, James S., and Cunningham, Kelly M.
  • Behavior Research Methods. December 2015 47(4):1044-1054

13. Combining multiple scoring systems for target tracking using rank–score characteristics [2009]

  • Lyons, Damian M. and Hsu, D. Frank
  • In Information Fusion 2009 10(2):124-136

14. Visual homing for robot teams: do you see what I see? [2022]

  • Nguyen, Hoa G., Muench, Paul L., Skibba, Brian K., Lyons, Damian M., and Petzinger, Noah
  • Proceedings of SPIE; May 2022, Vol. 12124 Issue: 1 p121240A-121240A-9, 1091170p

15. Feature selection for real-time tracking [2006]

  • HSU, D. Frank, LYONS, Damian M, and JIZHOU AI
  • Multisensor, multisource information fusion (architectures, algorithms, and applications 2006)Proceedings of SPIE, the International Society for Optical Engineering. :62420I.1-62420I.8
Subjects
Electronics, Electronique, Metrology and instrumentation, Métrologie et instrumentation, Optics, Optique, Physics, Physique, Telecommunications, Télécommunications, Sciences exactes et technologie, Exact sciences and technology, Sciences appliquees, Applied sciences, Telecommunications et theorie de l'information, Telecommunications and information theory, Théorie de l'information, du signal et des communications, Information, signal and communications theory, Traitement du signal, Signal processing, Traitement des images, Image processing, Divers, Miscellaneous, Cible multiple, Multiple target, Blanco múltiple, Evaluation performance, Performance evaluation, Evaluación prestación, Extraction caractéristique, Feature extraction, Haute performance, High performance, Alto rendimiento, Méthode combinatoire, Combinatorial method, Método combinatorio, Poursuite cible, Target tracking, Précision, Accuracy, Precisión, Système temps réel, Real time system, Sistema tiempo real, Traitement signal vidéo, Video signal processing, Traitement signal, Signal processing, and Procesamiento señal
Abstract
We address the problem of selecting features to improve automated video tracking of targets that undergo multiple mutual occlusions. As targets are occluded, different feature subsets and combinations of those features are effective in identifying the target and improving tracking performance. We use Combinatorial Fusion Analysis to develop a metric to dynamically select which subset of features will produce the most accurate tracking. In particular we show that the combination of a pair of features A and B will improve the accuracy only if (a) A and B have relative high performance, and (b) A and B are diverse. We present experimental results to illustrate the performance of the proposed metric.

16. VIDEO TRACKING SYSTEM AND METHOD [2012]

  • Sablak, Sezai, Katz, David N., Trajkovic, Miroslav, Bolotine, Michael D., and Lyons, Damian M.
Abstract
A video tracking system and method are provided for tracking a target object with a video camera.

17. Analysis of gaits for a rotating tripedal robot [2005]

  • LYONS, Damian. M and PAMNANY, Kiran
  • Intelligent robots and computer vision XXIII (algorithms, techniques, and active vision)Proceedings of SPIE, the International Society for Optical Engineering. :600610.1-600610.8
Subjects
Control theory, operational research, Automatique, recherche opérationnelle, Electronics, Electronique, Computer science, Informatique, Optics, Optique, Physics, Physique, Sciences exactes et technologie, Exact sciences and technology, Sciences appliquees, Applied sciences, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Intelligence artificielle, Artificial intelligence, Reconnaissance des formes. Traitement numérique des images. Géométrie algorithmique, Pattern recognition. Digital image processing. Computational geometry, Automatique théorique. Systèmes, Control theory. Systems, Robotique, Robotics, Allure, Gait, Marcha, Locomotion avec jambes, Legged locomotion, Marche à pied, Walking, Caminata, Posture, Postura, Robot mobile, Moving robot, Robot móvil, Robotique, Robotics, Robótica, Synthèse mécanisme, Mechanism synthesis, Síntesis mecanismo, Trajectoire, Trajectory, Trayectoria, Vision ordinateur, Computer vision, and Visión ordenador
Abstract
A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.

18. Method for assisting an automated video tracking system in reaquiring a target [2007]

  • Cohen-Solal, Eric, Trajkovic, Miroslav, and Lyons, Damian M
Abstract
A method for reacquiring a target in an automated video tracking system is provided. The method includes the steps of: selecting a desired target to be tracked; switching the automated video tracking system to an automatic mode to initiate a tracking sequence to automatically track the selected desired target; switching the automated video tracking system from an automatic mode to a manual mode if the automated video tracking system encounters a period of difficulty in tracking the desired target; reacquiring the desired target in manual mode; and switching the automated video tracking system to the automatic mode for automatic tracking of the reacquired desired target without initiating a new tracking sequence. An apparatus and automated video tracking system for carrying out the methods of the present invention are also provided.

19. Method and apparatus for tuning content of information presented to an audience [2005]

  • Cohen-Solal, Eric and Lyons, Damian M.
Abstract
A method and apparatus are disclosed for tuning the content of information presented to an audience, for example, on a large display screen or an information kiosk. A disclosed content selection and driving system (i) extracts relevant characteristics about the audience, (ii) analyzes the characteristics, (iii) modifies the presented content based on the analysis, and (iv) records relevant statistics for reporting. An audio/visual analyzer derives audience characteristics and other information on the public reaction to the presented advertising or information by analyzing audio or video information, or both. The derived characteristics are utilized to tune the content of the presented advertising or information to the characteristics of the current audience. A reporting module receives real-time audience statistics and an indication of the selected content. Reports can be generated for the content provider, such as advertisers, that indicate the exposure of various population segments to the presented content and the reaction of the audience to the presented content.

20. Method, system, and program for gesture based option selection [2001]

  • Lyons, Damian M. and Murphy, Thomas G.
Abstract
The system displays on a screen a set of options that are selectable by a user. The user standing in front of the screen points at a desired option and a camera of the system takes an image of the user while pointing. The system calculates from the pose of the user in the image whether the user is pointing to any of the displayed options. If such is the case, that particular option is selected and an action corresponding with that option is executed.

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