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Behavioral task processing for cognitive robots using artificial emotions

NEUROCOMPUTING 2009年第13-15期72卷 2835-2844页

作者： Daglarli, Evren Temeltas, Hakan Yesiloglu, Murat Istanbul Tech Univ Elect Elect Engn Fac Dept Control Engn TR-34469 Istanbul Turkey

This paper presents an artificial emotional-cognitive system-based autonomous robot control architecture for a four-wheel driven and four-wheel steered mobile robot. Discrete stochastic state-space mathematical model is considered for behavioral and emotional transition processes of the autonomous mobile robot in the dynamic realistic environment. The term of cognitive mechanism system which is composed from rule base and reinforcement self-learning algorithm explain all of the deliberative events such as learning, reasoning and memory (rule spaces) of the autonomous mobile robot. The artificial cognitive model of autonomous robot control architecture has a dynamic associative memory including behavioral transition rules which are able to be learned for achieving multi-objective robot tasks. Motivation module of architecture has been considered as behavioral gain effect generator for achieving multi-objective robot tasks. According to emotional and behavioral state transition probabilities, artificial emotions determine sequences of behaviors for long-term action planning. Also reinforcement self-learning and reasoning ability of artificial cognitive model and motivational gain effects of proposed architecture can be observed on the executing behavioral sequences during simulation. The posture and speed of the robot and the configurations, speeds and torques of the wheels and all deliberative and cognitive events can be observed from the simulation plant and virtual reality viewer. This study constitutes basis for the multi-goal robot tasks and artificial emotions and cognitive mechanism-based behavior generation experiments on a real mobile robot. (C) 2009 Elsevier B.V. All rights reserved.

关键词： Intelligent robotics Autonomous systems Artificial cognitive models Emotion-based control

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Biorobots, nonlinear dynamics and Perception

Biorobots, nonlinear dynamics and Perception

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Symposium on Mining Smartness from Nature held at the 3rd international conference on Smart Materials, Structures and Systems

作者： Arena, Paolo Lombardo, Davide Patane, Luca Univ Catania Dipartimento Ingn Elettr Elettron & Sistemi I-95125 Catania Italy

ISBN: (纸本)9783908158240

In this contribution a survey on a novel approach to locomotion and perception in biologically inspired robots is presented. The basic electronic architecture for modeling and implementing nonlinear dynamics involved in motion and perceptual control of the robot is the Cellular nonlinear network paradigm. It is shown how this continuous time lattice of neural-like circuits can generate suitable and real-time dynamics for efficient control of multi-actuators moving machines, and also to create the basis for a perceptual control of their behaviors.

关键词： Biologically Inspired robotics Cellular Nonlinear Networks Central Pattern Generator Analog Computation

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. This controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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Design and implementation of a 12-axis accelerometer suite

Design and implementation of a 12-axis accelerometer suite

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2009 IEEE/RSJ international conference on Intelligent Robots and Systems, IROS 2009

作者： Ho, Chi-Wei Lin, Pei-Chun Department of Mechanical Engineering National Taiwan University No. 1 Roosevelt Rd. Taipei Taiwan

ISBN: (纸本)9781424438044

We report on a 12-axis accelerometer suite which utilizes 12-axis linear acceleration measurements from four 3-axis accelerometers. This system is capable of deriving linear acceleration, angular acceleration and angular velocity via simple matrix operations. It also releases the requirement of accelerometer installation at the center of mass as well as eliminates the necessity of gyro implementation as in the traditional inertia measurement unit (IMU). An optimal configuration of the system is proposed based on the analysis of rigid body dynamics and matrix theory. We also report the results of experimental evaluation. We believe the analysis presented in this paper would benefit the practical design of IMUs in the future. © 2009 IEEE.

关键词： Accelerometers

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Modal analysis of composite materials by electronic speckle pattern interferometry and accelerometer

Modal analysis of composite materials by electronic speckle ...

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3rd international Operational Modal Analysis conference, IOMAC 2009

作者： Rusnáková, Soňa Bakošová, Dana Letko, Ivan Slabeycius, Juraj Krmela, Ján University of Alexander Dubček in Trenčín Department of physical engineering of materials Púchov Slovakia University of Pardubice Department of Informatics in Transport Pardubice Czech Republic

The paper describes the principle of electronic speckle pattern interferometry together with the application possibilities of an accelerometer as a new method of nondestructive testing in research, design and control of rubber products, especially of tires. Electronic speckle pattern interferometry can be used to obtain a complete picture of the deformation of a complex assembly under test, or a map of its vibration modes and their amplitudes. We compare resonant frequencies obtained by ESPI method and accelerometer. By using of accelerometer we obtained amplitudes of surface vibrations of personal tyres and we localized the point with maximum amplitude. It was measured this maximum amplitude with corresponding resonant frequency. Finally we can constant that experimental methods determine frequency of natural vibrations with sufficient accuracy and so dynamical characterisations system tyre and disk under their loading.

关键词： Tires

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Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Switching feedback controllers based on the maximal CPI sets...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Yamamoto, Ko Nakamura, Yoshihiko Department of Mechanical Science and Engineering Tokyo TECH 2-12-1 Oookayama Megutro-ku 152-8552 Tokyo Japan Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-ku 113-8656 Tokyo Japan

ISBN: (纸本)9781424445882

Humanoid robots should be able to stand and walk despite reasonable external disturbances. This paper addresses the robustness of a humanoid robot to unknown disturbances. Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP. In this paper, the authors enable the control law to consider the physical constraint explicitly with the maximal CPI set. Furthermore, the switching control framework is applied to a COG-ZMP inverted pendulum model, allowing for an improved robustness to external disturbances. The validity of the proposed method is verified with both of simulation and experiment. ©2009 IEEE.

关键词： Anthropomorphic robots

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Analyzing the "knacks " of transferring human and developing a two-body integrated model as a basis for humanoid control

Analyzing the "knacks " of transferring human and developing...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Ogata, Kunihiro Kuniyoshi, Yasuo Intelligent Systems and Informatics Laboratory Department of Mechano-Informatics Graduate University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan

ISBN: (纸本)9781424445882

In order to help with care work and rescue operations, humanoid robots should have the ability to lift and carry humans gently and steadily. This paper is a step towards the ultimate goal of giving humanoid robots the ability to lift and carry humans, a task which involves very complex physical interactions. We measure several such lifting and carrying motions using a motion capture system, paying special attention to "knacks" which are motion patterns which are critical to success in the task. The knack movements are basically simple, so if they can be found, they can be used to obtain control methods enabling human-lifting motions for humanoid robots. In the experimental results, we found two common knacks between three subjects, and that falling momentum plays a very important role in the motion . Moreover we discovered that when a subject uses the two special knacks effectively, along with a rotation movement, the load on the waist is decreased. Thus, we propose a motion model for humanoid robot control that includes translation movement and rotation movement, and we expect that this model will have the ability to express various human handling motions. ©2009 IEEE.

关键词： Anthropomorphic robots

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User-centered activity management system for elderly people: Empowering older people with interactive technologies to manage their activities at the retirement home

User-centered activity management system for elderly people:...

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2009 3rd international conference on Pervasive Computing Technologies for Healthcare - Pervasive Health 2009, PCTHealth 2009

作者： Benoît, Otjacques Marc, Krier Fernand, Feltz Dieter, Ferring Martine, Hoffmann Informatics Systems and Collaboration Department - ISC Public Research Centre - Gabriel Lippmann Belvaux Luxembourg INSIDE Research Unit University of Luxembourg Walferdange Luxembourg

ISBN: (纸本)9789639799424

This paper presents the preliminary results of a multi-disciplinary project aiming at studying technology supported life in a retirement home. The results of semistructured interviews conducted with a group of 40 (semi-) autonomously living elderly persons are presented. In general they point in the direction of a "differential indication" of technologies in the sense of identifying personal solution for individual needs. Second, results show that the crucial dimension underlying the acceptance of technologies is the notion of personal control. The paper also identifies ten key design factors to build successful applications for elderly people. Finally an initial version of a new system mixing RFID, tactile screen and large display is described.

关键词： Elderly people Older people Retirement Home Management RFID Tactile Terminal

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Web search and information credibility analysis - Bridging the gap between Web 1.0 and Web 2.0 09

Web search and information credibility analysis - Bridging t...

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3rd international conference on Ubiquitous Information Management and Communication, ICUIMC'09

作者： Tanaka, Katsumi Department of Social Informatics Graduate School of Informatics Kyoto University Yoshida-Honmachi Sakyo Kyoto 606-8501 Japan

ISBN: (纸本)9781605584058

As computers and computer networks become more common, a huge amount of information, such as that found in Web contents including multimedia content (images, videos etc.), has been accumulated and circulated. Such information gives people a framework for organizing their private and professional lives. However, in general, the quality control of Web content is insufficient due to low publishing barriers. In result there is lot of mistaken and unreliable information on the Web that can have detrimental effects on users. This calls for technology that would facilitate judging the trustworthiness of content and the accuracy of the information that users encounter on the Web. Such technology should be able to handle a wide range of tasks: extracting credible information related to a given topic, organizing this information, detecting its provenance, clarifying background, facts, and other related opinions and the distribution of them, and so on. Also, as for Web search, conventional Web search engines still suffer from their low precision/recall ratio especially for searching multimedia contents (images, videos etc.). In this paper, we propose an idea to enhance conventional Web search and to analyze Web information credibility by bridging the gap between Web 1.0 contents and Web 2.0 contents. Based on the idea, we overview our research activities on Web search and their information credibility. Copyright 2009 ACM.

关键词： Quality control

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On the geometry of predictive control with nonlinear constraints

On the geometry of predictive control with nonlinear constra...

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international conference on informatics in control automation and robotics, ICINCO 2007

作者： Olaru, Sorin Dumur, Didier Dobre, Simona Automatic Control Department SUPELEC 3 rue Joliot Curie Gif-sur-Yvette France CRAN BP 239 54506 Vandoeuvre-les-Nancy France

ISBN: (纸本)9783540856399

This paper proposes a geometrical analysis of the polyhedral feasible domains for the predictive control laws under constraints. The state vector is interpreted as a vector of parameters for the optimization problem to be solved at each sampling instant and its influence can be fully described by the use of parameterized polyhedra and their dual constraints/generators representation. The construction of the associated explicit control laws at least for linear or quadratic cost functions can thus receive fully geometrical solutions. Convex nonlinear constraints can be approximated using a description based on the parameterized vertices. In the case of nonconvex regions the explicit solutions can be obtained using Voronoi partitions based on a collection of points distributed over the borders of the feasible domain.

关键词： Geometry

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