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Increasing crossover operator efficiency in multiobjective nonlinear systems identification

Increasing crossover operator efficiency in multiobjective n...

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international IEEE conference on Intelligent Systems, IS

作者： Alina Patelli Lavinia Ferariu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

An elitist multiobjective optimization methodology, based on genetic programming, is suggested in the following, as means of identifying complex nonlinear systems. the structure and parameters of the nonlinear models are selected simultaneously as result of the conjoint usage of customized genetic operators and of a deterministic parameter computation procedure. this symbiosis is configured to efficiently exploit the nonlinear, linear in parameters formalism, a proven universal approximator, according to which the models are generated. In order to protect useful model terms from fragmentation via crossover, the authors have introduced a novel encapsulation mechanism supervised by a fuzzy controller. To meet the specific requirements of systems identification in engineering applications, the optimization procedure considers two evaluation criteria, namely accuracy and parsimony, exploited from an elitist standpoint. the approach also features an original similarity analysis technique, meant to encourage population diversity. the practical efficiency of the proposed identification algorithm was tested in the framework of a real life industrial system.

关键词： Nonlinear systems Optimization methods Genetic programming Symbiosis Protection Encapsulation Fuzzy control System identification Systems engineering and theory Life testing

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Robots, children, and helping: Do children help a robot in need?

Robots, children, and helping: Do children help a robot in n...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Tanya Beran Alejandro Ramirez-Serrano Department of Community Health Sciences University of Calgary Calgary Canada Department of Mechanical Engineering University of Calgary Calgary Canada

ISBN: (纸本)9781424448920;9781424448937

this study examined the interactions between children and robots by observing whether children help a robot complete a task under five conditions to determine which elicited the most help. Each condition had an experimental and control group, with 20-32 children (even number of boys and girls) in each group. Visitors to a science centre located in a major Western Canadian city were invited to participate in an experiment set up at the centre. their behaviors with a robot, a small 5 degree of freedom robot arm, were observed. Results of chi-square analyses indicated that children are most likely to help a robot after being introduced to it, X 2 (1) = 4.15, p = .04. this condition was the only one of five tested that demonstrated a significant increase in children's helping behaviors. these results suggest that an adult's demonstrated positive introduction to a robot impacts children's helping behaviors towards it.

关键词： Orbital robotics Pediatrics Cities and towns Portable computers Robot control Robot vision systems Cameras Motion control control systems Optical feedback

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Considering the bystander's perspective for indirect human-robot interaction

Considering the bystander's perspective for indirect human-r...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Katherine M. Tsui Munjal Desai Holly A. Yanco Department of Computer Science University of Massachusetts Lowell Lowell MA USA

ISBN: (纸本)9781424448920;9781424448937

As robots become more pervasive in society, people will find themselves actively interacting with robots, and also rushing past them without any explicit interaction. People are able to maneuver in crowded situations by speeding up or slowing down to slip in between open pockets where people are not standing or walking. Our research focuses on this indirect bystander interaction. Scholtz defines a bystander as a person who "does not explicitly interact with a robot but needs some model of robot behavior to understand the consequences of the robot's actions" and does not have formal training about the robot [1], [2]. We investigated the level of trust that a bystander has of a robotic system in a corridor passing scenario by asking people to watch short videos of such scenarios where the hallway is only wide enough to accommodate two entities (either human or robot). Our goal was to understand the bystander's mental model of how a robot should behave when passing a human, the bystander's expectation of the robot to adhere to social protocol, and the overall trust a bystander has of the robot to do the right thing.

关键词： Mobile robots Wheelchairs Videos Service robots robotics and automation Human robot interaction Cognitive science Protocols Computer science Legged locomotion

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Tensor Product Model Transformation Based Friction Compensation of a Mechatronic System

Tensor Product Model Transformation Based Friction Compensat...

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international conference on Intelligence Engineering Systems

作者： Bela Takarics Peter Korondi Peter Baranyi Dept. of Mechatronics Optics and Engineering Informatics Budapest University of Technology and Economics Cognitive Informatics Research Group Computer and Automation Research Institute

ISBN: (纸本)9781424476527

the Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. the main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. the main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. the reference signal compensation is also based on the TP model transformation. the results were simulated for speed control of the DC servo drive and were compared to other control techniques.

关键词： Non-linear system control Friction compensation DC servo drive Simulation

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Medical Robotic System for MISS

Medical Robotic System for MISS

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the 5th international conference on Computer Science & Education(第五届国际计算机新技术与教育学术研讨会 ICCSE'10)

作者： Peili Sun Yanqiu Chen Economic Management Institute Dalian Ocean University(Dalian Fisheries University) Dalian P.R.China Department of Computer Science Dalian Neusoft Institute of Information Dalian P.R.China

A conceptual medical robotic system applicable for establishing surgical platform in the process of minimally invasive spine surgery (MISS) is proposed in this paper. According to the requirement of MISS operation, a five-degreeof-freedom (5-DOF) operating mechanism is designed and developed for such applications, and a detailed analysis has been performed for the robot involving the issues of kinematics, control and navigation. In view of the physical constraints imposed by mechanical joints, the operating mechanism is determined. Moreover, the kinematic analysis is carried out via the Denavit-Hartenberg (D-H) representation, and the control system is briefly introduced. Based on the principle of volume reconstruction and Windows programming technology, the surgical navigation system is established. At last, the experimental results made for the prototype illustrate the system well. this research will lay a good foundation for the development of a medical robot to assist in MISS operation.

关键词： medical robotics:minimally invasive spine surgery surgical navigation:3D modeling

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An experimental study on imaging burkitt's lymphoma cells by atomic force microscope

An experimental study on imaging burkitt's lymphoma cells by...

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IEEE international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Shunzong Yuan Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Lymphoma Hospital of Military Medical Academy of Sciences Beijing China

Burkitt's lymphoma (BL) is a highly aggressive malignant tumor with high morbidity rate in children. Patients have different responses to the same therapy due to the molecular heterogeneity. Detailed observation of the surface structure of BL cells to locate the specific receptors (CD20) on the cell surface and measure the binding force between the CD20s and their cognate ligands (Rituximab) may give people a further understanding to BL cell's intrinsic properties and provide complementary approaches for the next generation of drug research and development. In this paper, we give an experimental study on how to obtain the morphology images of the BL cells both in air and liquid with atomic force microscope (AFM). the detailed procedures such as sample preparation of BL cells, parameter setting of AFM and so on, are presented, and the experimental results illustrate that the morphology image of the BL cell can be obtained in air or liquid respectively by using AFM.

关键词： Force Atomic force microscopy Drugs Surface morphology Humidity

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Head motion during dialogue speech and nod timing control in humanoid robots

Head motion during dialogue speech and nod timing control in...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Carlos T. Ishi ChaoRan Liu Hiroshi Ishiguro Norihiro Hagita ATR Intelligent Robotics and Communication Laboratories Kyoto Japan

ISBN: (纸本)9781424448920;9781424448937

Head motion naturally occurs in synchrony with speech and may carry paralinguistic information, such as intention, attitude and emotion, in dialogue communication. With the aim of verifying the relationship between head motion and the dialogue acts carried by speech, analyses were conducted on motion-captured data for several speakers during natural dialogues. the analysis results first confirmed the trends of our previous work, showing that regardless of the speaker, nods frequently occur during speech utterances, not only for expressing dialogue acts such as agreement and affirmation, but also appearing at the last syllable of the phrase, in strong phrase boundaries, especially when the speaker is talking confidently, or expressing interest in the interlocutor's talk. Inter-speaker variability indicated that the frequency of head motion may vary according to the speaker's age or status, while intra-speaker variability indicated that the frequency of head motion also differs depending on the inter-personal relationship with the interlocutor. A simple model for generating nods based on rules inferred from the analysis results was proposed and evaluated in two types of humanoid robots. Subjective scores showed that the proposed model could generate head motions with naturalness comparable to the original motions.

关键词： Timing Motion control Robot control Humanoid robots Speech analysis Motion analysis Frequency synchronization Communication system control Intelligent robots Natural languages

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A larger audience, please! — Encouraging people to listen to a guide robot

A larger audience, please! — Encouraging people to listen t...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Masahiro Shiomi Takayuki Kanda Hiroshi Ishiguro Norihiro Hagita ATR Intelligent Robotics and Communication Laboratories Kyoto Japan

ISBN: (纸本)9781424448920;9781424448937

Tour guidance is a common task of social robots. Such a robot must be able to encourage the participation of people who are not directly interacting with it. We are particularly interested in encouraging people to overhear its interaction with others, since it has often been observed that even people who hesitate to interact with a robot are willing to observe its activity. To encourage such participation as bystanders, we developed a robot that walks backwards based on observations of human tour guides. Our developed system uses a robust human tracking system that enables a robot to guide people by walking forward/backward and allows us to scrutinize people's behavior after the experiment. We conducted a field experiment to compare the ratios of overhearing in ¿walking forward¿ and ¿walking backward.¿ the experimental results revealed that in fact people do more often overhear the robot's conversation in the ¿walking backward¿ condition.

关键词： Legged locomotion Human robot interaction Intelligent robots Robustness Navigation Laboratories Cities and towns Robot control Mobile robots

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the Articulated Head pays attention

The Articulated Head pays attention

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Christian Kroos Damith C. Herath Stelarc MARCS Auditory Laboratories University of Western Ontario Sydney Australia

the Articulated Head (AH) is an artistic installation that consists of a LCD monitor mounted on an industrial robot arm (Fanuc LR Mate 200iC) displaying the head of a virtual human. It was conceived as the next step in the evolution of Embodied Conversational Agents (ECAs) transcending virtual reality into the physical space shared with the human interlocutor. Recently an attention module has been added as part of a behavioural control system for non-verbal interaction between robot/ECA and human. Unstructured incoming perceptual information (currently originating from a custom acoustic localisation algorithm and a commercial people tracking software) is narrowed down to the most salient aspects allowing the generation of a single motor response. the requirements of the current task determine what salient means at any point in time, that is, the rules and associated thresholds and weights of the attention system are modified by the requirements of the current task while the task itself is specified by the central control system depending on the overall state of the AH with respect to the ongoing interaction. the attention system determines a single attended event using a winner-takes-all strategy and relays it to the central control system. It also directly generates a motor goal and forwards it to the motor system. the video shows how the robot's attention system drives its behaviour, (1) when there is no stimulus over an extended period of time, (2) when a person moves within its visual field, and (3) when a sudden loud auditory event attracts attention during an ongoing visually-based interaction (auditory-visual attention conflict). the subtitles are direct mappings from numeric descriptions of the central control system's internal states to slightly more entertaining English sentences.

关键词： control systems Centralized control Orbital robotics Laboratories Australia Service robots Virtual reality Human robot interaction Software algorithms Relays

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An Interaction-Based Model for Auditory Substitution of Tactile Percepts

An Interaction-Based Model for Auditory Substitution of Tact...

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international conference on Intelligence Engineering Systems

作者： Adam B. Csapo Peter Baranyi Computer and Automation Research Institute

ISBN: (纸本)9781424476527

We refer to channels of communication that link the user to information systems as cognitive communication channels. One especially interesting research topic related to cognitive communication channels deals with a special application called sensory substitution, when information is conveyed through a channel other than the one that is normally used for the given application. Our goal is to develop engineering systems for the remote teleoperation of robots using sensory substitution to convey feedback information in meaningful ways. Such applications could help reduce the cognitive load for the user on the one hand, and help alleviate the effect of control instabilities and network delays on the other. A large part of our research deals with how to provide information on physical parameters - otherwise inaccessible to the remote user - through sound. In this paper, we first propose a model that describes the kinds of pairings between physical and auditory parameters we find meaningful. this is followed by a description of an example application in which auditory signals are used to convey information on tactile perception.

关键词： automation Communication channels Systems engineering and theory Feedback Humans Electronic mail Information systems Application software Robot sensing systems Cognitive robotics

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