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Robot command, interrogation and teaching via social interaction

Robot command, interrogation and teaching via social interac...

引用

IEEE-RAS international conference on Humanoid Robots

作者： P.F. Dominey M. Alvarez B. Gao M. Jeambrun A. Cheylus A. Weitzenfeld A. Martinez A. Medrano Institut des Sciences Cognitives CNRS Bron France ITAM Mexico City

the development of high performance humanoid robots provide complex systems with which humans must interact, and levy serious requirements on the quality and depth of these interactions. At the same time, developments in spoken language technology, and in theories of social cognition and intentional cooperative behavior provide the technical basis and theoretical background respectively for the technical specification of how these systems can work. the objective of the current research is to develop a generalized approach for human-machine interaction via spoken language that exploits recent developments in cognitive science - particularly notions of grammatical constructions as form-meaning mappings in language, and notions of shared intentions as distributed plans for interaction and collaboration. We demonstrate this approach on two distinct robot platforms with human-robot interaction at three levels. the first level is that of commanding or directing the behavior of the system. the second level is that of interrogating or requesting an explanation from the system. the third and most advanced level is that of teaching the machine a new form of behavior. Within this context, we exploit social interaction in two manners. First, the robot identifies different human collaborators, and maintain a permanent record of their interactions in order to treat novices and experts in distinct manners. Second, the interactions are structured around shared intentions that guide the interactions in an ergonomic manner. We explore these aspects of communication on two distinct robotic platforms, the "Event Perceiver" and the Sony Aibo ERS7, and provide in the current paper the state of advancement of this work, and the initial lessons learned

关键词： Educational robots Education Natural languages Cognitive robotics Human robot interaction Humanoid robots Cognition Man machine systems Cognitive science Collaborative work

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Simulation Study of Short-Circuit Protection for Island Microgrid Based on Multi-Agent System Communication

Simulation Study of Short-Circuit Protection for Island Micr...

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Clean Energy and Electric Power Engineering (ICCEPE), international conference on

作者： Dou Zhuang Zhuofan Wen Xin Zheng College of Electrical Engineering and Automation Fuzhou University Fuzhou China State Grid Changle Electric Power Supply Company Changle China Engineering Research Centre of Smart Distribution Grid Equipment Fuzhou University Fuzhou China

ISBN: (数字)9798350390315

ISBN: (纸本)9798350390322

When a fault occurs in a microgrid, the microgrid's safe operation must locate the fault position quickly and correctly implement corresponding protection measures. In this article, a short-circuit fault location method based on Multi-Agent System communication in the islanded microgrid mode is proposed and then simulated in MATLAB/Simulink. the simulation result shows that the proposed method can detect and locate the short-circuit fault rapidly and correctly.

关键词： Green energy Simulation Microgrids Fault location Position measurement Wavelet analysis Power systems Protection MATLAB Multi-agent systems

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Active Auditory Exploration for Identifying Object Contents

Active Auditory Exploration for Identifying Object Contents

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Xiang Dou Huaping Liu Xinying Xu Di Guo College of Electrical and Power Engineering Taiyuan University of Technology Taiyuan China Tsinghua University State Key Laboratory of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Intelligent robots need to acquire a target object from the same type of container filled with different kinds of objects. the actions selected by robots are critical to quickly and accurately recognizing the type of objects inside the container. In this paper, we propose an active auditory exploration method based on reinforcement learning, which enables the robot to actively explore the operational behavior of interest and establish the coupling relationship between perception and action to reduce the ambiguity of target recognition. the robot interacts with visually indistinguishable bottles by adopting multiple action behaviors to generate sound data from which the perceptual model learns to classify object contents. this is similar to human beings actively exploring and accumulating experience through sound in the environment where vision cannot be judged. In addition, we also use passive strategies to compare and analyze the impact of inhibition behavior on object recognition. Experimental results show that our method successfully learns effective class recognition strategies and actively selects actions to further improve recognition efficiency.

关键词： Object recognition Containers Robot sensing systems Learning (artificial intelligence) Task analysis Visual perception

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Finite Frequency $\mathrm{H}\infty$ Control for Electro-Hydraulic Servo System With Parameter Uncertainties

Finite Frequency $\mathrm{H}\infty$ Control for Electro-Hydr...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Luyue Yin Jianyong Yao Zhikai Yao School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the frequency of the disturbance of electro-hydraulic servo system is often within a certain range, and the uncertainty of system parameters is common in physical systems. For the above issues, this paper focuses on solving the disturbances within a certain frequency range and the parameters uncertainties in the electro-hydraulic servo system by using finite frequency H∞ control method. To accomplish this study, a nonlinear model of electro-hydraulic servo system was established and derived into an uncertain linearized mathematical model. this linear model also fully considered the uncertainties of system parameters and reserved a large space for them. For the stability of electro-hydraulic servo system with parameter uncertainties and disturbance within a certain range, the finite frequency H∞ control method was used here. After performing operations on linear matrix inequalities, a feasible solution was obtained for satisfying asymptotic stability. the simulation shows that the proposed method has a better robust effect on the stability under the influence of parameters uncertainties and external disturbance within a certain frequency domain.

关键词： Servomotors Uncertain systems Mathematical model Frequency-domain analysis Valves Frequency control

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2D Self-Deployment of A Jumping Sensor Network

2D Self-Deployment of A Jumping Sensor Network

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Chaojun Jiang Jun Zhang Han Li Maozeng Zhang Aiguo Song Jiangsheng Ni School of Instrument Science and Engineering Southeast University Nanjing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Deployment of sensor network has an important influence on the network performance. this paper proposes the 2D self-deployment of a jumping sensor network (JSN) with miniature bio-inspired jumping robots as the sensor nodes. the jumping robot sensor nodes (JRSNs) join a ZigBee network and communicate with the coordinator during the deployment. the node can jump continuously with autonomous self-righting and steering capabilities. the positioning and navigation of the node are realized by using the Ultra Wide Band (UWB) technology and a 9-axis inertial sensor. the path planning and dynamic adjustment algorithms were proposed for the 2D deployment. We conducted multi-jump motion and self-deployment experiments of a single JRSN on the outdoor concrete floor. the multi-jump motion test results verified the stability and repeatability of the jump locomotion of the node. the deployment error of the node was within 25cm which is small enough and acceptable in some applications like environment monitoring. the results verify the feasibility and accuracy of the 2D self-deployment function of the JSN.

关键词： Robot sensing systems Robot kinematics Two dimensional displays Satellite navigation systems Monitoring Wireless sensor networks

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three-Level Neutral-Point-Clamped Enhanced Quasi-Z-Source Inverter

Three-Level Neutral-Point-Clamped Enhanced Quasi-Z-Source In...

引用

IEEE international conference on Power and Power and Renewable Energy (ICPRE)

作者： Cheng Qiming Zhao Miaozhen Shao Yuying Peng Peng Zhai Denghui Peng Daogang School of Automation Engineering Shanghai University of Electric Power Shanghai China State Grid Shanghai Electric Power Company Shanghai China XJ Group Corporation Research and Development Center XJ Group Corporation Xuchang China

the following topics are dealt with: power grids; power engineering computing; distributed power generation; voltage control; photovoltaic power systems; power system stability; power generation control; wind power pl... 详细信息

ISBN: (数字)9781728190266

ISBN: (纸本)9781728190273

关键词： three-level inverter quasi-Z-source inverter capacitor voltage stress boost capabilit three-level Inventors topology

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Dispersion Compensation by Using FBG and Low Pass Gaussian Filter

Dispersion Compensation by Using FBG and Low Pass Gaussian F...

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international conference on Computers, Communications, and systems (ICCCS)

作者： Abdikarim A. Dahir Zhihua Yu School of Automation China University of Geosciences Wuhan Hubei China

ISBN: (数字)9781728161365

ISBN: (纸本)9781728161372

Fiber Bragg Gratings (FBG) is one of the essential techniques that applied for limiting the dispersion, in this paper we use FBG which is widely used component to compensate dispersion with linear chirp and Tanh apodization function, and additionally we embedded low pass Gaussian filter in the electrical part of the system to improve the Q-factor of the performance and eye diagram. the Q-factor of the system is then investigated with and without the Low pass Gaussian filter. the Q-factor of 30km length of the system with FBG is 20.2748, and by using FBG and Low Pass Gaussian Filter, the Q-factor managed to reach 26.9039; We realize that using FBG and Low Pass Gaussian filter as dispersion compensation element gives a better system performance. the system is analyzed with various fiber lengths and evaluated by using optisystem ver15.

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Fostering Synergies: A Dynamic Approach to Collaborative Teaching and Learning in Vocational Education for Industrial robotics Technology between Changzhou Vocational Institute of Mechatronics Technology and Rajamangala University of Technology thanyaburi

Fostering Synergies: A Dynamic Approach to Collaborative Tea...

引用

STEM Education conference (iSTEM-Ed), international

作者： Chollada Pansong Liu Zexiang Min Jin Pakornkiat Sawetmethikul Kasina Chinsri Taweesak Sukcharoensup Department of Technical Education Faculty of Technical Education Rajamangala University of Technology Thanyaburi College of Electrical Engineering Changzhou Vocational Institute of Mechatronic Technology ChangZhou JiangSu China Faculty of Technical Education Jingshi Institute Rajamangala University of Technology Thanyaburi Pathum Thani Thailand Research and Development Division Faculty of Technical Education Rajamangala University of Technology Thanyaburi Pathum Thani Thailand

ISBN: (数字)9798350365979

ISBN: (纸本)9798350365986

this study aimed to design a collaborative teaching and learning approach in Industrial robotics Technology between Changzhou Vocational Institute of Mechatronics Technology (CZIMT) and Rajamangala University of Technology thanyaburi (RMUTT). the process included: (1) Development of joint training programs, comprising two courses: Vocational Training Program in Industrial robotics Technology (Short-Term) and Expert Training Program in Industrial robotics Technology (Long-Term); (2) Preparation of teaching aids, equipment, and training materials; (3) Implementation of block-course training; (4) Evaluation of professional competencies in both theoretical and practical aspects; and (5) Credit/unit competency transfer within the curriculum. the sample group consisted of second-year students pursuing a Bachelor of Science in Technical Education, specializing in Electronics and automation systems Engineering at the Faculty of Technical Education, RMUTT. the group, comprising six students, was selected using a specific sampling method. the results indicated that all students passed the professional competency assessment, with an overall average of 92.67% in both theoretical knowledge and practical skills. the joint curriculum design and collaborative teaching involve RMUTT offering foundational courses in the first year. In the second year, students enroll in short-term block courses at CZIMT, training according to jointly determined competencies. this approach equips students with knowledge and skills that align with RMUTT's curriculum and allows for course credit transfer.

关键词： Mechatronics automation Service robots Collaboration Vocational training systems engineering and theory Sampling methods

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Semantic Map Construction Method Based on Brain-Inspired SLAM

Semantic Map Construction Method Based on Brain-Inspired SLA...

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IEEE international conference on Cyber Technology in automation, Control, and Intelligent systems

作者： Hangpiao Zhao Fengzhen Tang The State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China The University of Chinese Academy of Sciences Shenyang Institute of Automation Beijing China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Simultaneous localization and mapping (SLAM) is one of the core techniques for robots to move autonomously in unknown environments. Rat-SLAM, inspired by the navigation mechanism of the animal brain, provided nice performance in many environments. However, the experience map constructed by RatSLAM excluded semantic information, which is considered to play an important role in human environmental cognition and spatial navigation. In this paper, we propose a method to construct semantic experience map, combining the state-of-the-art deep neural network and RatSLAM. In our method, YOLOv5 is utilized to extract semantic information from the environmental images. the information of static objects, such as road signs, is selected to be incorporated into the experience map, being more closely to the brain navigation. To avoid the same object being repeatedly marked, we propose a semantic dynamic island mechanism, which only marks the center of the island in the experience map. the proposed method is verified on KITTI datasets, showing that it can successfully realize the construction of semantic experience map. the semantic experience maps are more intuitive and understandable by human, facilitating human-robot interaction, i. e. helping robots to fulfil more complex tasks for human.

关键词： YOLO Simultaneous localization and mapping Navigation Roads Semantics Human-robot interaction Detectors Data mining Intelligent systems Robots

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Decision-Making for Remote Control of Emergency Mobile Robot

Decision-Making for Remote Control of Emergency Mobile Robot

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international conference on Modern Electrical and Energy systems (MEES)

作者： Oleksandr Tsymbal Oleh Posashkov Department of Computer-Integrated Technologies Automation and Mechatronics Kharkiv National University of Radio Electronics Kharkiv Ukraine

the proposed paper analyses the decision-making for remote control of emergency mobile robotic platforms. there is described a model of robot’s decision-making, based on predicate logics, which combines local and remote procedures of goals and actions determination. the developed model uses the description of local emergency workspace added with remote-supplied information, based on distributed computer vision system. In core of decision-making system is problem-solving engine, which includes the set of action procedures, goals, specifications of robot and its sensor system. the procedure of action typically contains the result of action, the set of subgoals to solve, set of added facts and removed facts on workspace. Facts of considered workspace includes the descriptions of objects inside workspace with their coordinates, dimensions, and probable identification. To describe the emergency workspace here is proposed information model, based on set theory descriptions. While emergency robot is mostly considered as autonomous system with independent decision-making, the role of remote control is still essential for fast recognition of unknown or damaged objects, fast generation of movements and actions in emergency workspace, fast solution on actions in dangerous situations, for fast information support from other robots and people. the key role of remote control system can be executed by human operator with help of intelligent tools of other remote control systems, which provide monitoring of emergency workspace, based on computer-vision of acting robot and other information sources. the proposed ideas can be considered as a basis for real emergency robot control system implementation.

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