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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

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On Experiments for Measuring Cognitive Weights for Software control Structures

On Experiments for Measuring Cognitive Weights for Software ...

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IEEE international conference on Cognitive informatics

作者： Volker Gruhn Ralf Laue Applied Telematics / e-Business University of Leipzig Germany

Shao and Wang have proposed a cognitive complexity measure as a metric that can be used for estimating the comprehension effort for understanding software written in imperative programming languages. the key idea of their approach is to assign a cognitive weight to basic software control structures. the more difficult a control structure is to understand, the greater is its cognitive weight. In this paper, we discuss the experiments that have been used for calibrating the cognitive weights and show how they can be improved.

关键词： Weight measurement Software measurement Weight control Telematics Programming profession Cognitive informatics Psychology Computer languages Algorithms Stress

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Off-line Programming and simulation for automatic robot control software generation

Off-line Programming and simulation for automatic robot cont...

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IEEE international conference on Industrial informatics (INDIN)

作者： M. Bruccoleri C. D'Onofrio U. La Commare University of Palermo ITALY

In this paper an off-line programming approach for welding robots is presented. the approach is based on the integration of a software tool for robot simulation and an user-friendly interface for automatic generation of the control program. the user can graphically arrange the components in a robotic work-cell and simulate the movements and operations of robotic arms before converting motions and operating sequences in controller-specific tasks. this methodology guarantees high level of flexibility of the robotic system when high variety of work-pieces needs to be welded. the approach has been implemented and tested in a real welding work-cell.

关键词： Automatic programming Robot programming Robot control robotics and automation Welding Software tools Automatic generation control Arm Automatic control Motion control

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Toward broad-spectrum autonomic management

Toward broad-spectrum autonomic management

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6th international conference on Networking, ICN'07

作者： Smith, Edmund Anderson, Paul University of Stirling United Kingdom School of Informatics University of Edinburgh United Kingdom

ISBN: (纸本)0769528058

the fields of autonomics and system configuration share a common goal in decreasing the cost of ownership of large fabrics. In this paper we present a combined vision in which the technical advances of autonomics and the usability advances of system configuration are merged. We present some early system configuration research that forms the first steps toward this vision. Computer fabrics1 are becoming ever more complex and ever more central to the operation of organisations. the cost of a single fabric failure can easily dwarf the cost of employing its administrators [1] but, as for software developers before them [2], IT managers are discovering that simply adding more people to a complex problem does not necessarily provide better results. Autonomics has as its origin the attempt to improve the robustness of an infrastructure by enabling the fabric itself to respond to changes in its environment [3]. But how can we be sure that the the large-scale properties of the fabric will be maintained as it attempts to heal itself? Allowing the fabric to modify itself and evolve its own solutions will make management more difficult, not less, unless the power of administrators to understand and control their fabric is not also increased. the authors' background is not in autonomics, but in system configuration [4], the study of correctly, accurately and scalably building and maintaining computer fabrics. In this paper we present our vision of an autonomic fabric, a fabric which can recover from many errors without human intervention, yet never be beyond the control or understanding of its administrators. this, we believe, will be a fabric which is affordable, both in terms of the effort needed to maintain it and in terms of its support for critical applications. © 2007 IEEE.

关键词： Industrial economics

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Nanorobots for Laparoscopic Cancer Surgery

Nanorobots for Laparoscopic Cancer Surgery

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international conference on Computer and Information Science (ACIS)

作者： Adriano Cavalcanti Bijan Shirinzadeh Declan Murphy Julian A. Smith Robotics and Mechatronics Research Laboratory Department of Mech. Engineering Monash University Melbourne VIC Australia Department of Urology Thomas Guy House Guy''s Hospital London UK Department of Surgery Monash Medical Centre Melbourne VIC Australia

this paper presents an innovative hardware architecture for medical nanorobots, using nanobioelectronics, clinical data, and wireless technologies, as embedded integrated system devices for molecular machine data transmission and control upload, and show how to use it in cancer surgery. the integration of medical nanorobotics and surgical teleoperation has the use of robotic laparoscopy concepts. To illustrate the proposed approach, we applied advanced 3D simulation techniques as a practical choice on methodology for molecular machine integrated system analyses and biomedical instrumentation prototyping.

关键词： Laparoscopes Cancer Oncological surgery Nanoscale devices Hardware Data communication Medical control systems control systems Medical robotics Analytical models

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Joint effect of power control, access control, and multi-hop transmission on area spectral efficiency of cognitive radio system

Joint effect of power control, access control, and multi-hop...

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international conference on Information, Communications and Signal Processing

作者： Naotaka Shibata Koji Yamamoto Hidekazu Murata Susumu Yoshida Graduate School of Informatics Kyoto University Sakyo Kyoto Japan

ISBN: (纸本)9781424409822;1424409829

the joint effect of power control, access control, and multi-hop transmission on spectral efficiency of a cognitive radio system is evaluated, focusing on the trade-off between the performance of a high priority system and that of a low priority system. So as to avoid interference to the high priority system, the low priority system is assumed to reduce transmit power through power control or stop transmission through access control by using information such as path loss. However, excessive power control or access control would decrease the area spectral efficiency of the low priority system. In this context, the effects of multi-hop transmission, in addition to power control and access control, on the area spectral efficiency is evaluated. Simulation results reveal that the combination of multi-hop transmission and power control can significantly increase the area spectral efficiency of the cognitive radio system.

关键词： Power control Access control Cognitive radio Frequency Interference Degradation throughput Wireless communication Wireless LAN informatics

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Models and methods of population dynamics for software environment supporting medical system researches 6

Models and methods of population dynamics for software envir...

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6th international conference APLIMAT 2007

作者： Martsenyuk, Vasyl Petrovych Nakonechny, Olexandr Hryhorovych Medical Informatics Department Ternopil Medical University Voli Square 1 Ternopil46001 Ukraine Department of System Analysis and Decision Making Theory Cybernetics Faculty Kyiv Taras Shevchenko National University Glushkov Avenue 2 Build. 6 Kyiv01127 Ukraine

ISBN: (纸本)9788096956265

In this work there are developed mathematical methods of system analysis of pathologic processes in the class of population dynamics equations. Algorithm of system analysis of pathologic processes is stated. Classes of models to describe basic compartments of pathologic process are offered. there are solved problems of parameters identification of pathologic processes that are mostly Hilbert spaces elements. To estimate delay systems optimization method based on sensitivity functions is offered. there are developed investigation methods within Gompertzian dynamics models, immune system, bone tissue remodeling. Methods of linearization and Liapunov functionals were used. there were stated and solution methods were offered for control problems to construct optimal treatment schemes. Topics of nonlinear dynamics and bifurcations in models of pathologic processes were studied. Here we use both analysis of characteristic equations of linearized systems and numerical characteristics. there is developed conceptual model of software environment of system medical investigations support. Implementing it there is offered model of data structure in branch of system medical investigations and invented in terms of XML-technology. there is developed interface which is Web-integrated, user-oriented and adjustable. there are implemented mathematical methods of system analysis of pathologic processes in form of Java-classes hierarchy. there are developed software tools to execute system medical investigations, to prepare results obtained for presentation in Internet and visualization.

关键词： Dynamics

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Learning to perceive affordances in a framework of developmental embodied cognition

Learning to perceive affordances in a framework of developme...

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IEEE international conference on Development and Learning, ICDL

作者： Lucas Paletta Gerald Fritz Florian Kintzler Jorg Irran Georg Dorffner Joanneum Research Forschungsgesellschaft nBH Institute of Digital Image Processing Computational Perception Graz Austria Neural Computation and Robotics Österreich. ForschungsInstitute für Artificial Intelligence Vienna Austria

Recently, the aspect of visual perception has been explored in the context of Gibson's concept of affordances in various ways. We focus in this work on the importance of developmental learning and the perceptual cueing for an agent's anticipation of opportunities for interaction, in extension to functional views on visual feature representations. the concept for the incremental learning of complex from basic affordances is presented in relation to learning of specific affordance features. We demonstrate the learning of causal relations between visual cues and associated anticipated interactions by reinforcement learning of predictive perceptual states. the work pursues a recently presented framework for cueing and recognition of affordance-based visual entities that plays an important role in robot control architectures, in analogy to human perception. We experimentally verify the concept within a real world robot scenario by learning predictive features from delayed rewards, and prove that features were selected for their relevance in predicting opportunities for interaction.

关键词： Cognition Learning Visual perception Delay estimation Digital images Artificial intelligence Cognitive robotics Intelligent robots Focusing Robot control

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Robustness of VOR and OKR adaptation under kinematics and dynamics transformations

Robustness of VOR and OKR adaptation under kinematics and dy...

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IEEE international conference on Development and Learning, ICDL

作者： Adrian Haith Sethu Vijayakumar Institute of Perception Action and Behaviour School of Informatics University of Edinburgh UK

Many computational models of vestibiilo-ocular reflex (VOR) adaptation have been proposed, however none of these models have explicitly highlighted the distinction between adaptation to dynamics transformations, in which the intrinsic properties of the oculomotor plant change, and kinematic transformations, in which the extrinsic relationship between head velocity and desired eye velocity changes (most VOR adaptation experiments use kinematic transformations to manipulate the desired response). We show that whether a transformation is kinematic or dynamic in nature has a strong impact upon the speed and stability of learning for different control architectures. Specifically, models based on a purely feedforward control architecture, as is commonly used in feedback-error learning (FEL), are guaranteed to be stable under kinematic transformations, but are susceptible to slow convergence and instability under dynamics transformations. On the other hand, models based on a recurrent cerebellar architecture [7] perform well under dynamics but not kinematics transformations. We apply this insight to derive a new model of the VOR/OKR system which is stable against transformations of both the plant dynamics and the task kinematics.

关键词： Robustness Kinematics Head Retina Manipulator dynamics Lenses Inverse problems informatics Computational modeling Stability

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Causality detected by transfer entropy leads acquisition of joint attention

Causality detected by transfer entropy leads acquisition of ...

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IEEE international conference on Development and Learning, ICDL

作者： Hidenobu Sumioka Yuichiro Yoshikawa Minoru Asada JST ERATO Graduate School of Engineering Osaka University Suita Osaka Japan JST ERATO Suita Osaka Japan

Joint attention, i.e., the behavior of looking at the same object another person is looking at, plays an important role in both human communication and human-robot communication. Previous synthetic studies have focused on modeling the developmental process of joint attention and have proposed learning methods without any explicit instructions for joint attention. the causal structure between a perception variable (the caregiver's face directions or individual objects) and an action variable (gaze shift to the caregiver's face or object locations) is given in advance to learn joint attention. However, such a structure is expected to be found by the robot through the interaction experiences. this paper investigates how the transfer entropy, that is an information theoretic measure, can be used to quantify the causality inherent in the face-to-face interaction. In the computer simulation of human-robot interaction, we examined which pair of perceptions and actions are selected as the causal pair and showed that the selected pairs can be used to learn a sensorimotor map for achieving joint attention.

关键词： Entropy Robot kinematics Humans Pediatrics Robot sensing systems robotics and automation Object detection Learning systems Computer simulation Buildings

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Fusing robot behaviors for human-level tasks

Fusing robot behaviors for human-level tasks

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IEEE international conference on Development and Learning, ICDL

作者： Monica Nicolescu Odest Chadwicke Jenkins Austin Stanhope University of Nevada Las Vegas Reno NV USA Brown University Providence RI USA

Behavior-based control is one of the most widely used approaches for autonomous robot control. However, in many robot systems, there is often a disconnect between a user's desired task-level behavior and a robot's preprogrammed (innate) capabilities. Typically, the space of robot behavior is limited to sequential performances, switching between the robot's available skills. Such limited expression does not necessarily overlap with the space of desired robot behavior, leaving users unable to express their true desired control policy to the robot To bridge this divide, a new approach is proposed, which integrates state estimation (as a particle filter), learning by demonstration, and behavior-based control into an approach for robot learning. While these methods have typically been used in different contexts, we demonstrate the ability to use state estimation in order to learn a user's intended control policy from demonstration as a linear combination of innate behaviors. through a specific navigation task, this method demonstrates how the same task-level behavior can be learned with different combinations of innate behaviors.

关键词： Robot kinematics Orbital robotics State estimation Robot sensing systems Robot control Predictive models Bridges Particle filters Navigation Programming

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