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Development of Representations, Categories and Concepts - a Hypothesis

Development of Representations, Categories and Concepts - a ...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： H. Valpola Laboratory of Computational Engineering Helsinki University of Technology Finland

A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. The author proposes an architecture which learns a hierarchy of increasingly abstract, invariant features. Invariance is achieved by selecting information which reflects distinctions present in supervisory signals conveyed by contextual inputs. The main hypothesis is that the right contextual information can be efficiently distributed by associations and attentional process. The original sources of contextual information are specialised systems which reflect the innate, hard-wired behavioural goals of the system. Sensorimotor coordination generates structured sensory stimuli and the intrinsic contextual signals can select the behaviourally significant structures

关键词： Feature extraction Shape Machine learning Evolution (biology) Data mining Laboratories Control systems Computer architecture Signal generators Unsupervised learning

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Uncalibrated visual-servoing of a dual-arm robot for surgical tasks

Uncalibrated visual-servoing of a dual-arm robot for surgica...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： P. Hynes G.I. Dodds A.J. Wilkinson School of Electrical and Electronic Engineering Queen''s University Belfast Belfast UK

In minimally invasive surgery, small incisions are made in a patient's body and tools are inserted through these incisions. A surgeon performs operations using visual feedback from camera images. Such procedures can be very strenuous to perform. Various steps have been taken to utilize robots in minimally invasive surgery. The vast majority of such systems are teleoperated, with very little work on autonomous systems. This work looks at the potential of using uncalibrated visual-servoing robotic systems as an aid for surgeons. The range of tasks involved in minimally invasive surgery present a good set of tasks for the further development of visual-servoing techniques. In this paper we present a test-bed that is used to develop visual servo algorithms for the completion of complex surgical tasks. A sample task involving manipulation of a thread using the two grippers is evaluated for its implementation efficacy.

关键词： Minimally invasive surgery Robot kinematics Surges Cameras Robot vision systems Medical robotics Feedback Servomechanisms Bones robotics and automation

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Trajectory reconstruction with NURBS curves for robot programming by demonstration

Trajectory reconstruction with NURBS curves for robot progra...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： J. Aleotti S. Caselli G. Maccherozzi RIMLab-Robotics and Intelligent Machines Laboratory Dipartimento di Ingegneria dell'Informazione University of Parma Italy

Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviors is the programming by demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviors from a human operator demonstration. This paper describes a virtual reality based PbD system for pick-and-place and manipulation tasks. The system recovers smooth robot trajectories from single or multiple user demonstrations, thereby overcoming sensor noise and human inconsistency problems. More specifically, we investigate the benefits of the human hand trajectory reconstruction with NURBS curves by means of a best-fit data smoothing algorithm. Some experiments involving object transportation while avoiding obstacles in the workspace show the viability and effectiveness of the approach.

关键词： Spline Surface topography Surface reconstruction Robot programming robotics and automation Humans Robot sensing systems Service robots Automatic programming Virtual reality

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Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Mobile robot control based on fuzzy behavior and robot safet...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Fu Yili Xu Hongyan Wang Shuguo Liu Jianguo Xu He Li Han Robotics Institute Department of Mechanical Engineering Harbin Institute of Technology Harbin Heilongjiang China

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

关键词： Mobile robots Robot control Fuzzy control Safety Robot sensing systems Navigation Intelligent agent Fuzzy logic Intelligent control Intelligent sensors

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Mobile camera parameter recovery in an unknown environment without point features

Mobile camera parameter recovery in an unknown environment w...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Eppendahl R. Maigre Institute of Cybernetics at TUT Tallina Estonia Tallinn University of Technology Tallina Estonia

We show that unknown camera and vehicle parameters may be recovered from images of an unknown environment with no point features. Our method complements established geometric methods which require point features. Given an image sequence, we construct a series of light field models over a range of parameter values. The 'sharpest' model is seen to correspond to the correct value of the parameter, and our method may be viewed as an abstract form of focusing. We describe experiments with a one-dimensional camera mounted on a robot moving about in a two-dimensional environment that does not contain point features. The results demonstrate that accurate parameter values can be recovered from real images using methods that do not require point features.

关键词： Cameras Robot vision systems Vehicles Focusing Layout Image sequences Orbital robotics Mobile robots Calibration Lenses

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Laser based personal navigation system

Laser based personal navigation system

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： J. Saarinen S. Heikkila Automation Technology Laboratory Helsinki University of Technology Espoo Finland

This paper presents a human localization system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors including a compass, a gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the dead reckoning. This problem is solved by using a self-made stride length measurement unit and laser scan matching. The dead reckoning always has unbounded error and thus a map based localization algorithm is needed. The map is based on CAD-model and the localization is done using Monte Carlo localization. As a result the human being is localized indoors with bounded error. The system is used for incorporating the human into telematic system of cooperating robotic and human entities. The functionality of the integrated system is verified with tests in the European Union 1ST-project called PeLoTe.

关键词： Navigation Humans Dead reckoning Sensor systems Accelerometers Kinematics Length measurement Monte Carlo methods Telematics Robots

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Experiments and examination of mirror image cognition using a small robot

Experiments and examination of mirror image cognition using ...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Junichi Takeno Keita Inaba Tohru Suzuki Computer Science Meiji University Kawasaki Japan

Four steps are required to demonstrate mirror image cognition using a robot. These steps are: 1) the robot imitates the action of its own image reflected in a mirror, 2) the robot imitates an action taken intentionally by another robot as imitative behavior, 3) the third one is conducted in an environment where the other robot is controlled completely via cables from the self-robot to imitate the behaviour, and 4) the robot imitates the random actions of another robot. In the 1st step, it is a fact that the mirror image of the robot is the same action as the robot itself performs, however, it is possible that the mirror image could be another individual intentionally performing an action in the same manner as oneself, or it could be another performing the same action as oneself by coincidence. However, these possibilities can be eliminated by discriminating the 1st step from the other steps using a given evaluation method.

关键词： Mirrors Cognition Cognitive robotics Humans Neurons Computer science Robot control Cables Frequency Psychology

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Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination

Intelligent autonomous navigation for mobile robots: spatial...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： E.A. Antonelo M. Figueiredo A.-J. Baerveldt R. Calvo School of Information Science Computer and Electrical Engineering Halmstad University Halmstad Sweden Department of Computer Science University of Maringá Maringa Parana Brazil Department of Computer Science and Statistics University of Sao Paulo Sao Carlos Brazil

An autonomous system able to construct its own navigation strategy for mobile robots is proposed. The navigation strategy is molded from navigation experiences (succeeding as the robot navigates) according to a classical reinforcement learning procedure. The autonomous system is based on modular hierarchical neural networks. Initially, the navigation performance is poor (many collisions occur). Computer simulations show that after a period of learning, the autonomous system generates efficient obstacle avoidance and target seeking behaviors. Experiments also offer support for concluding that the autonomous system develops a variety of object discrimination capability and of spatial concepts.

关键词： Intelligent robots Navigation Mobile robots Robot kinematics Learning Neural networks Computer science Competitive intelligence Biological system modeling computational intelligence

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An occlusion prediction algorithm for visual servoing tasks in a multi-arm robotic cell

An occlusion prediction algorithm for visual servoing tasks ...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： V. Lippiello B. Siciliano L. Villani PRISMA Lab Dipartimento di Informatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy

This paper presents a new approach to the prediction of visual occlusions for a robotic system performing visual servoing tasks. The case of a multi-arm robotic cell equipped with a multi-camera eye-to-hand visual system is considered. The proposed approach is able to predict the self occlusions as well as the mutual occlusions caused by the robot links and tools. The algorithm is based on the geometric representation of the cell in terms of a BSP tree, assuming that the CAD geometry of the objects and the kinematic model of the multi-arm robotic system are known. Experimental results are presented for the case of two industrial robots performing a vision-guided grasping task.

关键词： Prediction algorithms Visual servoing Service robots Robot vision systems Visual system Cameras computational geometry Real time systems Robot sensing systems Feature extraction

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Nonverbal interface for user-friendly manipulation based on natural motion

Nonverbal interface for user-friendly manipulation based on ...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Eri Sato Aika Nakajima Toru Yamaguchi Department of Systems Engineering Science Tokyo Metropolitan Industrial Technology Center Hino Tokyo Japan

In this research, we show two experiments using non-verbal interaction. We think nonverbal communication is basic, and important for communication between human. Moreover, We focus on the networked robotics which is fusion of network technology and robot technology. We constructed nonverbal interface by using human natural motion. In the first experiment, we created commands using hand motion which is based on natural motion, such as beckoning, hissing away and so on. We constructed robot manipulation system using these commands. Furthermore, we compared the user-friendly of our system with present keyboard manipulation system. In the second experiment, in order to manipulate a robot using more natural motion, we proposed 'pointing movement'. Moreover, we constructed networked robots that recognizes human motion spatially. Accordingly, the user was able to manipulate the robot with more natural motion in larger space.

关键词： Orbital robotics Humans Keyboards Humanoid robots Cameras Space technology Mice Robot vision systems Open source software Systems engineering and theory

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