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GA-based learning in behaviour based robotics

GA-based learning in behaviour based robotics

引用

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

作者： Dongbing Gu Huosheng Hu J. Reynolds E. Tsang Department of Computer Science University of Essex Colchester UK

This paper presents a genetic algorithm (GA) approach to evolving robot behaviors. We use fuzzy logic controllers (FLCs) to design robot behaviors. The antecedents of the FLCs are pre-designed, while their consequences are learned using a GA. The Sony quadruped robots are used to evaluate proposed approaches in the robotic football domain. Two behaviors, ball-chasing and position-reaching, are studied and implemented. An embodied evolution scheme is adopted, by which the robot autonomously evolves its behaviors based on a layered control architecture. The results show that the robot behaviors can be automatically acquired through the GA-based learning of FLCs.

关键词： Robot sensing systems robotics and automation Mobile robots Legged locomotion Genetic algorithms Uncertainty Computer architecture Fuzzy logic Automatic control Control systems

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Memory-based navigation using data sequence of laser range finder

Memory-based navigation using data sequence of laser range f...

引用

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

作者： Y. Adachi H. Saito Y. Matsumoto T. Ogasawara Graduate School of Information Science Nara Institute of Science and Technology Japan

In this paper we propose a novel navigation method for a mobile robot using a laser range finder based on the memory-based approach. A robot memorizes sequential scanning data of the laser range finder in the recording run. Then the localization of the robot is achieved based on the matching between the current scan and memorized scan sequence in the autonomous run. The matching process utilizes histogram-based method proposed by Weiss et al. Experimental results of the recording run and the autonomous navigation is presented to show the feasibility of the proposed method.

关键词： Navigation Mobile robots Laser theory Application software robotics and automation Information science Artificial intelligence Pattern recognition Robot vision systems Educational robots

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An architecture for the interconnecting heterogeneous fieldbuses in industrial automation

An architecture for the interconnecting heterogeneous fieldb...

引用

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

作者： R.T. Qu R. Lim Singapore Institute of Manufacturing Technology Singapore

A wide variety of fieldbuses have been set up in the industrial automation system in different time periods under different environment. Therefore, during the development of industrial automation systems and control applications, the developer has to consider the interconnection of heterogeneous fieldbuses. In the paper, a heterogeneous fieldbuses interconnection architecture (HFIA) is presented to interconnect heterogeneous fieldbuses. With the help of the HFIA, it is easy and fast to interconnect heterogeneous fieldbuses. At the same time, the HFIA can be used for high-level industrial applications to control, monitor and optimize the operations of the fieldbuses systems. Profilbus, CANbus and Ethernet/IP are adopted as case studies for the HFIA architecture.

关键词： Field buses Manufacturing automation Electrical equipment industry Manufacturing industries Control systems Industrial control Automatic control Application software Quality of service Computer architecture

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A semi-autonomous replicating robotic system

A semi-autonomous replicating robotic system

引用

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

作者： J. Suthakorn Y.T. Kwon G.S. Chirikjian Department of Mechanical Engineering The Johns Hopkins University Baltimore USA

The concept of self-replicating machines was introduced more than fifty years ago by John van Neumann. However, a fully autonomous self-replicating robot has yet to be implemented. This paper discusses our ongoing research on self-replicating robots. Here we describe a semi-autonomous prototype that can demonstrate replication under human supervision. This work builds on our previous results in remote-controlled robotic replication with the added feature that many subtasks in the replication process are now autonomously performed by the robot. We believe this to be an important step in the realization of fully autonomous self-replicating robots.

关键词： Prototypes Production facilities Robotic assembly Self-replicating machines Humans Orbital robotics Robot vision systems robotics and automation Assembly systems Moon

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Cooperative behavior acquisition mechanism for a multi-robot system based on reinforcement learning in continuous space

Cooperative behavior acquisition mechanism for a multi-robot...

引用

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

作者： T. Yasuda K. Ohkura T. Taura Department of Mechanical Engineering Faculty of Engineering Kobe University Kobe Hyogo Japan

This paper describes an approach to controlling an autonomous multi-robot system. One of the most important issues for this type of system is how to design an on-line autonomous behavior acquisition mechanism which is capable of developing each robot's role in an embedded environment. Our approach is applying reinforcement learning that uses Bayesian discrimination method for segmenting the continuous state and action spaces simultaneously. In addition to this, neural networks are provided for predicting the other robots' moves at the next time step in order to support the learning in a dynamic environment that originates from the other learning robots. The output signals are utilized as the sensory information for the reinforcement learning to increase the stability of the learning problem. A homogeneous multi-robot system is built for evaluation.

关键词： Multirobot systems Learning Orbital robotics Robot sensing systems Control systems Stability computational intelligence robotics and automation Mechanical engineering Bayesian methods

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computational intelligence techniques for multiuser detection of DS/CDMA signals

Computational intelligence techniques for multiuser detectio...

引用

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

作者： M.G. Shayesteh M. Menhaj H. Amindavar Department of Electrical Engineering Urmia University Urmia Iran Department of Electrical & Computer Engineering Oklahoma State University Oklahoma OK USA Department of Electrical Engineering Amirkabir University of Technology슠 Tehran Iran

Multiple access interference and near-far effect cause the performance of the conventional single user detector in DS/CDMA systems to degrade. Due to high complexity of the optimum multiuser detector, suboptimal multiuser detectors with less complexity and reasonable performance have received considerable attention. In this paper we apply computational intelligence techniques including proposed modified genetic algorithm and our analysis of multilayer perceptron neural network for multiuser detection of DS/CDMA signals. We compare their performance form different points of view such as computational complexity, implementation and error rate. We also compare their performance with the other detectors used in CDMA.

关键词： computational intelligence Multiuser detection Multiaccess communication Detectors Multiple access interference Degradation Genetic algorithms Signal analysis Algorithm design and analysis Multilayer perceptrons

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Scalable and reconfigurable configurations and locomotion gaits for chain-type modular reconfigurable robots

Scalable and reconfigurable configurations and locomotion ga...

引用

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

作者： Ying Zhang M. Yim C. Eldershaw D. Duff K. Roufas Palo Alto Research Center Inc.orporated Palo Alto CA USA

Modular reconfigurable robots have shown the promises of great versatility and robustness; however they also impose design challenges on mechanical, electronic and software scalability. In this paper, we present a class of configurations that are scalable mechanically and electronically. Moreover, there exists a predefined reconfiguration sequence between any of the three configurations, namely, snakes, centipedes, and multi-loops. Locomotion gaits for the three configurations are defined and created using Phase Automata, a generalization of gait tables. The system has been tested both in simulation of 100+ modules and in hardware of 50+ modules.

关键词： Robots Lattices Scalability Automata System testing Hardware robotics and automation Shape Modular construction Robustness

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Problems of artificial emotions in mental therapy

Problems of artificial emotions in mental therapy

引用

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

作者： T. Nomura Faculty of Management Information Hannam University Japan

Development of artificial intelligence has enabled us to design software agents and robots having more humanlike behaviors. In particular, research focus on emotions in this discipline has contributed to this type of design methods. This research trend leads to application of artificial intelligence to healing for humans, in particular, mental therapy. However, it has sufficiently not been either investigated or discussed how artificial emotions of software agents and robots in the specific contexts of mental therapy can affect mental states of individuals, the societies, and cultures. This paper discusses some problems of artificial emotions in mental therapy from the perspectives of the sociology of emotions, clinical sociology, and the sociology of health and illness, in particular, relating with the concept of double bind.

关键词： Medical treatment Sociology Intelligent robots Software agents Humanoid robots Artificial intelligence Human robot interaction Psychology Application software Intelligent agent

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Morphology and material property of a biped robot

Morphology and material property of a biped robot

引用

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

作者： K. Matsushita H. Yokoi R. Pfeifer Artificial Intelligence Laboratory University of Zurich Switzerland Complex Engineering System Hokkaido University Japan

In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a lightweight skeleton-actuation mechanism with 11 DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot comprises pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.

关键词： Morphology Robot sensing systems Joints Sensor systems Elasticity Plastics Artificial intelligence Laboratories Hip Programmable control

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Development of a cellular manufacturing system based on movable cells

Development of a cellular manufacturing system based on mova...

引用

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

作者： Y. Shimomura F.N. Takada J. Ota S. Yajima Y. Nomaguchi T. Tomiyama Research into Artifact Center for Engineering University of Tokyo Dept. of Precision Engineering The University of Tokyo Faculty of Design Engineering and Production Delft University of Technology

In this paper cellular machines are being proposed as replacements for the highly centralised systems that are currently in use. A cellular machine is a mechanical system comprised of distributed autonomous intelligent units called cells. The cellular assembling system, cellular manufacturing system and cellular remanufacturing system were designed. Applications of movable cells were dealt with in this paper. They enable real-time scheduling, self assembly and enhanced robustness in a cellular manufacturing system.

关键词： Cellular manufacturing Machining Design engineering Assembly systems Robustness Self-assembly Manufacturing automation Raw materials Precision engineering Production systems

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