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A musical communication between a player and a listener and its model

A musical communication between a player and a listener and ...

引用

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

作者： T. Yamamoto N. Fujii Y. Miyake Computational Intelligence and System Science Department of Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan

In this paper, to analyze the mechanism of the communication between a player and a listener, the relation between the time course of the acoustic level and the time course of the physiological level of a live performance were analyzed at the same time. The results revealed that, where scatter of notes was low, music rhythm of a player and handclap rhythm of a listener were likely to synchronize, and where scatter of notes was high, both respiration rhythms were likely synchronize. Then where scatter of notes was high, the coupling between acoustic level and physiological level became strong. To interpret these results, we hypothesized that where scatter of notes is high, a player and a listener have to anticipate the timing of sounding, and proposed a new communication model between a player and a listener.

关键词： Rhythm Acoustic scattering Performance analysis Music Acoustic measurements computational intelligence Acoustical engineering Timing Heart rate Loudspeakers

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Motion planning for digital humans

Motion planning for digital humans

引用

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

作者： J. Kuffner Department of Computer Science Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan

Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics and appearance. Applications of these "digital humans" range from medical research to virtual reality entertainment. This paper presents an overview of several motion planning techniques for automatically generating motion trajectories for digital humans. The ultimate goal is to create autonomous animated characters that are able to move naturally and realistically in response to high-level task commands. These "digital human" characters can be viewed as "virtual robots" operating in simulated environments, since developing software to control such characters shares much in common with programming real robots. Experimental results involving both simulated human characters and real humanoid robots are shown.

关键词： Humans Physiology Biomechanics Application software Virtual reality Motion planning Trajectory Animation robotics and automation Automatic control

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Distributed locomotion algorithms for self-reconfigurable robots operating on rough terrain

Distributed locomotion algorithms for self-reconfigurable ro...

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

作者： Z. Butler D. Rus Department of Computer Science Dartmouth College Hanover NH USA

In this paper, we describe a set of distributed algorithms for self-reconfiguring modular robots that allow them to explore an area in parallel. The algorithms are based on geometric rules that each module evaluates independently relative to its local neighborhood. This paper concentrates on developing algorithms within this framework to enable travel over the widest variety of terrain. In particular, we show how to perform straight-line motion, turning while on obstacles, climbing over tall obstacles, and tunneling under overhangs, all of which work for groups of arbitrary size. This last feature is important, as it also allows a large system of self-reconfiguring modules to divide up into several groups of various sizes, each of which is equally capable of motion and participation in the overall group task. We also discuss implementations and ways to improve efficiency and switching between tasks.

关键词： Parallel robots Shape Navigation Partitioning algorithms robotics and automation Computer science Educational institutions Turning Tunneling Buildings

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A centralized tele-teaching system for industrial robots using virtual reality

A centralized tele-teaching system for industrial robots usi...

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

作者： Maoyuan Cui Zaili Dong Yantao Tian Department of Control Science & Engineering Jilin University Changchun China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

ISBN: (纸本)0780378660

Instead of teaching the robot at the work-site, a novel approach and framework for industrial robots teaching is presented to improve the safety and efficiency of the task. Centralized tele-teaching is the primary concept to achieve such goal. By using sensor and virtual reality (VR) techniques, the static global task information and the dynamic position and orientation local information on tool and workpiece during the teaching are integrated to the virtual environment (VE) where human operator can remotely monitor and intervene in the teaching process by means of an interactive device. To illustrate this, a prototype system for welding task teaching of industrial robot is developed. Preliminary results with the prototype system demonstrate the utility of the approach and framework.

关键词： Service robots Virtual reality Education Robot sensing systems Educational robots Prototypes Safety Virtual environment Humans Remote monitoring

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Genetic algorithm-based stereo vision with no block-partitioning of input images

Genetic algorithm-based stereo vision with no block-partitio...

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

作者： Biao Wang Ronald Chung Chun-Lin Shen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Department of Automation & CAE Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)0780378660

Stereo correspondence could be formulated as an optimization problem. Most of the existing solutions, however, adopt the gradient-based approaches, requiring an initialization close to the correct solution. This paper presents an alternative approach, which is genetic algorithm based, that has larger tolerance toward the quality of the initialization. Each candidate for the three-dimensional description of the imaged scene is encoded as an individual that embraces thousands or even millions of chromosomes, and a population of such individuals are allowed to evolve to reach a globally optimal or near-optimal solution. Our solution framework also includes a coarse-to-fine matching strategy to reduce the matching ambiguity and the computations needed. Experimental results on synthetic and real images are shown to illustrate the performance of the approach.

关键词： Stereo vision Genetic algorithms Biological cells automation Layout Partitioning algorithms Educational institutions Data structures Computer aided engineering Data mining

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Collision detection based on inner-outer ellipsoidal approximation: Some improvements

Collision detection based on inner-outer ellipsoidal approxi...

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

作者： Jing-Sin Liu Yu-Ren Chien Wei-Kun Su Institute of Information Science Academia Sinica Taipei Taiwan

ISBN: (纸本)0780378660

For collision detection of convex polyhedra, use of inner-outer ellipsoidal fits as boundary representation has been reported to be effective in accelerating the detection as compared to exact polyhedron based methods with a good balance of accuracy. In this paper, we propose some improvements that are crucial to the overall performance of collision detector based on enclosed ellipsoid. The improvements are: First, detecting accuracy is improved by (1) a robust reliable algorithm for computing the best inner-outer ellipsoidal fit that ensures a reasonable tight approximation of convex polyhedron, and (2) exact overlap checking of two ellipsoids. Next, detecting efficiency is done by avoiding the reference to polyhedral object models. The enhancement of performance is verified by extensive numerical experiments on randomly generated convex polyhedra pairs.

关键词： Road accidents Detectors Object detection Ellipsoids robotics and automation Path planning Information science Acceleration Robustness Approximation algorithms

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Estimation of essential interactions to achieve a task by integrating demonstrations

Estimation of essential interactions to achieve a task by in...

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

作者： K. Ogawara J. Takamatsu H. Kimura K. Ikeuchi Japan Science and Technology Corporation Japan Japan Science and Technology Cooperation Institute of Industrial Science University of Tokyo Univ. of Electro-Communications Japan Institute of Industrial Science University of Tokyo Japan

To learn new everyday tasks, the system needs to detect which parts of the demonstration are essential to complete the task without task-dependent knowledge. In this paper, a novel technique is proposed, which can estimate almost any types of interactions, including stationary, periodic and dynamic interactions from multiple demonstrations. In this approach, a demonstrator needs to give an explicit signal once during each essential interaction. From visual information and these signals, the system automatically analyzes the essential parts of the task and their periods, and also detects which environmental objects are interacted with the manipulated object.

关键词： Assembly Information analysis Signal analysis Object detection Humans robotics and automation Production facilities Robot vision systems

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Intelligent sequence adjusting algorithm based on general satisfaction function for air traffic arrival flow management

Intelligent sequence adjusting algorithm based on general sa...

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

作者： Peng Cheng Zhengping Ma Deguang Cui Rui Geng Chen Chen Department of Automation Tsinghua University Beijing China

ISBN: (纸本)0780378660

Before handing over command of arrival flights to terminal controller, en route air traffic controller should adjust arrival flight queue as an appropriate sequence since air traffic flows aggregate at the entrance of air-corridor near airports. A good adjustment needs to consider such target as ensuring safe separation of adjacent flights by issuing adjustment commands as less as possible. This paper introduces a concept of approach adjustment and presents the mathematical description of the problem of approach sequence adjustment, which integrates both human experience and precise computing model. An intelligent sequence-adjusting algorithm is also discussed, which is based on general satisfaction function consisting of three factors: safety, capacity and equilibrium. Tested on practical data, the algorithm has good effectiveness.

关键词： Air traffic control Traffic control Airports Humans Air safety Automatic control Decision support systems automation Air transportation Navigation

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Learning agents in a business simulator

Learning agents in a business simulator

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

作者： M. Kobayashi T. Terano Graduate School of Systems Management University of Tsukuba Tokyo Japan

Business simulation modeling is a traditional collaborative learning tool to give students an integrated perspective to business management. Recent progress of AI technology makes it possible to build business models with human- and software-agents participation. This paper describes a novel business simulator development for educational use in marketing domains. Our approach consists of (i) gaming experiments among human players, (ii) home-made simulation models by the students themselves using a business model description language (BMDL), a business model development systems (BMDS), and corresponding decision rules of the agents, and (iii) machine learning agents with classifier systems (LCSs) to improve the decision knowledge and the game balance. This paper demonstrates the effectiveness of our approach to business simulation by employing machine learning agents.

关键词： Game theory Machine learning computational modeling Software agents Collaborative work Humans Decision making Business communication Discussion forums Artificial intelligence

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Multitask reinforcement learning on the distribution of MDPs

Multitask reinforcement learning on the distribution of MDPs

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

作者： F. Tanaka M. Yamamura Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Japan

In this paper we address a new problem in reinforcement learning. Here we consider an agent that faces multiple learning tasks within its lifetime. The agent's objective is to maximize its total reward in the lifetime as well as a conventional return in each task. To realize this, it has to be endowed an important ability to keep its past learning experiences and utilize them for improving future learning performance. This time we try to phrase this problem formally. The central idea is to introduce an environmental class, BV-MDPs that is defined with the distribution of MDPs. As an approach to exploiting past learning experiences, we focus on statistics (mean and deviation) about the agent's value tables. The mean can be used as initial values of the table when a new task is presented. The deviation can be viewed as measuring reliability of the mean, and we utilize it in calculating priority of simulated backups. We conduct experiments in computer simulation to evaluate the effectiveness.

关键词： Learning Robots computational intelligence Computer simulation Cleaning computational modeling Computer errors Dogs Cats Uncertainty

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