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Flat-distributed network architecture (FDNet) for rescue robots - FDNet and its implementation

Flat-distributed network architecture (FDNet) for rescue rob...

引用

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

作者： Y. Koji S. Tadokoro K. Tokuda A. Pujol T. Toda H. Nobuhiro M. Konyo T. Takamori Graduate school of Science and Technology Kobe University Japan Department of Computer and Systems Engineering Kobe University Japan Faculty of Economics Kobe University Japan

This paper deals with flat-distributed architecture for a rescue robot. This architecture provides the rescue robot with intelligence and flexibility. When this architecture is used, the robot system is described using networks. These networks are composed by data and processing agents. The data, referred to as "data", is a distributed component. The processing agents, referred to as "relation", are a distributed and parallel-processing component, which can refer to any existing data. We consider nodes that can formally connect to any other node, and relations that can be organized according to human's or any other network's pattern. This architecture was called "FDNet(Flat-Distributed Networks for Rescue System)". First, we describe the proposition of the architecture and its implementation for a robot. Then we report some experimental results. We provide this architecture for any intelligent rescue system.

关键词： Intelligent robots Educational institutions Computer architecture Computer networks Systems engineering and theory Earthquakes Intelligent systems Protocols Intelligent networks Artificial intelligence

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A study on skill acquisition from teaching information by mobile robot

A study on skill acquisition from teaching information by mo...

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

作者： Y. Morii T. Furuhashi K. Morikawa H. Itani Department of Infomation Engineering Mie University Japan Matsushita Electric Industrial Company Limited Nagoya Municipal Industrial Research Institute

This paper studies teaching information understanding by mobile robot from a point of view of skill acquisition. This paper considers skill for a robot as "the learnable part which mostly affects the robot performance". The skill in this sense is in the refined parts of preprocessing of input variables, control rules, output variables, and also in the sub-evaluation functions to be incorporated into the robot. The process of teaching information understanding is thus viewed as a process of acquiring the above skills. This paper studies acquisition of skills for task execution by using actual mobile robot. This paper focuses on the skill acquisition from expert's assistance given in the form of patterns. Skill acquisition is to acquire refined rules. This refinement of rules is achieved by re-dividing the input space. The skills are explicitly acquired as differences between the rules before/after the assistance by the expert. Experiments are done to demonstrate the skill acquisition using a mobile robot.

关键词： Education Mobile robots Educational robots Robot sensing systems Orbital robotics Grounding Service robots Input variables Refining Humans

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Route selection by mobile agents for query retrieval using genetic algorithm

Route selection by mobile agents for query retrieval using g...

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

作者： A. Selamat S. Omatu Division of Computer and Systems Sciences Graduate School of Engineering Osaka Prefecture University Sakai Osaka Japan

Mobile agents often have the task to collect data from several predefined sites. This should be done in an efficient way by minimizing the elapsed time. Usually the agents only know the list of sites but not the distances between them. This paper shows the optimal threshold point depends on the number of visits the agent takes or equivalently the number of tours taken within that period where the collected network information does not get outdated by using genetic algorithm. In contrast to former publications this paper presents an algorithm to determine the agent's tour that does not only depend on a known distance matrix but the time delay due to network bottleneck is also considered. The agent repeats travelling over short routes and avoids longer ones. A genetic algorithm (GA) approach for selecting the best routes has been applied to the mobile agents technology. The results shows that the proposed route selection approach using the GA with different parameters have shown good route optimization results.

关键词： Mobile agents Genetic algorithms Routing Insects Delay effects Intelligent agent Switching circuits Genetic engineering Telephony Artificial intelligence

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Exploration-path generation of multiple mobile robots using reaction-diffusion equation on a graph

Exploration-path generation of multiple mobile robots using ...

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

作者： C. Trevai Y. Fukazawa H. Yuasa J. Ota T. Arai H. Asama Department of Precision Engineering School of Engineering University of Tokyo Japan

In this paper we present a method for cooperative exploration by multiple mobile robots in a restricted working area. By generating and sharing the minimal-length path for each mobile robot in which mobile robots go through several observation points to explore the working area. The observation points should be arranged at a fixed distance from at least one corresponding observation point. Therefore, mobile robots can obtain the complete information of the working area by only moving along all of the observation points. To reduce the redundancy of exploration task, the number of observation points and the length of observation paths for each mobile robot are to be minimized. To ensure the advantages from using multiple mobile robots, exploration path must be equally assigned to each mobile robot. Simulations had proved the efficiency of cooperating mobile robots using our proposed method. The feasible of our method is real world with actual mobile robots was demonstrated in cooperative exploration experiment.

关键词： Mobile robots Equations Robot kinematics Precision engineering Utility theory Cleaning Orbital robotics

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An immune co-evolutionary algorithm for n-th agent's traveling salesman problem

An immune co-evolutionary algorithm for n-th agent's traveli...

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

作者： N. Toma S. Endo K. Yamada Graduate Student Doctoral Course in Complex Intelligent Systems Engineering Graduate School of Science and Engineering University of Ryukyus Japan Department of Information Engineering Faculty of Engineering University of Ryukyus Japan

The purpose of this paper is to evaluate an immune optimization algorithm using a biological immune co-evolutionary phenomenon and cell-cooperation. The co-evolutionary model searches solutions through the interactions between two kinds of agents, on the agent is called immune agent, which optimizes the cost of its own work. The other is call antigen agent, which realized the equal work assignment. This algorithm solves the division-of-labor problems in multi-agent system (MAS) through the three kinds of interactions: division-and-integration processing is used for optimization of the work-cost of immune agents and immune cell-cooperation is used to perform equal work assignment as a result of evolving the antigen agents. To investigate the validity, this algorithm is applied to "n-th agent's traveling salesman problem" as a typical problem of MAS. The good property on solving for MAS will be clarified by some simulations.

关键词： Traveling salesman problems Immune system Biological system modeling Cost function Robust stability Intelligent systems Competitive intelligence Systems engineering and theory Roentgenium Biology

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A feature extraction method in face image for personal identification

A feature extraction method in face image for personal ident...

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

作者： H. Takimoto Y. Mitsukura M. Fukumi N. Akamatsu R. Khosla Graduate School of Engineering University of Tokushima Tokushima Japan Okayama University Okayama Japan University of Tokushima Tokushima Japan La Trobe University VIC Australia

Recently in the world, many researches of personal identification method using biometrics are widely done. Especially, personal identification using the face is used because of needless for physical contact. In this paper, we propose the new method to identify the personal using the SPCA and the NN. The SPCA has been proposed in order for the PCS to achieve high-speed processing. Moreover, the personal identification system needs to have not only ability to recognize registrant correctly but also ability to reject un-registrant certainly. Therefore, we perform simulation using un-registrant. Furthermore, we analyzed and examined about the individual feature in a face by using the GA and the SPCA. Then, in order to show the effectiveness of the proposed method, we show computer simulations by suing the real image. From these results, we show the effectiveness.

关键词： Feature extraction Neural networks Principal component analysis Biometrics Face detection computational modeling Costs Safety Fingerprint recognition Iris

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Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

Computer simulation of grasping and object-manipulation by a...

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

作者： J.-H. Bae K. Tahara S. Nakamura S. Arimoto Department of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

This paper is concerned with computer simulation of concurrent grasp and orientation control of an object with two parallel flat surfaces by a pair of multi-degrees of freedom robot fingers that have rigid hemispherical ends. Firstly, geometrical relationships in the overall fingers-object system are discussed through four algebraic constraints between the finger tips and surfaces of the object. Then, differential algebraic equations expressing dynamics of the overall system are derived. Secondly, a sensory feedback signal for concurrent grasp and orientation control of the object is proposed and a full description of matrix form for numerically solving the closed-loop differential algebraic equation of the overall fingers-object system on the basis of the CSM (constraint stabilization method) is presented. Thirdly, simulation results of grasping and orientation control of the object are shown and then, the effects of each term of the proposed control input signal on the system performances are discussed. Finally, a guidance of gain tuning is suggested on the basis of well-known force-velocity characteristics of human muscle in muscle physiology.

关键词： Computer simulation Fingers Position control Differential algebraic equations Muscles Robot sensing systems Parallel robots Feedback Humans Physiology

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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

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

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Sound direction recognition using a condenser microphone array

Sound direction recognition using a condenser microphone arr...

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

作者： Kai-Tai Song Jian-Liang Chen Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)0780378660

This paper presents a sound direction recognition system for intelligent mobile robots. We studied the analysis, design, and circuit realization of a standalone sound recognition system using multiple condenser microphones. Sound signals from three condenser microphones are integrated in a circuit to resolve the source direction. The minimum recognition angle of a triangular configuration is derived. A new decode method is proposed in this paper to resolve the sound direction. The proposed scheme uses a circuit to obtain direction information, an improvement to the conventional computer-based approaches. The recognition circuitry has been implemented using UMC 0.5/spl mu/m IC chip fabrication technology. Both simulation and practical experiments validate the desired performance. Experimental results show that the system recognizes sound direction with an accuracy of /spl plusmn/5/spl deg/. The sound recognition system has been integrated to a multi-robot system to investigate various robot control applications using whistle sound in a noisy environment. Experimental results demonstrate the effectiveness of the proposed method.

关键词： Microphone arrays Signal resolution Intelligent systems Intelligent robots Mobile robots Circuit analysis Decoding Chip scale packaging Integrated circuit technology computational modeling

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Area-covering operation of a cleaning robot in a dynamic environment with unforeseen obstacles

Area-covering operation of a cleaning robot in a dynamic env...

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

作者： S.X. Yang C. Luo Q.-H.M. Meng Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong Hong Kong China

Area-covering operation is a special kind of path planning, which requires the robot path to cover every part of the workspace. Area covering is an essential issue for cleaning robots and many other robotic applications such as painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach to area-covering operation with avoidance of unforeseen obstacles is proposed for a cleaning robot in a dynamic environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from a biological membrane model. There are only local lateral connections among neurons, thus the computational complexity depends linearly on the neural network size. The proposed approach is compared to fuzzy logic based, rule based and re-planning based models. It shows that the proposed model is capable of planning more reasonable and shorter area-covering path with obstacle avoidance. The proposed model algorithm is computationally efficient, and can also deal with changing environments.

关键词： Cleaning Robots Neural networks Biological system modeling Path planning Landmine detection Neurons Detectors Equations Biomembranes

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