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Generating optimal behaviors of mobile robot using behavior network with planning capability

Generating optimal behaviors of mobile robot using behavior ...

引用

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

作者： Hyeun-Jeong Min Kyung-Joong Kim Sung-Bae Cho Deptartment of Computer Science Yonsei University Seoul Korea

ISBN: (纸本)0780378660

This paper presents an approach to the optimal method for behavior generation of mobile robot. Recently, a hybrid system that supplements gap between reactive and plan-based approaches by employing a reactive system for lower level control for fast reaction and a planner for higher level for generation of optimal sequence of behaviors has gained popularity. Behavior network structures may generate behaviors automatically through the internal links and external links with sensors and goals, and can be applied much into more complex problems. In this paper we propose an optimization method of behavior sequences for generating optimal behavior of mobile robot using behavior network with planning capabilities. Behavior network inspired by behavior selection of animals selects the next behavior that has the highest priority from the information acquired to sensors and goals. Globally optimal behavior selected in this behavior network is processed in advance and the next behavior is selected among behavior that approaches the goals. We could notice that robot reaches the goals faster in behavior network with planning capability rather than behavior network only through the experiment using Khepera mobile robot simulator.

关键词： Mobile robots Intelligent robots Animals Artificial intelligence Machine intelligence Working environment noise Robot sensing systems Humans Uncertainty Environmental factors

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Online learning system with logical and intuitive processings using fuzzy Q-learning and neural network

Online learning system with logical and intuitive processing...

引用

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

作者： T. Hashieda K. Yoshida School of science for OPEN and Environmental Systems Keio University Japan Department of System Design Engineering Keio University Japan

This research tries to construct a new architecture of intelligent information processing imitating that of human thought and having ability of autonomous learning. Its processing is divided into logical and intuitive processing, which are selected flexibly and properly for the changing situation. To investigate its effectiveness, it is applied to a robot playing a Tetris game, which is regarded as a symbol of human intellectual behavior. The robot consists of three elements: recognition part, thinking part, and action part. The thinking part consists of logical and intuitive processing. Logical processing has the ability of accurate and slow processing, and intuitive processing has the ability of rough and quick processing. The learning method of logical processing consists of fuzzy Q-learning with neural network and intuitive processing consists of neural network, which is trained by empirical knowledge of logical processing. The combination of logical and intuitive processing leads to the improvement of game playing results for the reason that intuitive and logical processing built along with playing time becomes more applicable. As a result, it is shown that the proposed method is a useful approach.

关键词： Learning systems Fuzzy logic Fuzzy neural networks Fuzzy systems Neural networks Humans Information processing Intelligent robots Artificial intelligence Biological neural networks

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Multi-subregion based probabilistic approach toward pose-invariant face recognition

Multi-subregion based probabilistic approach toward pose-inv...

引用

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

作者： T. Kanade A. Yamada Robotics Institute Carnegie Mellon University Pittsburgh PA USA SANYO Electric Company Limited Osaka Japan

Current automatic facial recognition systems are not robust against changes in illumination, pose, facial expression and occlusion. In this paper, we propose an algorithm based on a probabilistic approach for face recognition to address the problem of pose change by a probabilistic approach that takes into account the pose difference between probe and gallery images. By using a large facial image database called CMU PIE database, which contains images of the same set of people taken from many different angles, we have developed a probabilistic model of how facial features change as the pose changes. This model enables us to make our face recognition system more robust to the change of poses in the probe image. The experimental results show that this approach achieves a better recognition rate than conventional face recognition methods over a much larger range of pose. For example, when the gallery contains only images of a frontal face and the probe image varies its pose orientation, the recognition rate remains within a less than 10% difference until the probe pose begins to differ more than 45 degrees, whereas the recognition rate of a PCA-based method begins to drop at a difference as small as 10 degrees, and a representative commercial system at 30 degrees.

关键词： Face recognition Probes Face detection Image databases Robustness Lighting Image recognition Robots Spatial databases Facial features

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Toward a mutual adaptive interface by utilizing a user's cognitive features

Toward a mutual adaptive interface by utilizing a user's cog...

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

作者： T. Komatsu A. Utsunomiya K. Suzuki K. Ueda K. Hiraki N. Oka Department of System Science University of Tokyo Japan Advanced Technology Research Laboratories Matsushita Elecrric Indusrrial Company Limited Japan

Recently, many researchers have tried to develop an interactive agent or robot that can communicate with humans smoothly and naturally. However, though many of these are in the media spotlight, none of them can achieve actual smooth communication with humans in everyday situations. We consider that one of the reasons is that these agents are not developed considering the human cognitive features that allow humans to adapt smoothly to their interaction partners. In our research, we focus on a speech interface system as an interactive agent. In addition, we propose a meaning acquisition model constructed as a basic technology for achieving the desired speech interface system. The model is based on cognitive features human use to communicate, and it can recognize a user's intention as a result of the interaction between the model and user. Our results confirmed that the constructed model could recognize the intentions/meanings of normal verbal instructions as a result of interaction with users and without our having to prepare a priori knowledge about the instructions as is necessary with a conventional speech interfaces. We expect that this result could contribute to achieving an interactive interface system and provide insights to those researchers studying human-agent interaction.

关键词： Human robot interaction Speech recognition Laboratories Service robots Cognitive robotics Stress Data mining Computer interfaces Motion control Velocity control

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Development of rehabilitation support system for reaching exercise of upper limb

Development of rehabilitation support system for reaching ex...

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

作者： H. Maeda Y. Morita E. Yamamoto H. Kakami H. Ukai N. Matsui Department Electrical and Computer Engineering Nagoya Institute of Technology Japan Department System Management and Engineering Nagoya Institute of Technology Japan

Form the social need for aging the rehabilitation robot will be expected to become one of the most significant application fields of robotics. Although many researches have been reported in this field, there have been only a few cases of the application for the upper limbs. From these backgrounds, we have been developing a rehabilitation support system for reaching exercises of the upper limb motor function. In this paper, we introduce the rehabilitation support system, which we have developed. In this system, the exercise for the subject is accomplished as follows: A subject grasps the grip. The grip and a tracing pattern are shown on the display. Then, the subject is instructed to move the grip so as to trace the pattern while watching the display. During this operation his/her traces that are off-trace are corrected to the desired pattern by the aid of servomechanism. This function is called a motion assistance function. Through this exercise, the subject is expected to increase the reaching ability and to acquire the stable reaching motion. In order to realize this function, we proposed a control method is based on impedance control. In order to confirm the effectiveness of the proposed control method, we applied the proposed system to a healthy student before applying it to patients. Some basic experimental results show that the proposed motion control is effective to achieve the reaching exercise.

关键词： Rehabilitation robotics Motion control Medical treatment Aging Displays Control systems Technology management Engineering management Systems engineering and theory Application software

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Pilot study on improvement of quality of life among elderly using a pet-type robot

Pilot study on improvement of quality of life among elderly ...

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

作者： M. Kanamori M. Suzuki H. Oshiro M. Tanaka T. Inoguchi H. Takasugi Y. Saito T. Yokoyama School of Medicine Hamamatsu University Biwako Seikei Sport College Shiga-cho Shiga-ken Japan Mie Prefectural College of Nursing School of Nursing Hamamatsu University Japan Tohtomi Hospital Hamamatsu Hamamatsu Japan Misayo Tanaka Tomoji Yokoyama Hamamatu

A pet-type robot (AIBO, Sony Inc., Japan) is expected to serve to maintain and improve quality of life among patients or handicaps. We examine the usefulness of pet-type robots among elderly patients or handicaps in nursing home or at home by biochemical marker, self-assessment, or some health-related QOL questionnaires. The activities with pet-type robots were regularly carried out for 7 weeks to enhance quality of life (QOL) for Japanese elderly people. In activity evaluation, the scores of the items of "Utterance", "Demonstrative Language" and "Satisfaction" obtained at the last activity significantly increased compared with those at the initial activity. The scores of AOK loneliness scale obtained after activities (1.00/spl mnplus/1.26) were significantly lower than those obtained before activities (3.33/spl mnplus/2.16). According to SF-36, the scores of role-physical after activities significantly increased compared with those before activities. Salivary Chromogranin A (CgA), which correlated with the changes of catecholamine concentration, significantly decreased immediately after activities compared with that immediately before activities.

关键词： Senior citizens Medical treatment Medical services Cognitive robotics Robot sensing systems Educational institutions Animals Medical robotics Hospitals Natural languages

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A smart path-planning algorithm of multiple mobile robots and its wearable-based evaluation

A smart path-planning algorithm of multiple mobile robots an...

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

作者： R. Shikata T. Goto H. Noborio H. Ishiguro Department Engineering Informatics Osaka Electro Communication University Osaka Japan Department of Adaptive Machine Systems Osaka University Osaka Japan

In robotics, many path-planning algorithms have been proposed but almost all are evaluated only in 2-D computer simulations and a few experiments without any human being. Recently, a human lives with many mobile and/or pet robots. Therefore, such a path-planning algorithm, especially, many interactions between a human and robots should be evaluated in our living space. However, a practical test between a human robot and robots in a real space is expensive and dangerous. For this purpose, we develop a wearable computer system to check a path-planning algorithm installed in each robots by a human being. This system mainly consists of HDS (human detecting system) and HMD (head mounted display). Firstly, while walking an arbitrary 3-D space, we detect position and/or orientation of a human by four omnidirectional visions. Then, we obtain a precise position sequence from an observed one by our observation space method. Synchronously, the human virtually walks in its 3-D graphics environment provided by HMD. In the 3-D virtualized world, a human avoids some of mobile robots by using two eyes and two legs. In this world, each robot is controlled by a given path-planning algorithm. Using this wearable system, a feasibility of each path planning algorithm is practically checked by visual and dynamical abilities of a human being. This research gives us some experimental results concerning to this.

关键词： Path planning Mobile robots Orbital robotics Computer simulation Positron emission tomography Human robot interaction Testing Wearable computers Computer displays Legged locomotion

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Software tool development for marker making operations in textile industry

Software tool development for marker making operations in te...

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

作者： J. Jaidormrong N. Chaiyaratana J. Hassamontr Department of Production Technology Rajamangala University of Technology Songkhla Thailand Department of Production Technology Rajamangala Inst. of Technology Songkhla THAILAND Department of Electrical Engineering King Mongkut's Institute of Technology North Bangkok Bangkok Thailand Department of Electrical Engineering King Mongkut Inst. of Technology North Bagkok Bangkok THAILAND Department of Production Engineering King Mongkut Inst. of Technology North Bangkok Bangkok THAILAND

This paper discusses the design and development of a software tool for marker making operations in textile manufacturing using a top-down design paradigm. The software requirements have been analyzed and specified in order to address practical requirements by the users. The software is implemented in a CAD software environment. Its aim is to find an appropriate stencil layout on fabric surface such that the stencils do not overlap one another while trim loss is minimized. The software can be used to find the stencil layout on plain fabric, fabric with horizontal or vertical stripes and fabric with checkered patterns. A heuristic search strategy is developed to find such a layout. In order to evaluate the program's performance, case studies with actual fabric and stencils from a garment factory are used. The layouts generated by the program are then compared with those produced by a human expert. The results indicate that the developed program cannot outperform the human expert in the case of marker making on plain fabric. However, in the case of marker making on the fabric with stripes or checkered patterns the program can provide better results in terms of the required length of fabric and the trim loss percentage. Suggestions for further improvement on the functionality and efficiency of the program are also given.

关键词： Software tools Textile industry Fabrics Humans Textile technology Compaction Production engineering Pulp manufacturing Design automation Clothing

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A study of reinforcement learning with knowledge sharing for distributed autonomous system

A study of reinforcement learning with knowledge sharing for...

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

作者： K. Ito A. Gofuku Y. Imoto M. Takeshita Department of Syst.ems Engineering Faculty of Engineering Ohyama University Japan

Reinforcement learning is one of effective controller for autonomous robots. Because it does not need priori knowledge and behaviors to complete given tasks are obtained automatically be repeating trial and error. However a large number of trials are required to realize complex tasks. So the task that can be obtained using the real robot is restricted to simple ones. Considering these points, various methods that prove the learning cost of reinforcement learning have been proposed. In the method that uses priori knowledge, the methods lose the autonomy that is most important feature of reinforcement learning in applying it to the robots. In the Dyna-Q, that is one of simple and effective reinforcement learning architecture integrating online planning, a model of environment is learned from real experience and by utilizing the model to learn, the learning time is decreased. In this architecture, the autonomy is held, however the model depends on the task, so acquired knowledge of environment cannot be reused to other tasks. In the real world, human beings can learn various behaviors to complete complex tasks without priori knowledge of the tasks. We can try to realize the task in our image without moving our body. After the training in the image, by trying to the real environment, we save time to learn. It means that we have model of environment and we utilize the model to learn. We consider that the key ability that makes the learning process faster is construction of environment model and utilization of it. In this paper, we have proposed a method to obtain an environment model that is independent of the task. And by utilizing the model we have decreased learning time. We consider distributed autonomous agents, and we show that the environment model is constructed quickly by sharing the experience of each agent, even when each agent has own independent task. To demonstrate the effectiveness of the proposed method, we have applied the method to the Q-learning and si

关键词： Learning Knowledge engineering robotics and automation Systems engineering and theory Costs Automatic control Robot control Humans Indium tin oxide Control systems

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Bimodal Brain-Machine Interface for Motor Control of Robotic Prosthetic

Bimodal Brain-Machine Interface for Motor Control of Robotic...

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2003 ieee/RSJ international Conference on Intelligent Robots and Systems

作者： Darmanjian, Shalom Kim, Sung Phil Nechyba, Michael C. Morrison, Scott Principe, Jose Wessberg, Johan Nicolelis, Miguel A.L. Computational NeuroEngineering Lab. Department of Electical Engineering UNiversity of Florida Gainesville FL 32611-6200 Machine Intelligence Laboratory Department of Electrical Engineering University of Florida Gainesville FL 32611-6200 Department of Neurobiology 327E Bryan Research Building Box 3209 DUMC Durham NC 27710

We are working on mapping multi-channel neural spike data, recorded from multiple cortical areas of an owl monkey, to corresponding 3d monkey arm positions. In earlier work on this mapping task, we observed that continuous function approximators (such as artificial neural networks) have difficulty in jointly estimating 3d arm positions for two distinct cases - namely, when the monkey's arm is stationary and when it is moving. Therefore, we propose a multiple-model approach that first classifies neural spike data into two classes, corresponding to two states of the moneky's arm: (1) stationary and (2) moving. Then, the output of this classifier is used as a gating mechanism for subsequent continuous models, with one model per class. In this paper, we first motivate and discuss our approach. Next, we present encouraging results far the classifier stage, based on hidden Markov models (HMMs), and also for the entire bimodal mapping system. Finally, we conclude with a discussion of the results and suggest future avenues of research.

关键词： robotics

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