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Intelligent robot system using "model of knowledge, emotion and intention" and "information sharing architecture"

Intelligent robot system using "model of knowledge, emotion ...

引用

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

作者： K. Ono J. Miyamichi T. Yamaguchi Department Information Science Utsunomiya University Japan Department Electronic System Engineering Tokyo Metropolitan Institute of Technology Japan

Japan has become a highly aged society. Therefore, realization of welfare support systems which use human-friendly-robots technology is desired. We intend to construct a robot system which provides welfare support. These systems must understand a human's desire and share with other robot system's knowledge because these systems have plural robots. Therefore, we fuse two functions in the paper. (1) The model of knowledge, emotion and intention which creates robot action by human directions. (2) The information sharing architecture which uses Soft DNA (soft computing oriented data driven functional scheduling architecture) and ontology for construction of these systems.

关键词： Intelligent robots Humans Information science Aging Fuses Computer architecture Ontologies Concrete Cognitive robotics Fuzzy cognitive maps

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Path planning of 3-D objects using a new workspace model

Path planning of 3-D objects using a new workspace model

引用

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

作者： Chi-Hao Tsai Jou-Sin Lee Jen-Hui Chuang Department of Computer and Information Science National Chiao Tung University Hsinchu Taiwan

This paper proposes a collision avoidance algorithm to solve the problem of (local) path planning for a 3D object moving among polyhedral obstacles. The algorithm is based on a generalized potential model of workspace which assumes that the boundary of every 3D object is uniformly charged. According to the proposed approach, the repulsive force and torque between the moving object and the obstacles due to the above model is used to adjust the position and orientation of the object so as to keep it away from the obstacles while passing through a bottleneck in the free space. Simulation results demonstrate that the path of a 3D object thus obtained is indeed safe and spatially smooth. The adopted potential field is analytically tractable which makes the path planning efficient.

关键词： Path planning Robots Collision avoidance Orbital robotics Navigation Information science Torque Councils Shape Iterative methods

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Mobile robot that can read symbols

Mobile robot that can read symbols

引用

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

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots Intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing Intelligent systems Character recognition

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Heuristic methods for randomized path planning in potential fields

Heuristic methods for randomized path planning in potential ...

引用

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

作者： S. Caselli M. Reggiani R. Rocchi Dipartimento di Ingegneria dellE28099Informazione Università di Parma Parma Italy

Randomized path planning driven by a potential field is a well established technique for solving complex, many degrees of freedom motion planning problems. In this technique a suitable potential field shapes the search of the path toward the goal. However, randomized path planning can become relatively inefficient when deep local minima are present in the potential field. Indeed, the algorithm usually spends most its running time trying to escape from local minima by means of uninformed random motions. In this paper we present simple yet effective heuristics for escaping local minima, with the goal of improving overall planning performance. We integrate these heuristics into a path planner without sacrificing the overall probabilistic completeness of the algorithm. Experimental results on several test cases show a remarkable performance improvement, up to a factor of 4 for complex problem instances.

关键词： Path planning Shape Testing Motion planning Service robots Algorithm design and analysis Legged locomotion Orbital robotics Sampling methods Concurrent computing

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Multiple sensor data fusion in robotic prosthetic eye system

Multiple sensor data fusion in robotic prosthetic eye system

引用

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

作者： J.J. Gu M. Meng A. Cook M.G. Faulkner P.X. Liu Department of Electrical Engineering Dalhousie University Halifax Nova Scotia Canada Department of Electrical Engineering University of Alberta Edmonton Alberta Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton Alberta Canada Department of Mechanical Engineering University of Alberta Edmonton Alberta Canada

To ensure the robustness of the robotic eye sensor system, multiple sensors are used to detect the eye movement. However, some sensors may fail and provide faulty data. In the paper, multivariate statistical techniques are used to deal with sensor data monitoring, and faulty sensor detection and isolation. In addition, principal component analysis is used to monitor the sensor data and detect the sensor failure, and an incidence matrix is used to isolate the faulty sensor. We also study LMS and minimum variance methods for recovering the faulty sensor data. Simulation studies are included.

关键词： Sensor fusion Sensor systems Robot sensing systems Prosthetics Principal component analysis Matrix decomposition Fault detection Chemical sensors Condition monitoring Medical robotics

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An efficient neural controller for a nonholonomic mobile robot

An efficient neural controller for a nonholonomic mobile rob...

引用

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

作者： Tiemin Hu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel neural network based controller is developed for real-time fine motion control of a nonholonomic mobile robot with completely unknown robot dynamics and under unmodeled disturbance. By taking advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the robot dynamic parameters, the neural network consists of a single layer feedforward structure, and the learning algorithm is computationally efficient. Unlike previous works that use a typical backstepping velocity planner as the control input, a novel neural dynamics based velocity planner is used as input. The stability of the proposed control system and the convergence of tracking errors to zero are rigorously proved using the Lyapunov theory. The fine control of mobile robot is achieved through the online learning of the neural network without any off-line learning procedures. The effectiveness and efficiency of the proposed controller is demonstrated by simulation studies.

关键词： Mobile robots Neural networks Motion control Nonlinear dynamical systems Feedforward neural networks Computer networks Backstepping Velocity control Stability Control systems

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Collaborative exploration for map construction

Collaborative exploration for map construction

引用

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

作者： I. Rekleitis R. Sim G. Dudek E. Milios Centre for Intelligent Machines McGill University Montreal Canada Faculty of Computer Science Dalhousie University Halifax NS Canada

We consider the problem of map learning while maintaining ground-truth pose estimates. Map learning is important in tasks that require a model of the environment or some of its features. As a robot collects data, uncertainty about its position accumulates and corrupts its knowledge of the positions from which observations are taken. We address this problem by employing cooperative localization; that is, deploying a second robot to observe the other as it explores, thereby establishing a virtual tether, and enabling an accurate estimate of the robot's position while it constructs the map. The paper presents our approach to this problem in the context of learning a set of visual landmarks useful for pose estimation. In addition to developing a formalism and concept, we validate our results experimentally and present quantitative results demonstrating the performance of the method.

关键词： Collaboration Robot sensing systems Computer science Machine learning Uncertainty Sonar measurements computational efficiency Kalman filters Filtering Collaborative work

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An integrated system for cooperative man-machine interaction

An integrated system for cooperative man-machine interaction

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

作者： C. Bauckhage G.A. Fink J. Fritsch F. Kummmert F. Lomker G. Sagerer S. Wachsmuth Bielefeld University Bielefeld Germany Universitat Bielefeld Bielefeld Nordrhein-Westfalen DE Tech. Fac. Bielefeld Univ. Germany

To establish robotic application in human environments as, e.g. offices or private homes the robotic systems must be instructable by ordinary users in a natural way. In interpersonal communication humans usually apply different sensory information and are capable of integrating all perceptual cues fast and consistently. Additionally, knowledge acquired during the communication process is directly used to resolve ambiguities. As a step towards realizing similar capabilities in automatic devices this paper presents an integrated system combining automatic speech processing and image understanding. The system is intended to be an intelligent interface of a robot which manipulates objects in its surroundings according to the instructions of a human. The enhanced capabilities necessary for carrying out a multimodal man-machine dialog are realized by combining statistical and declarative methods for inference and knowledge representation. The effectiveness of this approach is demonstrated using an exemplary dialog from our construction task domain.

关键词： Man machine systems Humans Robot sensing systems Intelligent robots Speech processing robotics and automation Knowledge representation

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Composite fuzzy measure and its application to automobile factory investment decision making

Composite fuzzy measure and its application to automobile fa...

引用

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

作者： T. Kaino K. Hirota School of Business Administration Aoyama Gakuin University Shibuya Tokyo Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Yokohama Japan

A composite fuzzy measure built up from fuzzy measures defined on fuzzy measurable spaces using composite fuzzy weights has previously been proposed by the authors (2001). Here, the measurable space of this composite fuzzy measure is the direct sum of measurable spaces. Moreover, an associative, composite fuzzy measure built up from three fuzzy measures has also been proposed, but it is practically required that the fuzzy measure should be composed by plural fuzzy measures. Here, the associative, composite fuzzy measure built up from three fuzzy measures is recursively extended to an associative, composite fuzzy measure built up from a finite number of fuzzy measures. As an application, it is applied to the automobile factory capital investment decision making problem. It is assumed that an automobile company has a sales plan of a new car. The current factory line has a capacity to manufacture 3200 new cars, additional to the current car lines. Then, by the use of this composite fuzzy measure, the differentiation of the Choquet integral becomes the important index for decision making, which is confirmed by this decision making experiment.

关键词： Automobiles Production facilities Investments Decision making Extraterrestrial measurements Fuzzy systems computational intelligence Automotive engineering Identity-based encryption Marketing and sales

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On computing immobilizing grasps of 3-D curved objects

On computing immobilizing grasps of 3-D curved objects

引用

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

作者： Dan Ding Yun-Hui Liu M.Y. Wang Department of Mech. and Automation Eng Chinese University of Hong Kong New Territories Hong Kong China

We propose an algorithm for searching a form-closure grasp on a 3-D discretized curved object. The algorithm first randomly selects an initial set of seven contacts from the large collection of candidate contacts and check its form-closure property by the test algorithm developed in our early work. For the non-form-closure grasp, the candidate contacts are classified into set S where the contact wrenches lie on the same side of the separating facet as the initial wrenches and set D where the contact wrenches lie on the different side. The separating facet can be calculated through the test algorithm. Then the initial seven contacts are iteratively improved by exchanging with the candidate contacts in set D. The best-first motion together with random motion are used in the exchange procedure to ensure the convex hull of the seven contact wrenches will approach the origin step by step until the origin is completely contained. Finally, the algorithm has been implemented and its efficiency has been ascertained by three examples.

关键词： Testing Sufficient conditions Fixtures automation Iterative algorithms Manufacturing Machining Fabrication Inspection Resists

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