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34 篇 会议

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Simplifying the writing of specifications: a language and its interface

Simplifying the writing of specifications: a language and it...

引用

ieee workshop on languages for automation: symbiotic and intelligent robots

作者： V. Wingate F. Gomez Department of Computer Science University of Central Florida Orlando FL USA

The user interface for the TQ specification language is described, and how its syntax-directed editing capabilities simplify the writing of TQ specifications for the ordinary user is shown. The user interface is just one of the components of the TOAD system, which is able to generate dBASE programs from these specifications. Preliminary results with computer professionals unfamiliar with the TQ language seem to indicate that the interface does indeed help to make the TQ language easy to use.< >

关键词： Writing Specification languages Natural languages Computer science Humans Graphical user interfaces Automatic programming Calculus User interfaces Programming profession

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Reordering of Prolog programs with AND-parallelism

Reordering of Prolog programs with AND-parallelism

引用

ieee workshop on languages for automation: symbiotic and intelligent robots

作者： M.M. Gooley B.W. Wah Coordinated Science Laboratory University of Illinois Urbana IL USA

A method that allows reordering of Prolog causes without reordering their solutions, called order tracking, is presented. Reordering clauses enables the execution of a program at lower cost, as well as more goals to be run in AND-parallel; order tracking ensures that the reordered clauses behave exactly like their originals. The Markov-chain model is extended for estimating probability and cost, adding order tracking and a model for AND-parallel execution. This allows for estimation of when reordering and AND-parallelism will speed execution and when they will slow it.< >

关键词： Costs Runtime Law Legal factors Hardware Conferences automation Educational institutions Testing

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DIS: a user interface system design for the dictionary's database

DIS: a user interface system design for the dictionary's dat...

引用

ieee workshop on languages for automation: symbiotic and intelligent robots

作者： H. Ozawa M. Isoa H. Aiso Department of Electrical Engineering Keio University Japan

A user interface system is proposed for the non-computer-professional using a previously developed electronic dictionary system. A model that uniformly represents all the dictionary's information is also proposed. Based on this model, a user interface system is proposed for the electronic dictionary, called the dictionary interface system (DIS). The users are offered a visual environment for using various dictionaries by the DIS, and do not need to know any programming languages. To obtain required information from the various dictionaries only the function offered by the system is necessary.< >

关键词： User interfaces Databases Dictionaries Computer languages High performance computing automation Microcomputers Computer interfaces Concrete Programming environments

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A programming language and software tools designing a sensor based behaviour for autonomous mobile robots

A programming language and software tools designing a sensor...

引用

International Conference on Emerging Technologies and Factory automation (ETFA)

作者： S. Suzuki S. Yuta Intelligent Robot laboratory Institute of Information Science and Electronics University of Tsukuba Tsukuba Japan

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A study of a method for intention inference from human's behavior

A study of a method for intention inference from human's beh...

引用

ieee International workshop on Robot and Human Communication (ROMAN)

作者： Y. Inagaki H. Sugie H. Aisu T. Unemi Laboratory for International Fuzzy Engineering Research Yokohama Japan

In this paper, we propose a concept of symbiotic robot system with human, as well as a method for intention inference from the human's behavior for intelligent robots who carry out a simple task cooperatively with human, without complex communication. The robots get instantaneous data about the environment, including human, from sensors, and translate them into qualitative expressions that contain vague time scale as follows: "He is stopping for a while", "He changed his direction just now". If the task is very simple and the goal is clear, a human behavior model can be expressed by fuzzy automata. In this model, a transition of each human's situation is controlled by fuzzy rules using qualitative expressions. We set up a simple cooperative task, and propose a human behavior model corresponding to this case.< >

关键词： Humans intelligent robots Robotics and automation Robot sensing systems Symbiosis Automata Automatic control Microcomputers Robot control Laboratories

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Predictive robot programming

Predictive robot programming

引用

ieee International workshop on intelligent robots and Systems (IROS)

作者： K.R. Dixon M. Strand P.K. Khosla Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA ABB Corporate Research Center Vasteras Sweden

One of the main barriers to automating a particular task with a robot is the amount of time needed to program the robot. Decreasing the programming time would facilitate automation in domains previously off limits. In this paper, we present a novel method for leveraging the previous work of a user to decrease future programming time: predictive robot programming. The decrease in programming time is accomplished by predicting waypoints in future robot programs and automatically moving the manipulator end-effector to the predicted position. To this end, we develop algorithms that construct simple continuous-density hidden Markov models by a state-merging algorithm based on waypoints from prior robot programs. We then use these models to predict the waypoints in future robot programs. While the focus of this paper is the application of predictive robot programming, we also give an overview of the underlying algorithms used and present experimental results.

关键词： Robot programming Production Robotics and automation Hidden Markov models Packaging Manipulators Computer languages Merging Design automation Design optimization

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Human-robot interaction through spoken language dialogue

Human-robot interaction through spoken language dialogue

引用

ieee International workshop on intelligent robots and Systems (IROS)

作者： L.S. Lopes A. Teixeira Departamento de Electrónica e Telecomuniçòes Universidade de Aveiro Aveiro Portugal

The development of robots that are able to accept instructions, via a friendly interface, in terms of concepts that are familiar to a human user remains a challenge. It is argued that designing and building such intelligent robots can be seen as the problem of integrating four main dimensions: human-robot communication, sensory motor skills and perception, decision-making capabilities, and learning. Although these dimensions have been thoroughly studied in the past, their integration has seldom been attempted in a systematic way. It is further argued that, for the common user, the only sufficiently practical interface is spoken language. The "body and soul" of CARL (Communication, Action, Reasoning and Learning), a robot currently under construction in our laboratory, are presented. The spoken-language interface is given particular attention.

关键词： Natural languages intelligent robots Service robots Robot sensing systems Decision making Robotics and automation Artificial intelligence Humans Manufacturing industries Hardware

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intelligent autonomous robots for industrial and Space applications

Intelligent autonomous robots for industrial and Space appli...

引用

ieee International workshop on intelligent robots and Systems (IROS)

作者： E. Freund J. Rossmann Institute of Robotics Research Dortmund Germany Inst. of Robotics Res. Dortmund Germany

The aim of the development of modern robot control systems at the Institute of Robotics Research is to provide higher flexibility and autonomy for robot systems, together with consistent and user-transparent concepts for installation, programming and operation of robots in their working environment. An important feature of a flexible future-oriented robot controller is the capability to incorporate information from different classes of sensors and to have standardized communication interfaces with other factory-automation components. To ease the robot systems' operation a graphical user-interface is provided. Furthermore, implicit programming and action planning methods allow robot programming on a much higher level of abstraction than today's procedural programming languages. For industrial applications, this implies easier and quicker adaptation of robot work cells to new tasks and a significant increase of the robots' flexibility to allow the feasibility of small quantity orders. This paper gives a basic description of "the principle of the hierarchical coordinator", the basic system concept for the development of complex control systems at the IRF. This concept has been developed and employed for the design of intelligent, autonomous robot systems, which are described in detail. The applications described range from the design of a flexible assembly work cell to a multirobot-system for autonomous experiment-servicing in a space laboratory module.< >

关键词： intelligent robots Service robots Orbital robotics Aerospace industry Robot kinematics Robot sensing systems Robot programming Robot control Electrical equipment industry Communication system control

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Integration of gaze and gesture detection in nature language instructing of robot in an assembly scenario

Integration of gaze and gesture detection in nature language...

引用

ieee International workshop on Robot and Human Communication (ROMAN)

作者： Jianwei Zhang T. Baier M. Hueser Department of Computer Science University of Hamburg Hamburg Germany

We present the development of and experiments with a robot system showing multimodal interaction capabilities. We focus on the understanding of human instructions in natural language by integrating gaze and pointing hand gestures. A typical application of such a system is interactive assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a child. His instructions can be under-specified, incomplete and/or context-dependent. By detecting gaze and gesture information of the instructor, which are described in two sections of the paper, the ambiguities in the interactions can be resolved in a natural manner. Finally, we outline a list of future topics for extending our research.

关键词： Robotic assembly Natural languages Speech recognition Assembly systems Human robot interaction intelligent robots Humanoid robots Robotics and automation Aircraft Robot sensing systems

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Auditory fovea based speech separation and its application to dialog system

Auditory fovea based speech separation and its application t...

引用

ieee International workshop on intelligent robots and Systems (IROS)

作者： K. Nakadai H.G. Okuno H. Kitano Kitano Symbiotic Systems Project ERATO Japan Science and Technology Corporation Shibuya Tokyo Japan Department of Intelligence Science and Technology Kyoto University Shibuya Japan Sony Computer Science Laboratories Inc. Japan

This paper presents an active direction-pass filter (ADPF) that separates sounds originating from the specified direction by using a pair of microphones. Its application to front-end processing for speech recognition is also reported. Since the performance of sound source separation by the ADPF depends on the accuracy of sound source localization (direction), various localization modules including the interaural phase difference, interaural intensity difference for each sub-band, and other visual and auditory processing are integrated hierarchically. The resulting performance of auditory localization varies according to the relative position of the sound source. The resolution of the center of the robot is much higher than that of peripherals, indicating similar property of visual fovea. To make the best use of this property, the ADPF controls the direction of a head by motor movement. In order to recognize sound streams separated by the ADPF, a hidden Markov model based automatic speech recognition is built with multiple acoustic models trained by the output of the ADPF under different conditions. A preliminary dialog system is thus implemented on an upper-torso humanoid. The experimental results prove that it works well even when two speakers speak simultaneously.

关键词： Hidden Markov models Active filters Microphones Automatic speech recognition Robot sensing systems Mobile robots Speech recognition Source separation Humans Robotics and automation

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