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Imitation and primitive symbol acquisition of humanoids by the integrated mimesis loop

Imitation and primitive symbol acquisition of humanoids by t...

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IEEE international conference on robotics and automation (ICRA)

作者： T. Inamura Y. Nakamura H. Ezaki I. Toshima Crest Program Japan Science and Technology Corporation Japan Department of Mechano-Informatics University of Tokyo Japan Kawasaki Heavy Industries Company Limited Japan

ISBN: (纸本)0780365763

Mimesis is a primitive learning framework and origins of human intelligence. We have developed a behavior acquisition and understanding system based on the mimesis. This system is able to abstract observed others' behaviors into conceptual symbols, to recognize others' behavior using the primitive symbols, and to generate self motion patterns using the primitive symbols. In this paper, we mention the integration of mimesis loop which is the acquisition and development system based on mimesis, and confirmation of the feasibility against whole body motions on virtual humanoids.

关键词： Humans Humanoid robots Learning systems Mirrors Neurons Natural languages Robot control Fires Animals Planing

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Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition

Stable Tool-Use with Flexible Musculoskeletal Hands by Learn...

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IEEE international conference on robotics and automation (ICRA)

作者： Kento Kawaharazuka Kei Tsuzuki Moritaka Onitsuka Yuki Asano Kei Okada Koji Kawasaki Masayuki Inaba Department of Mechano-Informatics The University of Tokyo Tokyo Japan TOYOTA MOTOR CORPORATION

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based on feedforward controls. When grasping and using a tool, the contact state of the hand gradually changes due to the inertia of the tool or impact of action, and the initial contact state is hardly kept. In this study, we propose a system that trains the predictive network of sensor state transition using the actual robot sensor information, and keeps the initial contact state by a feedback control using the network. We conduct experiments of hammer hitting, vacuuming, and brooming, and verify the effectiveness of this study.

关键词： Grasping Muscles Robot sensing systems Gold Tools

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Data-efficient Non-parametric Modelling and control of an Extensible Soft Manipulator

Data-efficient Non-parametric Modelling and Control of an Ex...

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IEEE international conference on robotics and automation (ICRA)

作者： Mohammadreza Kasaei Keyhan Kouhkiloui Babarahmati Zhibin Li Mohsen Khadem School of Informatics University of Edinburgh UK Department of Computer Science University College London UK

Data-driven approaches have shown promising results in modeling and controlling robots, specifically soft and flexible robots where developing physics-based models are more challenging. However, these methods often require a large number of real data, and gathering such data is time-consuming and can damage the robot as well. This paper proposed a novel data-efficient and non-parametric approach to develop a continuous model using a small dataset of real robot demonstrations (only 25 points). To the best of our knowledge, the proposed approach is the most sample-efficient method for soft continuum robot. Furthermore, we employed this model to develop a controller to track arbitrary trajectories in the feasible kinematic space. To show the performance of the proposed approach, a set of trajectory-tracking experiments has been conducted. The results showed that the robot was able to track the references precisely even in presence of external loads (up to 25 grams). Moreover, fine object manipulation experiments were performed to demonstrate the effectiveness of the proposed method in real-world tasks. Finally, we compared its performance with common data-driven approaches in seen/useen-before trajectory tracking scenarios. The results validated that the proposed approach significantly outperformed the existing approaches in unseen-before scenarios and offered similar performance in seen-before scenarios.

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Robust control for a quasi-linear parameter varying Sun-Earth L2 formation flying

Robust control for a quasi-linear parameter varying Sun-Eart...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Feng Wang Antonios Tsourdos Rafał Zbikowski Brian A. White Department of Informatics and Sensors Cranfield University Shrivenham Swindon United Kingdom

ISBN: (数字)9781424478279

ISBN: (纸本)9781424478286

A nonlinear controller is designed for a L 2 formation flying control system, and robust stability is investigated for the closed-loop system with uncertainties. The L 2 formation flying is modeled as a second-order quasi-linear parameter-varying model, which is obtain from the nonlinear formation flying model with Barbashin method by including explicit dependence of the dynamic derivatives on states and external parameters. Base on this QLPV model, a polynomial eigenstructure assignment approach is applied to complete the controller design for the system. As function of state and external parameters, the controller realize the independence between the closed-loop system and the operating point to ensure the performance of the closed-loop system is independent with every operating equilibrium. Simulation is carried out to validate the control performance. Considering the uncertainties in the controller parameters and dynamic derivatives, parametric stability margins of system are analyzed by using Kharitonov's approach. Analysis results show the controller is fairly robust with respect to these uncertainties.

关键词： control systems Uncertainty Polynomials Mathematical model Stability analysis Robustness

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Computer-aided programming of robotic manufacturing cells for laser cutting applications

Computer-aided programming of robotic manufacturing cells fo...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： A.P. Pashkevich A.B. Dolgui O.A. Chumakov Industrial Systems Optimisation Laboratory University of Technology of Troyes Troyes France Robotic Laboratory Belarusian State University of Informatics and Radioelectronics Minsk Belarus

ISBN: (纸本)0780372417

The paper focuses on the enhancement of automatic robot programming techniques for laser cutting application. Its particular contribution lies in the area of multiobjective optimisation of robot motions via graph representation of the search space and dynamic programming procedures. It have been developed algorithms that allow to generate smooth manipulator trajectories within acceptable time, simultaneously considering kinematic, collision and singularities constraints of the robotic system, as well as the limitations of the robot control units. The presented results are implemented in a commercial software package and verified for real-life applications in automotive industry.

关键词： Computer aided manufacturing Robot programming Orbital robotics Laser beam cutting Application software robotics and automation Laser applications Robot motion Dynamic programming Manipulators

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Application of System on Chip (SoC) devices for the design of a smoke detector working with megapixel image streams

Application of System on Chip (SoC) devices for the design o...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Wiesław Pamuła Maciej Sajkowski Tomasz Stenzel Jarosław Michalak Grzegorz Baron Bartłomiej Szady Department of Transport Systems and Traffic Engineering Silesian University of Technology Katowice Poland Department of Power Electronics Silesian University of Technology Gliwice Poland Faculty of Automatic Control Institute of Informatics Silesian University of Technology Gliwice Poland

The paper discusses the application of System on Chip devices for processing Megapixel video streams. The domain of image processing using high resolution images is very demanding in the scope of calculating power and frequently exploits special processing hardware. The progress of integration technology brings about SoC which are capable of meeting such processing demands. Characteristics of FPGA and DSP based systems are assessed. A concise survey of chip solutions is presented and a pair of representative systems is chosen for comparison of their properties. The design of a smoke detection system is used for evaluating the advantages and drawbacks of using such SoC solutions. Almost identical image processing algorithms are implemented in the case of FPGA and DSP. Both solutions meet the image processing requirements and are suitable for real time processing. FPGA based solution is much faster as it uses pipelining for improving the utilisation of scarce memory resources.

关键词： Streaming media Digital signal processing Field programmable gate arrays Program processors Image resolution Standards

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Causal Inference for De-biasing Motion Estimation from Robotic Observational Data

Causal Inference for De-biasing Motion Estimation from Robot...

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IEEE international conference on robotics and automation (ICRA)

作者： Junhong Xu Kai Yin Jason M. Gregory Lantao Liu Luddy School of Informatics Computing and Engineering at Indiana University Bloomington IN USA Expedia Group. U.S. Army Research Laboratory Adelphi MD

Robot data collected in complex real-world scenarios are often biased due to safety concerns, human preferences, and mission or platform constraints. Consequently, robot learning from such observational data poses great challenges for accurate parameter estimation. We propose a principled causal inference framework for robots to learn the parameters of a stochastic motion model using observational data. Specifically, we leverage the de-biasing functionality of the potential-outcome causal inference framework, the Inverse Propensity Weighting (IPW), and the Doubly Robust (DR) methods, to obtain a better parameter estimation of the robot's stochastic motion model. The IPW is a re-weighting approach to ensure unbiased estimation, and the DR approach further combines any two estimators to strengthen the unbiased result even if one of these estimators is biased. We then develop an approximate policy iteration algorithm using the bias-eliminated estimated state transition function. We validate our framework using both simulation and real-world experiments, and the results have revealed that the proposed causal inference-based navigation and control framework can correctly and efficiently learn the parameters from biased observational data.

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Innovative approach in analysis of EEG and EMG signals — Comparision of the two novel methods

Innovative approach in analysis of EEG and EMG signals — Co...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Aleksandra Kawala-Janik Michal Podpora Jerzy Baranowski Waldemar Bauer Mariusz Pelc Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Old Royal Naval College University of Greenwich London U.K.

In this paper comparison of the two innovative signal processing methods for analysis of both EEG and EMG biomedical signals is in short presented. The reason for that is caused by the fact, that nowadays the broad analysis of various biomedical signals is extremely popular. The first method presented in this paper relies on kernel density estimators application. Implementation of such method enables construction of densitograms for the examined bio-signals. One of the biggest advantages of this method is that it allows to obtain statistically filtered signals, which results in making the whole signal processing task significantly quicker. The second method described in this paper is based on basic mathematical operations only. Despite its simplicity the whole process can be implemented on almost any hardware platform, including those with very limited computational capabilities. Also it makes the task quick. In accordance with the conducted experiments - the method is also efficient and as it can also be implemented on embedded platform and the algorithm can be rewritten in any programming language, the potential application of this method is wide.

关键词： Electroencephalography Electromyography Electrodes Signal processing Educational institutions Headphones Hardware

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Style transfer-based image synthesis as an efficient regularization technique in deep learning

Style transfer-based image synthesis as an efficient regular...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Agnieszka Mikołajczyk Michał Grochowski Department of Electrical Engineering Control Systems and Informatics Gdańsk University of Technology Poland

These days deep learning is the fastest-growing area in the field of Machine Learning. Convolutional Neural Networks are currently the main tool used for the image analysis and classification purposes. Although great achievements and perspectives, deep neural networks and accompanying learning algorithms have some relevant challenges to tackle. In this paper, we have focused on the most frequently mentioned problem in the field of machine learning, that is relatively poor generalization abilities. Partial remedies for this are regularization techniques e.g. dropout, batch normalization, weight decay, transfer learning, early stopping and data augmentation. In this paper we have focused on data augmentation. We propose to use a method based on a neural style transfer, which allows to generate new unlabeled images of high perceptual quality that combine the content of a base image with the appearance of another one. In a proposed approach, the newly created images are described with pseudo-labels, and then used as a training dataset. Real, labeled images are divided into the validation and test set. We validated proposed method on a challenging skin lesion classification case study. Four representative neural architectures are examined. Obtained results show the strong potential of the proposed approach.

关键词： Lesions Skin Training Neural networks Deep learning Image synthesis Task analysis

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Wearable computing for patients with coronary diseases

Wearable computing for patients with coronary diseases

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Valter Rocha Ricardo Seromenho Joao Correia Alessandro Mascioletti Alfredo Picano Gil Goncalves Agilus I+D LABOR Italy Informatics Engineering Department University of Porta Portugal

Cardiovascular diseases are killing more and more people around the world, striking rich and poor alike. The World Health Organization identifies these diseases as challenges to population health and well being and calls it a global epidemic. These diseases can seriously affect the life of both the patient and family. In tandem with a strategy to provide information and education to individuals at risk, Information and Communication Technologies can be a valuable tool to address the challenges posed by this global epidemic. The HEARTRONIC project is developing an innovative system for prevention and early warning by continuous monitoring the heart conditions. This system is wearable by the patient, monitors and analyzes the heart beat, and in the event of results that could predict a heart attack or stroke an alert message is sent to a server and them relayed to the responsible healthcare professional. The system uses EGC processing for automatic detection of abnormal functioning. First response actions are taken but the healthcare professionals are always in the control loop and can cancel or impose actions other than the ones decided by the system. System integration is starting and first trials are planned. Besides validating systems functionalities, these trials will allow to calibrate the sensitivity of the algorithms: high sensitivity may cause numerous false positives, while low sensitivity may result in misdiagnosis of potentially life threatening conditions.

关键词： Electrocardiography Heart Servers Diseases Electrodes Medical services Lead

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