Direct human-robot communication system based on natural language (NL) and cognitive graphics (CG) as a part of a new hierarchical structure of AI control system of mobile robot for service use (MRSU) is developed, Th...
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ISBN:
(纸本)0818681381
Direct human-robot communication system based on natural language (NL) and cognitive graphics (CG) as a part of a new hierarchical structure of AI control system of mobile robot for service use (MRSU) is developed, The software of simulation system for direct human-robot communication and MRSU behavior based on NL and CG is described. The NL an CG is used for description and representation of possible external worlds in the robot artificial life, This system allows us to evaluate the control algorithms of real time robot behavior and to reduce difficulties connected with such troubles as robot collisions with real objects and robot hardware damages. The mathematical background of direct NL human-robot communication and robot behavior simulation system is knowledge engineering based on spatio-temporal and action logics, default reasoning, cognitive graphics and soft computing, The main concepts, structure, conceptual model of simulation system for description of artificial life of MRSU are discussed, The example of simulation and real experimental results are described.
Multiple access interference and near-far effect cause the performance of the conventional single user detector in DS/CDMA systems to degrade. Due to high complexity of the optimum multiuser detector, suboptimal multi...
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ISBN:
(纸本)0780378660
Multiple access interference and near-far effect cause the performance of the conventional single user detector in DS/CDMA systems to degrade. Due to high complexity of the optimum multiuser detector, suboptimal multiuser detectors with less complexity and reasonable performance have received considerable attention. In this paper we apply computationalintelligence techniques including proposed modified genetic algorithm and our analysis of multilayer perceptron neural network for multiuser detection of DS/CDMA signals. We compare their performance from different points of view such as computational complexity, implementation and error rate. We also compare their performance with the other detectors used in CDMA.
The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the...
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ISBN:
(纸本)9781424407897
The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.
We have proposed a fast learning method that enables a mobile robot to acquires autonomous behaviors from interaction between human and robot. In this research we develop a behavior learning method ICS (Interactive Cl...
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ISBN:
(纸本)0780378660
We have proposed a fast learning method that enables a mobile robot to acquires autonomous behaviors from interaction between human and robot. In this research we develop a behavior learning method ICS (Interactive Classifier System) using interactive evolutionary computation considering an operator's teaching cost. As a result, a mobile robot is able to quickly learn rules by directly teaching from an operator. ICS is a novel evolutionary robotics approach using classifier system. In this paper, we investigate teacher's physical and mental load and proposed a teaching method based on timing of instruction using ICS.
A hardware object is a capsule of circuits loaded into reconfigurable devices. It is dynamically constructed while an application run. Its driver is temporarily mounted on a real driver for a hardware module. The circ...
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ISBN:
(纸本)0780378660
A hardware object is a capsule of circuits loaded into reconfigurable devices. It is dynamically constructed while an application run. Its driver is temporarily mounted on a real driver for a hardware module. The circuits axe suitable to preprocessing and postprocessing of robot systems. A commercial C++ compiler becomes an integrated design environment only attaching hardware object components and hardware object libraries.
In this paper some methods of dealing with the problem of cooperative learning in a multi-agent environment are presented. A system is developed that learns by reinforcement and deals with the problems of communicatio...
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The ability to explain the reasons for one's decisions to others is an important aspect of being human intelligence. We will look at the explainability aspects of the deep learning models, which are most frequentl...
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ISBN:
(纸本)9798350398823
The ability to explain the reasons for one's decisions to others is an important aspect of being human intelligence. We will look at the explainability aspects of the deep learning models, which are most frequently used in medical image processing tasks. The Explainability of machine learning models in medicine is essential for understanding how the particular ML model works and how it solves the problems it was designed for. The work presented in this paper focuses on the classification of lung CT scans for the detection of COVID-19 patients. We used CNN and DenseNet models for the classification and explored the application of selected visual explainability techniques to provide insight into how the model works when processing the images.
A wide variety of fieldbuses have been set up in the industrial automation system in different time periods under different environment. Therefore, during the development of industrial automation systems and control a...
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ISBN:
(纸本)0780378660
A wide variety of fieldbuses have been set up in the industrial automation system in different time periods under different environment. Therefore, during the development of industrial automation systems and control applications, the developer has to consider the interconnection of heterogeneous fieldbuses. In the paper, a Heterogeneous Fieldbuses Interconnection Architecture (HFIA) is presented to interconnect heterogeneous fieldbuses in wide area industrial automation system. The HFIA provides an integrated software framework to interconnect heterogeneous fieldbuses. With the help of the HFIA, it is easy and fast to interconnect heterogeneous fieldbuses. At the same time, the HFIA can be used for high-level industrial applications to control, monitor and optimize the operations of the fieldbuses systems. Profilbus, CANbus and Ethernet/IP are adopted as case studies for the HFIA architecture.
Regarding to global problem of ageing, mobile manipulator type of home service robot MARY (Mobile Assistant Robot for You) has been developed in the Department of Bioengineering and robotics, Tohoku University. The us...
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This paper aims to extract the computational logic of a hybrid method for online calibration of car-following models and apply it to a refined car-following model that incorporates the behavior of vehicles moving on t...
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ISBN:
(纸本)9798350398823
This paper aims to extract the computational logic of a hybrid method for online calibration of car-following models and apply it to a refined car-following model that incorporates the behavior of vehicles moving on the adjacent traffic lanes. This calibration method combines the concept of Kalman filters with the Takagi-Sugeno Fuzzy Inference System (T-S FIS). Furthermore, this paper analyzes the influence of the lane change behavior on the calibration process. The testing of the hybrid calibration method in the case of a refined car-following model uses real traffic data and it is followed by a discussion of the results based on day/night traffic behaviors.
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