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15th IEEE international symposium on computational intelligence and Informatics

作者： Toman, J. Olszewska, J. I. Univ Gloucestershire Cheltenham GL50 2RH Glos England

ISBN: (纸本)9781479953370

This paper proposes a graph building algorithm that transforms geo-location data into a network graph, which could be useful for applications involving navigation aids or robotics. At first, our new method takes data from source Keynote Markup Language 2.2 format (KML 2.2) files such as extracted from Google Maps. Then, our algorithm creates a directed, acyclical graph which is displayed and overlayed afterwards in Google Earth. A Java application has been built to implement and test the system based on the graph building algorithm for the analysis of ski piste maps. Testing of the graph, in context of ski resorts, demonstrates that the algorithm is accurate and suitable for use in Geographical Information Systems (GIS). Moreover, the performance of the algorithm has been analysed. It shows that, with the size of the network graphs produced and the available hardware, our algorithm is computationally efficient.

关键词： Java directed graphs geographic information systems navigation GIS Google Earth Google Maps Java application KML 2.2 files Keynote Markup Language 2.2 format files directed acyclical graph geo-location data transformation geographical information systems graph building algorithm graph testing navigation aids network graph size robotics ski piste map analysis ski resort Algorithm design and analysis Buildings computational intelligence Earth Google Testing geographic information systems Java application Java Java programming language Algorithm design and analysis Google Buildings Artificial intelligence computational intelligence robotics directed graphs topsoil Earth NAVIGATION AIDS navigation

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A Rapidly-Exploring Random Tree Algorithm with Reduced Random Map Size 9

A Rapidly-Exploring Random Tree Algorithm with Reduced Rando...

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9th international Conference on automation, robotics and Applications (ICARA)

作者： Lonklang, Aphilak Botzheim, Janos Eotvos Lorand Univ Dept Artificial Intelligence Fac Informat H-1117 Budapest Hungary

ISBN: (纸本)9781665489218

Mobile robots have been widely used in automated factory applications such as raw material delivery and product storage transportation. Path planning algorithms have been proposed to generate a feasible global approach. The path result must be free from obstacle regions and shortest. Previously we proposed an Improved Rapidly-Exploring Random Tree (Improved RRT*) algorithm. The algorithm consists of the pre-processing step for feasible mapping, primary processing with RRT* for path generating, and post-processing with Bacterial Mutation and Node Deletion operators. This paper aims to improve further the capability of the Improved RRT* algorithm by reducing the overall computation time. The proposed method reduces the complexity of the random map after each iteration by deleting the used nodes. In this way, the computational time could be reduced.

关键词： Path Planning Algorithm RRT Bacterial Mutation Node Deletion

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Requirements definitions of robotics automation using the Behavioral Patterns Analysis(PBA) Approach: The production cell system

Requirements definitions of robotics automation using the Be...

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international Conference on computational intelligence for Modelling, Control and automation/international Conference on Intelligent Agents Web Technologies and international Commerce

作者： El-Ansary, Assem Emergent Technologies USA Inc. Faculty - Johns Hopkins University George Mason University United States

ISBN: (纸本)0769525040

Experience is showing several problems with Use Cases such as lack of a precise definition that led some companies to develop their own version, lack of notion of atomicity, and considering only the user interface. If the analyst misinterpreted or neglected some structural or behavioral aspects, the resulting software system may not display the correct behavior or may ungracefully terminate. The use of events in the Behavioral Pattern Analysis Approach (BPA) provides cohesive integration between the static abstraction (classes) and the dynamic behavior. This integration may partially or totally eliminate the pre-mentioned problems. This paper presents the use of BPA to model a Robot System in a manufacturing setting.

关键词： requirement event-oriented behavioral pattern BPA UCA robot production cell

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Modeling of viscoelastic dielectric elastomer actuators based on the sparse identification method 39

Modeling of viscoelastic dielectric elastomer actuators base...

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IEEE international Conference on robotics and automation (ICRA)

作者： Li, Jisen Wang, Hao Zhu, Jian Chinese Univ Hong Kong Sch Sci & Engn Shenzhen 518172 Peoples R China Shenzhen Inst Artificial Intelligence & Robot Soc Shenzhen 518129 Peoples R China

ISBN: (纸本)9781728196817

Dielectric elastomer actuators (DEAs) have been widely employed to drive various soft robots, due to their quiet fast muscle-like behavior. It is significant but challenging to model and control these soft actuators, due to their viscoelastic property, irregular geometry, complex structure, etc. In this paper, we propose a data-driven sparse identification method to discover the hidden governing equations of DEAs. These equations can help us interpret the nonlinear properties of DEAs. Due to their low computational cost, we can further use these equations to explore classic model-based control methods for real-time accurate control of viscoelastic DEAs. The experiments show that the proposed method can model the viscoelastic behavior of the DEAs with reasonable accuracy. A feedforward controller is finally developed to validate the effectiveness of the proposed method. It is expected that this modeling method can pave the way for accurate control of soft actuators/robots with structural and material nonlinearities.

关键词： Geometry Uncertainty computational modeling Predictive models Soft robotics Mathematical models Real-time systems

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Kinematics Learning of Massive Heterogeneous Serial Robots 39

Kinematics Learning of Massive Heterogeneous Serial Robots

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IEEE international Conference on robotics and automation (ICRA)

作者： Xing, Dengpeng Xia, Wannian Xu, Bo Chinese Acad Sci Inst Automat Beijing Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China

ISBN: (纸本)9781728196817

Kinematics and instantaneous kinematics are fundamental in many robotic tasks, such as positioning and collision avoidance. Existing learning methods mainly concern a single robot, and small-scale networks are sufficient for considerable approximation accuracy. A question is: Can we learn a kinematics model that can generalize to various robots rather than a single robot? This paper studies the kinematics learning of massive heterogeneous serial robots and the transfer of these general models to reality. We generate a dataset by randomizing dimensions, configurations, and link lengths and employ a network based on the generative pre-trained transformer to learn general kinematics mappings. We directly transfer our models for accuracy and use distillation-based transfer for computational efficiency. The results validate that our method can accurately approximate the kinematics of thousands of robot models and demonstrates generality in transfer.

关键词： Learning systems automation computational modeling Kinematics Transformers computational efficiency Collision avoidance

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INTELLIGENT computational SYSTEMS FOR SPACE APPLICATIONS

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ACTA ASTRONAUTICA 1990年第C期22卷 105-113页

作者： LUM, H LAU, S Chief Information Sciences Division Ames Research Center Moffett Field CA 94035 USA Research Scientist Ames Research Center Moffett Field CA 94035 USA

Intelligent computational systems can be described as an adaptive computational system integrating both traditional computational approaches and artificial intelligence (AI) methodologies to meet the science and engineering data processing requirements imposed by specific mission objectives. These systems will be capable of integrating, interpreting, and understanding sensor input information; correlating that information to the “world model” stored within its data base and understanding the differences, if any; defining, verifying, and validating a command sequence to merge the “external world” with the “internal world model”; and, controlling the vehicle and/or platform to meet the scientific and engineering mission objectives. Performance and simulation data obtained to date indicate that the current flight processors baselined for many missions such as Space Station Freedom do not have the computational power to meet the challenges of advanced automation and robotics systems envisioned for the year 2000 era. Research issues which must be addressed to achieve greater than giga-flop performance for on-board intelligent computational systems have been identified, and a technology development program has been initiated to achieve the desired long-term system performance objectives.

关键词： Artificial intelligence

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Grid Ant Colony Optimization Applied to a Multi-Robotic Garbage Collection System 2

Grid Ant Colony Optimization Applied to a Multi-Robotic Garb...

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2nd Brazilian robotics symposium (SBR) / 11th Latin American robotics symposium (LARS) / 6th Robocontrol Workshop on Applied robotics and automation

作者： Sales, Daniel O. Dias, Mauricio A. Osorio, Fernando S. Univ Sao Paulo Inst Math Sci & Computat ICMC Mobile Robot Lab LRM Sao Carlos SP Brazil

ISBN: (纸本)9781479967117

Garbage recycling and collection problem is an interesting problem that researchers are applying swarm intelligence algorithms to solve. Some previous approaches used particle swarm optimization, immune systems and ant colony optimization algorithms and achieved good results. Ant colony optimization is a well-known swarm intelligence algorithm that is normally used to solve computational problems which can be reduced to finding good paths in graphs. A multi-robotic system can be applied to solve this problem but it will need a control algorithm to accomplish the task. Applying the regular ant colony optimization algorithm to control the multi-robotic system is not a trivial task due to the graph representation needed. This work proposes modifications in the ant colony optimization algorithm that uses grid representation and applies the modified algorithm to solve this problem. The results showed a decrease of one order of magnitude in the number of iterations needed to solve the problem compared to the previous version of the algorithm. Considering the results the proposed algorithm showed to be able to control a multi-robotic system for the chosen problem.

关键词： ant colony optimisation mobile robots multi-robot systems refuse disposal ant colony optimization algorithms computational problems garbage collection problem garbage recycling grid ant colony optimization immune systems multirobotic garbage collection system multirobotic system particle swarm optimization swarm intelligence algorithms Algorithm design and analysis Ant colony optimization Control systems Heuristic algorithms Particle swarm optimization Recycling Robots ACO Evolvable Systems Grid ACO Multi-robotics robotics Particle swarm optimization Ant colony optimization Garbage disposal Algorithm design and analysis multi-robot systems Immune System Heuristic algorithms ant algorithm control systems Mobile robots ADMINISTRATIVE CONSENT ORDER Robot robotics Recycling Graph representations

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LED Strip Based Robot Movement Intention Signs for Human-Robot Interactions 20

LED Strip Based Robot Movement Intention Signs for Human-Rob...

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20th IEEE international symposium on computational intelligence and Informatics (CINTI)

作者： Domonkos, Mark Dombi, Zoltan Botzheim, Janos Budapest Univ Technol & Econ Fac Mech Engn Dept Mechatron Opt & Mech Engn Informat 4-6 Bertalan Lajos St H-1111 Budapest Hungary

ISBN: (纸本)9781728183398

As a new kind of robots, called cooperative robots, are more commonly used in industry, a new way of communication is becoming more important due to the increasing number of closer cooperation between human and robots. This paper proposes the idea behind a novel method of using visual communication between cobots and humans focusing mainly on the field of industrial robotics. This device can decrease the mental stress experienced by the coworker and can increase the trust resulting in a closer to ergonomic workspace from the coworker viewpoint. Other possible usage is also discussed.

关键词： human-robot interaction robot feedback visual feedback cooperative robotics cobot

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A computational emotion model based on the prosodic component of speech sounds

A computational emotion model based on the prosodic componen...

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19th IEEE international Conference on robotics and automation (ICRA)

作者： Wakamatsu, Y Kondo, T Ito, K Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Interdisciplinary Grad Sch Sci & Engn Yokohama Kanagawa 2268502 Japan

ISBN: (纸本)0780372727

This paper proposes a computational emotion formation model and attempt to apply the model for speech communication. As the speech communication plays an essential part of our daily life, the utilization of the speech sound will be expected to make human-robot communication smooth. The proposed model forms the state of emotion based on the prosodic components because the emotional aspects of human speech sounds are found in the prosodic change. The model is based on the agent network architecture. Also the model is taken account of the motor command generation according to the state of emotion. The validity of the model is examined by the computer simulation. And from the results of the simulation, it is shown that the formation of emotion in the model is adequate to the speech sounds, and the motor command generation is also adequate.

关键词： robotics

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Real-time Dynamic-consistent Motion Planning for Over-actuated UAVs

Real-time Dynamic-consistent Motion Planning for Over-actuat...

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IEEE international Conference on robotics and automation (ICRA)

作者： Su, Yao Zhang, Jingwen Jiao, Ziyuan Li, Hang Wang, Meng Liu, Hangxin Beijing Inst Gen Artificial Intelligence BIGAI Natl Key Lab Gen Artificial Intelligence Beijing Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Existing motion planning approaches for over-actuated unmanned aerial vehicle (UAV) platforms can achieve online planning without considering dynamics. However, in many envisioned application areas such as aerial manipulation, payload delivery, and moving target tracking, it is critical to ensure dynamic consistency in the generated trajectory. The dynamics of these platforms introduce a high nonlinearity, leading to a substantial increase in computational burden. This paper presents an efficient method to plan motions that are consistent with the dynamics of over-actuated UAVs. With a hierarchical control structure, the dimension of the optimization problem is greatly reduced with synthesized wrench commands. Additionally, by exploring the dynamics of over-actuated UAVs, the complex planning process is decoupled into two simpler sub-problems. As a result, the proposed planner can be solved as two small quadratic programmings (QPs) and deployed in realtime. The computational efficiency and dynamic consistency of the proposed method are verified through both simulations and experiments, including comparison with other approaches and dynamic target tracking.

关键词： Unmanned aerial vehicles (UAV)

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