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检索条件"任意字段=International Symposium on Computational Intelligence in Robotics and Automation"

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Modeling Affect-based Intrinsic Rewards for Exploration and Learning

Modeling Affect-based Intrinsic Rewards for Exploration and ...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Zadok, Dean McDuff, Daniel Kapoor, Ashish Technion Comp Sci Dept Haifa Israel Microsoft Res Redmond WA 98052 USA

ISBN: (纸本)9781728190778

Positive affect has been linked to increased interest, curiosity and satisfaction in human learning. In reinforcement learning, extrinsic rewards are often sparse and difficult to define, intrinsically motivated learning can help address these challenges. We argue that positive affect is an important intrinsic reward that effectively helps drive exploration that is useful in gathering experiences. We present a novel approach leveraging a task-independent reward function trained on spontaneous smile behavior that reflects the intrinsic reward of positive affect. To evaluate our approach we trained several downstream computer vision tasks on data collected with our policy and several baseline methods. We show that the policy based on our affective rewards successfully increases the duration of episodes, the area explored and reduces collisions. The impact is the increased speed of learning for several downstream computer vision tasks.

关键词： Computer vision automation Conferences computational modeling Reinforcement learning Task analysis

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Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor

Practical and Accurate Generation of Energy-Optimal Trajecto...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Morbidi, Fabio Pisarski, Dominik Univ Picardie Jules Verne MIS Lab Amiens France Polish Acad Sci IPPT PAN Inst Fundamental Technol Res Warsaw Poland

ISBN: (纸本)9781728190778

Motivated by the limited flight time of battery-powered multi-rotor UAVs, in this paper we address the problem of generating energy-optimal trajectories for a planar quadrotor. More specifically, by considering an accurate electrical model for the brushless DC motors and rest-to-rest maneuvers between two predefined boundary states, we explicitly compute the minimum-energy curves by adopting a free and a fixed end-time optimal control formulation. The numerical solution of these optimal control problems hinges upon a simple yet effective indirect projected gradient method. Simulation experiments illustrate the theory in a variety of realistic flight scenarios.

关键词： Gradient methods automation Brushless DC motors computational modeling Conferences Optimal control Fasteners

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computational intelligence for high-precision industrial robots

Computational intelligence for high-precision industrial rob...

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

作者： S. Moberg ABB Automation Technologies-Robotics Sweden

Summary form only given. ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high precision and cost-effectiveness are important factors. The availability of low-cost computational power and, in some cases, sensor integration enables the use of cost-effective industrial robots for high-precision tasks.

关键词： computational intelligence Computer industry Service robots Intelligent robots robotics and automation Motion control Automatic control Motion planning Production Physics

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Research on fast image mosaic based on CUDA

Research on fast image mosaic based on CUDA

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2011 4th international symposium on computational intelligence and Design, ISCID 2011

作者： Guo, Yihan Shi, Meiping Li, Yan Liu, Duoneng Institute of Automation College of Mechatronics and Automation National University of Defense Technology Changsha China

ISBN: (纸本)9780769545004

To get sufficient environmental information for a teleoperated unmanned vehicle, a matched image with wide field and high quality image is necessary. Image matching is a key point in image mosaic. And the vast amounts of data and complex calculations make it bottlenecked to get a high speed on mosaicing images. Considering the requirements of real-time image mosaic, a self-adaptive image matching method, considering the priori information on the spatial relationship between images, is proposed in this paper. The overlapping region is used as one of the constraint to reduce the search range during the image matching process. And using the General Purpose Graphic Process Unit (GPGPU) to accelerate complex computations, is becoming a research focus. In this paper, the algorithm of image matching is parallelized based on Compute Unified Device Architecture (CUDA), which is a platform of GPGPU programming. Experiment results show that, compared with the serial scheme on CPU, the efficiency of image mosaicing, implemented with the parallel scheme on Graphic Process Unit (GPU), is improved more than 30 times, with 12.8 frames per second. © 2011 IEEE.

关键词： Image matching

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Whole-Body Control of Series-Parallel Hybrid Robots 39

Whole-Body Control of Series-Parallel Hybrid Robots

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IEEE international Conference on robotics and automation (ICRA)

作者： Mronga, Dennis Kumar, Shivesh Kirchner, Frank German Res Ctr Artificial Intelligence GmbH DFKI Robot Innovat Ctr Bremen Germany Univ Bremen Robot Grp Bremen Germany

ISBN: (纸本)9781728196817

Parallel mechanisms are becoming increasingly popular as subsystems in various robots due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial connection of parallel subsystems leads to series-parallel hybrid robots, which are more difficult to model and control than serial or tree-type systems. At the same time, WholeBody Control (WBC) has become the method of choice in the control of robots with redundant degrees of freedom, e.g., legged robots. However, most state-of-the-art WBC frameworks can only deal with serial or tree-type robot topologies. In this paper, we describe a computationally efficient framework for WholeBody Control of series-parallel hybrid robots subjected to a large number of holonomic constraints. In contrast to existing WBC frameworks, our approach describes the optimization problem in the actuation space of a series-parallel robot, which provides better exploitation of the feasible workspace, higher accuracy, and more transparent behavior near singularities. We evaluate the proposed framework on two different humanoids with series-parallel architecture and compare its performance to a WBC approach for tree-type robots.

关键词： Legged locomotion automation Humanoid robots Computer architecture Topology computational efficiency Behavioral sciences

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Cutting Edge Applications of computational intelligence Tools and Techniques 1

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丛书名： Studies in computational intelligence

1000年

作者： Kevin Daimi Abeer Alsadoon Luis Coelho

ISBN: (数字)9783031441271

ISBN: (纸本)9783031441264;9783031441295

Computers are capable of learning from data and observations and providing solutions to real-life complex problems, following the same reasoning approach of human experts in various fields. This book endows a rich collection of applications in widespread areas. Among the areas addressed in this book are computational intelligence Principles andTechniques; CI in Manufacturing, Engineering, and Industry; CI in Recognition and Processing; CI in robotics and automation; CI in Communications and Networking; CI in Traditional Vehicles, Electric Vehicles, and Autonomous Vehicles; CI in Smart Cities and Smart Energy Systems; and CI in Finance, Business, Economics, and Education. These areas span many topics including repetitive manufacturing, discrete manufacturing, process manufacturing, electronic systems, speech recognition, pattern recognition, signal processing, image processing, industrial monitoring, vision systems for automation and robotics, cooperative and network robotics, perception, planning, control, urban traffic networks control, vehicle-to-roadside communications, smart buildings, smart urbanism, smart infrastructure, smart connected communities, smart energy, security, arts, and music.

关键词： computational intelligence Artificial intelligence Data Engineering

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Sliding mode-based missile guidance law design

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4th international symposium on computational intelligence and Industrial Applications, ISCIIA 2010

作者： Li, Yingyuan Li, Shuangquan School of Automation Harbin University of Science and Technology Harbin China

ISBN: (纸本)9787121113154

An sliding mode controller design for missiles guidance law is designed under the presence of target maneuvering. To reduce the chattering in sliding mode control, constitute a continuous function instead of signal function which guarantees the practicability of the control scheme. Simulation shows the well tracking performance of the controller. Chattering is erased and the robustness is intensified.

关键词： Sliding mode control

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A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

A Passive Navigation Planning Algorithm for Collision-free C...

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IEEE international Conference on robotics and automation (ICRA)

作者： Tiseo, Carlo Ivan, Vladimir Merkt, Wolfgang Havoutis, Ioannis Mistry, Michael Vijayakumar, Sethu Univ Edinburgh Sch Informat Inst Percept Act & Behav Edinburgh Ctr Robot Edinburgh Midlothian Scotland Univ Oxford Oxford Robot Inst Oxford England

ISBN: (纸本)9781728190778

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require signilicant computational resources to be effectively deployed and they may have limited generality. We propose a planning algorithm based on a globally stable passive controller that can plan smooth trajectories using limited computational resources in challenging environmental conditions. The architecture combines the recently proposed fractal impedance controller with elastic bands and regions of finite time invariance. As the method is based on an impedance controller, it can also be used directly as a force/torque controller. We validated our method in simulation to analyse the ability of interactive navigation in challenging concave domains via the issuing of via-points, and its robustness to low bandwidth feedback. A swarm simulation using 11 agents validated the scalability of the proposed method. We have performed hardware experiments on a holonomic wheeled platform validating smoothness and robustness of interaction with dynamic agents (i.e., humans and robots). The computational complexity of the proposed local planner enables deployment with low-power micro-controllers lowering the energy consumption compared to other methods that rely upon numeric optimisation.

关键词： Navigation computational modeling Scalability Robustness Planning Trajectory Mobile robots

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Combination of the EMD and the EOSA for extracting transient characteristics

Combination of the EMD and the EOSA for extracting transient...

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2010 international symposium on computational intelligence and Design, ISCID 2010

作者： Xie, Ping Liu, Zeng-Li Hou, Meng Zhang, Yong-De Faculty of Information Engineering And Automation Kunming University of Science And Technology Kunming China

ISBN: (纸本)9780769541983

Hilbert-Huang Transform(HHT) is widely used in extracting the instantaneous characteristics of signals. If using Hilbert Transform to deal with signals, the signals must Satisfy certain conditions, or else there will be errors in extracting the instantaneous characteristics of general signals. To solve this problem, a new method was proposed which combines EMD with the Energy Operator Separation Algorithm (EOSA). From experimental results, comparing with Hilbert-Huang Transform, this method is more effective in extracting the instantaneous characteristics of the signal. © 2010 IEEE.

关键词： Hilbert-Huang transform

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The research of software automation on monitoring system

The research of software automation on monitoring system

引用

2010 international symposium on computational intelligence and Design, ISCID 2010

作者： Luo, Xiao Wang, Yanping Department of Information Engineering Beijing Institute of Fashion Technology Beijing China

ISBN: (纸本)9780769541983

The technology of software automatic generation in the field of monitoring system has been studied. A set of technologies and methods of software automatic generation for a specific field has been proposed. It can be realized by two steps: the inductive procedure from specific to general one and the deductive procedure from general to specific one. According to inducing and abstracting from many application systems, the system model has been built. Then, by application description, configuring parameters and compiler, the function modules, which the system is needed, can be realized. By the parameters which users'inputting, system module generates system strategies and configuration files. Under the control of system strategies, it combines modules and their configuration files accordingly, and then generates the whole application system. © 2010 IEEE.

关键词： Monitoring

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