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A behavioral robotics Approach to Radiation Mapping Using Adaptive Sampling

APPLIED SCIENCES-BASEL 2025年第4期15卷 2050-2050页

作者： Adams, Joel Cintas, Brendon Sung, Nakwon Abrahao, Anthony Lagos, Leonel Mcdaniel, Dwayne Florida Int Univ Fac Mech Engn Miami FL 33199 USA

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot's body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm's exploration tendency based on the arm's collision history improves the system's ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

关键词： behavioral robotics radiation mapping Bayesian optimization adaptive sampling manipulators

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Mereogeometry Based Approach for behavioral robotics 1

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International Joint Conference on Rough Sets (IJCRS)

作者： Gnys, Piotr Polish Japanese Acad Informat Technol Dept Comp Sci Ul Koszykowa 86 PL-02008 Warsaw Poland

In this paper we will attempt to create simple behavioral agent with reasoning based in mereogeometry. Main purpose of this research is to check if mereogeometry is viable approach for writing low level behavioral sys... 详细信息

ISBN: (数字)9783319608402

ISBN: (纸本)9783319608402;9783319608396

关键词： Mereology Mereogeometry Rough mereology behavioral robotics Flocking

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Enhanced Robot Speech Recognition Using Biomimetic Binaural Sound Source Localization

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2019年第1期30卷 138-150页

作者： Davila-Chacon, Jorge Liu, Jindong Wermter, Stefan Univ Hamburg Knowledge Technol Grp Dept Informat Vogt Kolln Str 30 D-22527 Hamburg Germany Imperial Coll London Dept Comp South Kensington Campus London SW7 2AZ England

Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using binaural sound source localization (SSL). The approach is verified by measuring the impact of SSL with a humanoid robot head on the performance of an ASR system. More specifically, a robot orients itself toward the angle where the signal-to-noise ratio (SNR) of speech is maximized for one microphone before doing an ASR task. First, a spiking neural network inspired by the midbrain auditory system based on our previous work is applied to calculate the sound signal angle. Then, a feedforward neural network is used to handle high levels of ego noise and reverberation in the signal. Finally, the sound signal is fed into an ASR system. For ASR, we use a system developed by our group and compare its performance with and without the support from SSL. We test our SSL and ASR systems on two humanoid platforms with different structural and material properties. With our approach we halve the sentence error rate with respect to the common downmixing of both channels. Surprisingly, the ASR performance is more than two times better when the angle between the humanoid head and the sound source allows sound waves to be reflected most intensely from the pinna to the ear microphone, rather than when sound waves arrive perpendicularly to the membrane.

关键词： Automatic speech recognition behavioral robotics binaural sound source localization (SSL) bioinspired neural architectures

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A dynamic computational model of motivation based on self-determination theory and CANN

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INFORMATION SCIENCES 2019年 476卷 319-336页

作者： Chame, Hendry Ferreira Mota, Fernanda Pinto da Costa Botelho, Silvia Silva Univ Fed Rio Grande FURG Programa Posgrad Modelagem Computac Ctr Ciencias Computac C3 Rio Grande Brazil

The hierarchical model of intrinsic and extrinsic motivation (HMIEM) is a framework based on the principles of self-determination theory (SDT) which describes human motivation from a multilevel perspective, and integrates knowledge on personality and social psychological determinants of motivation and its consequences. Although over the last decades HMIEM has grounded numerous correlational studies in diverse fields, it is conceptually defined as a schematic representation of the dynamics of motivation, that is not suitable for human and artificial agents research based on tracking. In this work we propose an analytic description named dynamic computational model of motivation (DCMM), inspired by HMIEM and based on continuous attractor neural networks, which consists in a computational framework of motivation. In DCMM the motivation state is represented within a self-determination continuum with recurrent feedback connections, receiving inputs from heterogeneous layers. Through simulations we show the modeling of complete scenarios in DCMM. A field study with faculty subjects illustrates how DCMM can be provided with data from SDT constructs observations. We believe that DCMM is relevant for investigating unresolved issues in HMIEM, and potentially interesting to related fields, including psychology, artificial intelligence, behavioral and developmental robotics, and educational technology. (C) 2018 Elsevier Inc. All rights reserved.

关键词： Self-determination theory Neural networks Motivation HMIEM CANN Tracking behavioral robotics Educational technology

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A Reference Architecture for Social Head Gaze Generation in Social robotics

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INTERNATIONAL JOURNAL OF SOCIAL robotics 2015年第5期7卷 601-616页

作者： Srinivasan, Vasant Murphy, Robin R. Bethel, Cindy L. Texas A&M Univ Dept Comp Sci & Engn College Stn TX 77843 USA Mississippi State Univ Dept Comp Sci & Engn Mississippi State MS 39762 USA

This article outlines a reference architecture for social head gaze generation in social robots. The architecture discussed here is grounded in human communication, based on behavioral robotics theory, and captures the commonalities, essence, and experience of 32 previous social robotics implementations of social head gaze. No such architecture currently exists, but such an architecture is needed to: (1) serve as a template for creating or re-engineering systems, (2) provide analyses and understanding of different systems, and (3) provide a common lexicon and taxonomy that facilitates communication across various communities. A constructed reference architecture and the Software Architecture Analysis Method (SAAM) are used to evaluate, improve, and re-engineer two existing head gaze system architectures (Human-Robot Collaboration architecture and Robot Behavior Toolkit architecture). SAAM shows that no existing architecture incorporated the summation of functionalities found in the 32 studies. SAAM suggests several architectural improvements so that the two existing architectures can better support adaptation to a new environment and extension of capability. The resulting reference architecture guides the implementation of social head gaze in a rescue robot for the purpose of victim management in urban search and rescue (US&R). Using the proposed reference architecture will benefit social robotics because it will simplify the principled implementations of head gaze generation and allow for comparisons between such implementations.

关键词： Reference architecture Social head gaze behavioral robotics Human-robot interaction

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Mathematical Modeling of Human Affective Behavior Aimed to Design Robot EI-Controller 1

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2nd Workshop on New Trends in Medical and Service robotics (MeSRoB)

作者： Rodic, A. Addi, K. Inst Mihailo Pupin Belgrade Serbia Univ La Reunion PIMENT St Denis France

ISBN: (纸本)9783319054315;9783319054308

The chapter regards to building emotion-driven behavior and social development in robots based on theory of personality from personality psychology. More precisely, the chapter concerns with modeling attributes of human emotional intelligence with aim to develop robot EI-controller capable to manage and use emotions, mange relationship with others and increase the autonomy. Brief theoretical background of personality psychology, regarding categorization of human personality types and types of temperament are presented in the chapter, too. Besides, it will be analyzed how differences amongst personality traits determine human affective and social behavior in circumstances of different physical and social environmental conditions. Based on the theory from psychology, a generic model of human emotion-driven behavior as an element of emotional intelligence is proposed. Corresponding simulator is developed in the chapter, too. Designed EI-model is tested in simulation experiments. For this purpose, a "trigger'' (an emotion-causal event) is assumed. Different personality profiles, exterior and interior influencing factors are varied in simulation tests. Proposed model is validated by comparison of the simulation results and results obtained experimentally by using results of the tests of human examinees. The on-line psychological questionnaires available at the Internet were used as appropriate tests.

关键词： Affective computing behavioral robotics Sociable robotics Artificial intelligence Emotional intelligence Emotion-driven behavior

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Development of Quadruped Animaroid for Social Interaction Test with Rats and Mice

Development of Quadruped Animaroid for Social Interaction Te...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Ishii, H. Komura, A. Masuda, Y. Miyagishima, S. Takanishi, A. Okabayashi, S. Iida, N. Kimura, H. Waseda Univ Inst Biomed Engn Shinjuku Ku 2-2 Wakamatsu Cho Tokyo Japan Waseda Univ Grad Sch Sci Engn Tokyo Japan Waseda Univ Fac Sci & Engn Tokyo Japan Waseda Univ Fac Letters Arts & Sci Tokyo Japan

ISBN: (纸本)9781424428526

In psychology and basic medical science, many studies have been performed with experiments on animals such as rats and mice, to clarify mechanisms of mental disorders. With this aim, several "mental disorder model" rats and mice have been developed by genetic manipulation, giving psychotropic drugs, injuring their brain or breeding under special conditions. "Social interaction test" is one of the experimental protocols to evaluate their appropriateness. However, this test is not popular because of lack of reproducibility. Thus, we consider the robotic agent that interacts with a rat/mouse in the social interaction test provides new opportunities to perform it under more strict conditions. We have then developed a quadruped animaroid, WR-1. WR-1 has four 3-DOF legs, 2-DOF waist and 1-DOF neck. WR-1 walks with both crawl and trot gait. WR-1 also reproduces rearing and head shake behavior. Size of WR-1 is larger and motion performance lower than those of a mature rat. However, in a social interaction test with a rat and WR-1, some social interactions were observed between them.

关键词： Quadruped robot Social interaction test of rats behavioral robotics

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Simulated odor tracking in a plane normal to the wind direction

Simulated odor tracking in a plane normal to the wind direct...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rutkowski, Adam J. Willis, Mark A. Quinn, Roger D. Case Western Reserve Univ Dept Mech & Aerosp Engn Cleveland OH 44106 USA Case Western Reserve Univ Dept Biol Cleveland OH 44106 USA

ISBN: (纸本)0780395050

A new strategy is developed for tracking an odor plume in an environment where wind is present. The strategy is inspired by the mechanisms that animals use to orient to stimuli. A male moth counter-turns horizontally and vertically across the wind while tracking a. pheromone plume. The inter-turn duration, or the amount of time between turns, is about 500 milliseconds on average in both directions. This observation has lead to the development of odor tracking algorithms that use inter-turn timers to control when to turn in both directions. The algorithm presented in this work takes a different approach. The new algorithm controls the rate of turning of the tracking vehicle in a plane normal to the wind direction. Simulation results demonstrate that counter-turning can be achieved in both directions without the use of inter-turn timers. Also, the estimated odor source location approaches the true source location as time progresses.

关键词： aerial vehicles behavioral robotics sensors and sensory systems homeland security applications

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Meta-level control under uncertainty for handling multiple consumable resources of robots

Meta-level control under uncertainty for handling multiple c...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Le Gloannec, S Mouaddib, AI Charpillet, F Univ Caen GREYC F-14032 Caen France

ISBN: (纸本)0780389123

Most of works on planning under uncertainty in AI assumes rather simple action models, which do not consider multiple resources. This assumption is not reasonable for many applications such as planetary rovers or robotics which much cope with uncertainty about the duration of tasks, the energy, and the data storage. In this paper, we outline an approach to control the operation of an autonomous rover which operates under multiple resource constraints. We consider a directed acyclic graph of progressive processing tasks with multiple resources, for which an optimal policy is obtained by solving a corresponding Markov Decision Process (MDP). Computing an optimal policy for an MDP with multiple resources makes the search space large. We cannot calculate this optimal policy at run-time. The approach developed in this paper overcomes this difficulty by combining: decomposition of a large MDP into smaller ones, compression of the state space by exploiting characteristics of the multiple resources constraint, construction of local policies for the decomposed MDPs using state space discretization and resource compression, and recomposition of the local policies to obtain a near optimal global policy. Finally, we present first experimental results showing the feasibility and performances of our approach.

关键词： supervisory control agents and agent based systems behavioral robotics mobile robotics

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Language-measure-based supervisory control of a mobile robot

Language-measure-based supervisory control of a mobile robot

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American Control Conference 2005 (ACC)

作者： Wang, X Mallapragada, G Ray, A Penn State Univ Dept Mech Engn University Pk PA 16802 USA

ISBN: (纸本)0780390989

This paper presents the design, modelling, and supervisory control of a mobile robot based on a signed real measure of its automaton (i.e., discrete-event behavior) language. While the robot's dynamic behavior is manipulated in the continuous-time domain via motion control and visual servoing, the mission planning is performed in the discrete-event supervisory control setting. However, unlike the conventional qualitative framework of supervisory control following the Ramadge-Wonham approach that is based on a set of specified constraints, a quantitative approach has been adopted for synthesis of optimal supervisory controllers in robotic scenarios with a language measure being the performance index. The parameters of the language measure are identified via both experimental observations and simulation runs;the results are consistent with each other as well as with other measures. This approach complements the Q-1earning method that has been widely used in robotics research to learn

关键词： behavioral robotics supervisory control quantitative design discrete-event system learning

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