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Situated Communication for Joint Activity in Human-Robot Teams

IEEE INTELLIGENT SYSTEMS 2012年第2期27卷 27-35页

作者： Kruijff, Geert-Jan M. Janicek, Miroslav Zender, Hendrik German Research Center for Artificial Intelligence

In real-life situations, robots often need to collaborate with humans. An experience and communication model supports the necessary shared activities.

关键词： Team Working control engineering computing Groupware Human Robot Interaction Shared Activity Situated Communication Joint Activity Human Robot Teams Real Life Situations Communication Model Robot Kinematics Human Factors Human Robot Interaction Robot Sensing Systems Intelligent Systems Speech Recognition Collaborative Work Urban Areas Human Robot Team Human Robot Interaction Urban Search And Rescue Spoken Dialog Processing Situated Communication

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Human-Agent-Robot Teamwork

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IEEE INTELLIGENT SYSTEMS 2012年第2期27卷 8-13页

作者： Bradshaw, Jeffrey M. Dignum, Virginia Jonker, Catholijn Sierhuis, Maarten Florida Inst Human & Machine Cognit Pensacola FL 32507 USA Delft Univ Technol NL-2600 AA Delft Netherlands Ejenta Oxford England Grp Dev IHMCs Cyber Framework Pensacola FL USA

Researchers and developers are pursuing increasingly sophisticated roles for autonomous systems. Whether working within networked systems as software agents or embedded in robots and unmanned vehicles, what makes these systems valuable is their intelligent, active, and adaptive nature. These qualities are often characterized in intelligent systems literature by the word "autonomy"-a catch-all label that highlights the qualities of self-directedness and self-sufficiency in task performance. Though continuing research to make machines more active, adaptive, and functional is essential, the point of increasing such proficiencies is not merely to make the machines more independent during times when unsupervised activity is desirable or necessary, but also to make them more capable of sophisticated interdependent joint activity with people and other machines when such is required. That means autonomous systems must support not only fluid orchestration of task handoffs among different people and machines, but also combined participation on shared tasks requiring continuous and close interaction. HART research seeks to bring together the best thinking from diverse research communities in order to advance current and anticipated applications of intelligent human-machine collaboration, including the participation of humans as first-class citizens in collaboration with autonomous systems. This would enable autonomous systems not merely to do things for people, but also to work together with people and other systems-the inevitable next leap-forward required in autonomous system design and deployment.

关键词： Software Agents control engineering computing Human Robot Interaction Mobile Robots Remotely Operated Vehicles Human Machine Collaboration Human Agent Robot Teamwork Software Agent Unmanned Vehicle Autonomous System Fluid Orchestration Task Handoff HART Research Human Computer Interaction Human Robot Interaction Man Machine Systems Autonomous Agents Adaptive Systems Vehicles Human Robot Interaction Human Agent Robot Teamwork HART Autonomy Coactive Design Joint Activity Collaboration Software Agents

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Quantifying the impact of probe vehicle localisation data errors on signalised junction control

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IET INTELLIGENT TRANSPORT SYSTEMS 2012年第2期6卷 197-203页

作者： Waterson, B. Box, S. Univ Southampton Transportat Res Grp Southampton SO17 1BJ Hants England

This study investigates theoretical signal control algorithms based solely on probe vehicle data. Through development of a simulation system that can model urban signalised junction control using localisation probe data from all vehicles in the local area, improvements in junction operational efficiency that result from the improved input data are demonstrated for both isolated and coordinated junctions. Results from the isolated junction scenario show that the richness of the information contained within probe vehicle data means that control algorithms based just on positions and velocities of vehicles can produce 25% reductions in average delay compared to the current standard control algorithm MOVA. Results from the twin junction scenario confirm the importance of using high-level synchronisation to coordinate closely connected junctions, achieving reductions in average delays (compared to independent control approaches) of up to 40% through a process of weighting the probe vehicle data to reflect prior stage decisions of other parts of the junction. Critical to achieving these benefits, however, is the availability of high localisation accuracy probe data, with results indicating that the levels of accuracy necessary are representative of the typical performance of current in-vehicle global positioning system units, except when those vehicles are operating in urban canyon environments.

关键词： signalised junction control Global Positioning System Spatial variables control reliability urban canyon environments vehicle velocity control algorithms standard control algorithm probe vehicle localisation data errors MOVA junction operational efficiency road traffic control simulation system delays synchronisation high-level synchronisation coordinated junctions twin junction scenario velocity control theoretical signal control algorithms Road-traffic system control vehicle position control algorithms Velocity, acceleration and rotation control road vehicles control engineering computing position control in-vehicle global positioning system

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Collaborative Programming by Demonstration in a Virtual Environment

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IEEE INTELLIGENT SYSTEMS 2012年第2期27卷 14-17页

作者： Sung, Yunsick Cho, Kyungeun Dongguk Univ Dept Multimedia Engn Seoul South Korea

Collaborative learning for a robot, a software agent, and a human subject in a virtual environment reduces time, labor, and cost compared to real-life approaches.

关键词： Virtual Reality control engineering computing Groupware Robots Software Agents Collaborative Learning Collaborative Programming Virtual Environment Robot Software Agent Human Subject Human Factors Robots Virtual Environments Collaborative Work Programming Software Agents Human Robot Interaction Human Computer Interaction Robot Interaction Collaborative Programming By Demonstration Collaborative Learning Iterative Learning Human X 2013

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Multi-agent system for the operation of an integrated microgrid

Multi-agent system for the operation of an integrated microg...

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Photovoltaic Technical Conference

作者： Logenthiran, Thillainathan Srinivasan, Dipti Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

Operation of modern power system has become a complex problem, as its focus has shifted to implementing smart grid techniques and integrating distributed renewable energy sources. Integrated microgrid is an innovative control and management architecture at distribution network level, where several microgrids are electrically interconnected with each other. This paper presents a multi-agent system (MAS) for the operation of an integrated microgrid. A hierarchical control scheme is used for maximizing the power production output of local distributed generators, and optimizing power exchanges among the microgrids as well as power exchange between the main distribution system and the integrated microgrid. This scheme was implemented on the multi-agent system. Simulation studies carried out on the developed system demonstrate the effectiveness of the proposed multi-agent system for the operation of an integrated microgrid. (C) 2012 American Institute of Physics. [ doi: 10.1063/1.3683528]

关键词： control engineering computing distributed power generation multi-agent systems power distribution control power engineering computing smart power grids

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Design, Implementation and Evaluation of a Hybrid Approach for Software Agents in Automation

Design, Implementation and Evaluation of a Hybrid Approach f...

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Ulewicz, Sebastian Schuetz, Daniel Vogel-Heuser, Birgit Tech Univ Munich Inst Automat & Informat Syst AIS D-80290 Munich Germany

ISBN: (纸本)9781467347372;9781467347358

Multi-agent systems (MAS) are used to increase flexibility and reliability of automated production plants, by reducing their control structure's rigidness through the use of autonomous, interacting software agents. This paper comprises a concept for MAS, which are implemented partly on the Manufacturing Execution Systems (MES)-layer and partly on the field device layer, trying to combine the advantages found in other works that used MAS on only one of these layers. The concept contains a software architecture, a communication structure between different runtime platforms (MES and field devices) and processes, including an adaptive path finding algorithm. An evaluation showed that the proposed MAS is comparable in production performance, while increasing fault tolerance compared to a static legacy implementation.

关键词： control engineering computing factory automation fault tolerance multi-agent systems production engineering computing program diagnostics software agents

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Hardware-in-the-Loop Verification for 3D Obstacle Avoidance Algorithm of an Underactuated Flat-Fish Type AUV

Hardware-in-the-Loop Verification for 3D Obstacle Avoidance ...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Subramanian, Saravanakumar George, Thomas Thondiyath, Asokan Indian Inst Technol Madras Engn Design Dept Robot Lab Madras 600036 Tamil Nadu India Indian Inst Technol Hyderabad Dept Mech Engn Hyderabad 502205 Andhra Pradesh India Indian Inst Technol Tamilnadu Engn Design Dept Madras 600036 Tamil Nadu India

ISBN: (纸本)9781467321273;9781467321259

Hardware-in-the-Loop (HIL) simulations play a major role in the field of testing of Autonomous Underwater Vehicle (AUV) well before the actual vehicle is developed and deployed in the water. This paper discusses the real-time verification of a 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV using hardware-in-the-loop simulation tool. Software-In-the-Loop (SIL) models are developed in MATLAB/Simulink environment and the HIL simulation is performed using dSPACE environment. The development of HIL test bench and the simulation results are presented in this paper. The results show that the HIL simulation is an effective tool for the verification of control algorithms and the developed obstacle avoidance algorithm can be used in real-time for the flat-fish type AUV.

关键词： autonomous underwater vehicles collision avoidance control engineering computing formal verification marine engineering

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Design, Implementation and Experimental Tests of A New Generation of Antarctic Rover

Design, Implementation and Experimental Tests of A New Gener...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Chen, Cheng Bu, Chunguang He, Yuqing Han, Jianda Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China

ISBN: (纸本)9781467321273;9781467321259

The Arctic and Antarctic, as the harshest environments on the earth, are of great importance to the nation. The extreme environments can be harmful, even fatal, to human beings and mobile robots. To execute missions on the Antarctic in place of human, the State Key Laboratory of Robotics of Shenyang Institute of Automation, Chinese Academy of Sciences has designed three generations of Antarctic rovers. The hardware and software design and implementation of the third generation of Antarctic rover, which has been tested on the Antarctic during the 28th Chinese National Antarctic Research Expedition in 2011, will be presented in this paper. The preliminary experimental results, as introduced in the last part of the paper, suggest that the design and implementation of the hardware and software system can ensure efficiency and reliability of the rover working on the Antarctic.

关键词： control engineering computing hardware-software codesign mobile robots vehicles

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Proposal of Architecture and Implementation Process for IEC61508 Compliant, Dependable Robot Systems

Proposal of Architecture and Implementation Process for IEC6...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Hanai, Ryo Saito, Hajime Nakabo, Yoshihiro Fujiwara, Kiyoshi Ogure, Takuya Mizuguchi, Daichi Homma, Keiko Ohba, Kohtaro Natl Inst Adv Ind Sci & Technol Tsukuba Cent 21-1-1 Umezono Tsukuba Ibaraki Japan Gen Robot Inc Tsukuba Ibaraki Japan

ISBN: (纸本)9781467321273;9781467321259

Recent years have seen an increase in demand for robots that work closely with humans, or operate at disaster sites. These robots need to have high dependability. At the same time, the idea of system development based on standards is becoming important especially in the field of embedded systems including robots. IEC61508, which is a standard of functional safety requires the V-model of the engineering process and keeping the documents and programs of each phase consistent. However, this process costs a lot and freedom still remains about the choice of tools to support the development, the way of describing specifications/programs in each phase and so on. This makes consideration of the concrete development process and the tools used there before starting an actual development important. Accordingly, the purpose of this paper is to present a concrete architecture and a development process that is IEC61508 ready. We especially focus on the software aspect and mention related standards as well.

关键词： IEC standards control engineering computing embedded systems human-robot interaction

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Offline Kinematics Analysis and Path Planning of Two-Robot Coordination in Exhaust Manifold Welding

Offline Kinematics Analysis and Path Planning of Two-Robot C...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Fan Ouyang Tie Zhang Can Ying S China Univ Technol Sch Mech & Automot Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9781467321273;9781467321259

This paper focuses on the two-robot welding coordination of complex curve seam that one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece coordinately. This paper builds the two-robot coordinate system at the beginning. After that, the non master/slave scheme is chosen for the path planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter paths through the constrained relationship automatically. Moreover, Downhand welding is employed which can guarantee the torch and the seams keep in good contact condition all the time during the welding process. Besides, a Solidworks-SimMechanics simulation platform is established, and a simulation of Exhaust Manifold welding is conducted. Finally, the results of the simulation illustrate the welding process can meet the requirements of predefined torch pose planning and the downhand welding. In addition, two advantages of two industrial robot coordinated welding are summarized compared with arc-welding robot and positioning table system.

关键词： control engineering computing end effectors manipulator kinematics path planning production engineering computing robotic welding

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