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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Aruna Chakraborty Amit Konar Atulya K. Nagar Visiting Faculty in the M.Tech Course on Intelligent Automation and Robotics Jadavpur University Calcutta India Artificial Intelligence Laboratory Department of Electronics and Telecommunication Engineering Jadavpur University Calcutta India Department of Computer Science Liverpool Hope University Liverpool UK

The paper proposes a new approach to fuzzy abduction by extending the contraposition rule of propositional logic. The main difficulty of fuzzy abduction is due to the restriction of single antecedent clause in a fuzzy production rule. When more than one antecedent clause occurs jointly in a fuzzy rule, the membership value of the derived antecedent clauses become equal, which should not be the case in general. The paper overcomes this problem and demonstrates a simple but elegant method to compute premises in a multi-chained reasoning system.

关键词： Production Firing Cognition Fuzzy sets Electronic mail computer science

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On the problem of determination of spring stiffness parameters for spring-mesh models

On the problem of determination of spring stiffness paramete...

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Medicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008

作者： Quang Huy Viet, Huynh Hirai, Shinichi Shirai, Yoshiaki Yamaguchi, Satoshi Tanaka, Hiromi T. Kawasaki, Hiroshi Kawai, Yukiko Computer Vision and Graphics Laboratory Department of Information and Computer Science Saitama University Saitama Japan Laboratory for Integrated Machine Intelligence Department of Robotics Ritsumeikan University Kusatsu Japan Computer Vision Lab. Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Japan Kawai Lab. Department of Computer Science Kyoto Sangyo University Kyoto Japan

ISBN: (纸本)9781586038229

On account of having real-time behavior and being easy to implement, spring meshes have been used for modeling deformable objects. Determining spring stiffness parameters for simulation of soft objects with high accuracy still remains a challenge. Allen Van Gelder derived an approximate formula for determining spring stiffness parameters based on strain analysis. Even though the experimental result showed the effectiveness, the method has not been investigated from a quantitative point of view. In this paper we propose a quantitative method for determining spring stiffness parameters. Moreover we propose a method to improve the accuracy by way of introducing torsional spring into the conventional spring mesh model. © 2008 The authors. All rights reserved.

关键词： Stiffness matrix

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Self-adaptive mutation in XCSF 08

Self-adaptive mutation in XCSF

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10th Annual Genetic and Evolutionary Computation Conference, GECCO 2008

作者： Butz, Martin V. Stalph, Patrick Lanzi, Pier Luca Department of Psychology Röntgenring 11 97070 Würzburg Germany Dep. of Computer Science Am Hubland 97074 Würzburg Germany Artificial Intelligence and Robotics Laboratory Politecnico di Milano 1-20133 Milano Italy

ISBN: (纸本)9781605581309

Recent advances in XCS technology have shown that selfadaptive mutation can be highly useful to speed-up the evolutionary progress in XCS. Moreover, recent publications have shown that XCS can also be successfully applied to challenging real-valued domains including datamining, function approximation, and clustering. In this paper, we combine these two advances and investigate self-adaptive mutation in the XCS system for function approximation with hyperellipsoidal condition structures, referred to as XCSF in this paper. It has been shown that XCSF solves function approximation problems with an accuracy, noise robustness, and generalization capability comparable to other statistical machine learning techniques and that XCSF outperforms simple clustering techniques to which linear approximations are added. This paper shows that the right type of selfadaptive mutation can further improve XCSF's performance solving problems more parameter independent and more reliably. We analyze various types of self-adaptive mutation and show that XCSF with self-adaptive mutation ranges, differentiated for the separate classifier condition values, yields most robust performance results. Future work may further investigate the properties of the self-adaptive values and may integrate advanced self-adaptation techniques. Copyright 2008 ACM.

关键词： Learning systems

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Mobile robot localization using panoramic vision and combinations of feature region detectors

Mobile robot localization using panoramic vision and combina...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Arnau Ramisa Adriana Tapus Ramon Lopez de Mantaras Ricardo Toledo Artificial Intelligence Research Institute Spain Robotics Research Lab Interaction Lab Department of Computer Science University of Southern California Los Angeles USA UAB Campus Computer Vision Center Spain

This paper presents a vision-based approach for mobile robot localization. The environmental model is topological. The new approach uses a constellation of different types of affine covariant regions to characterize a place. This type of representation permits a reliable and distinctive environment modeling. The performance of the proposed approach is evaluated using a database of panoramic images from different rooms. Additionally, we compare different combinations of complementary feature region detectors to find the one that achieves the best results. Our experimental results show promising results for this new localization method. Additionally, similarly to what happens with single detectors, different combinations exhibit different strengths and weaknesses depending on the situation, suggesting that a context-aware method to combine the different detectors would improve the localization results.

关键词： Mobile robots computer vision Detectors Robot kinematics Robot localization Feature extraction Fingerprint recognition robotics and automation USA Councils Image databases

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Al's 10 to watch

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IEEE Intelligent Systems 2008年第3期23卷 9-19页

作者： Hendler, James Cimiano, Philipp Dolgov, Dmitri Levin, Anat Mika, Peter Milch, Brian Morency, Louis-Philippe Motik, Boris Neville, Jennifer Sudderth, Erik B. Von, Ahn, Luis University of Karlsruhe Toyota Research Institute Toyota Research Institute's AI and Robotics Group Stanford University's AI Lab. MIT Computer Science and Artificial Intelligence Laboratory Yahoo Research Yahoo Research Barcelona Spain USC Institute for Creative Technologies Oxford University Computing Laboratory Purdue University Purdue University Departments of Computer Science and Statistics Darpa Computer Science Study Panel University of California Berkeley United States University of California Berkeley United States Carnegie Mellon University Carnegie Mellon University's Computer Science Department

No abstract available

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First steps toward natural human-like HRI

First steps toward natural human-like HRI

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作者： Scheutz, Matthias Schermerhorn, Paul Kramer, James Anderson, David Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

Natural human-like human-robot interaction (NHL-HRI) requires the robot to be skilled both at recognizing and producing many subtle human behaviors, often taken for granted by humans. We suggest a rough division of these requirements for NHL-HRI into three classes of properties: (1) social behaviors, (2) goal-oriented cognition, and (3) robust intelligence, and present the novel DIARC architecture for complex affective robots for human-robot interaction, which aims to meet some of those requirements. We briefly describe the functional properties of DIARC and its implementation in our ADE system. Then we report results from human subject evaluations in the laboratory as well as our experiences with the robot running ADE at the 2005 AAAI Robot Competition in the Open Interaction Event and Robot Exhibition. © Springer science+Business Media, LLC 2007.

关键词： Human computer interaction

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DIARC: A testbed for natural human-robot interaction

DIARC: A testbed for natural human-robot interaction

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2006 AAAI Workshop

作者： Schermerhorn, P. Kramer, J. Brick, T. Anderson, D. Dingler, A. Scheutz, M. Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)9781577353201

DIARC, a distributed integrated affect, reflection, cognition architecture for robots, provides many features that are critical to successful natural human-robot interaction. As such, DIARC is an ideal platform for experimentation in HRI. In this paper we describe the architecture and and its implementation in ADE, paying particular attention to its interaction capabilities and features that allow robust operation. These features are evaluated in the context of the 2006 AAAI Robot Competition. Copyright © 2006, American Association for artificial intelligence (***). All rights reserved.

关键词： Human computer interaction

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Reflection and Reasoning Mechanisms for Failure Detection and Recovery in a Distributed Robotic Architecture for Complex Robots

Reflection and Reasoning Mechanisms for Failure Detection an...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Matthias Scheutz James Kramer Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN USA

Complex robots that interact naturally with humans require the integration, coordination and maintenance of many diverse software components and algorithms. An architecture that incorporates explicit knowledge about the relationships among these components and the overall system state can be used for introspection and consequently to reason about the best configurations of the computing environment under changing conditions; potential uses include maintaining the system's integrity, promoting its health, and providing the ability to dynamically reconfigure system components (e.g., after component failure). In this paper, we describe a rudimentary reasoning system, part of our distributed integrated affect reflection cognition (DIARC) architecture for human-robot interaction, that can autonomously perform failure detection, failure recovery, and system reconfiguration of distributed architectural components to ensure sustained operation and interactions. We demonstrate the functionality and utility of the proposed mechanisms on a robot, where architectural components are forcefully removed by hand and automatically recovered by the system while the robot is continuing its interactions with humans as part of a joint human-robot task.

关键词： Reflection Robot kinematics computer architecture robotics and automation Human robot interaction Intelligent robots Hardware Communication system control Software maintenance Software algorithms

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Social coordination without communication in multi-agent territory exploration tasks 06

Social coordination without communication in multi-agent ter...

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Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Schermerhorn, Paul Scheutz, Matthias Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556

ISBN: (纸本)1595933034

In the recent past, several different methods for coordinating behavior in multi-robot teams have been proposed. Common to most of them is the use of communication to coordinate behavior. For many practical applications, however, communication might not be an option (e.g., because of energy constraints of embedded platforms, limited communication range of wireless transmitters, security risks of potential interception of messages in hostile territory, etc.). In this paper we examine low-complexity, low-cost strategies without communication for coordinated agent behavior. Specifically, we investigate the utility of a "social preference mechanism" and a "pairing mechanism" in territory exploration tasks, where agents have to explore their environment to find and visit k checkpoints, which only count as "visited" when n agents are present at them at the same time. Experimental results indicate that pairing is the better strategy, raising interesting questions about tradeoffs between agent complexity and group size (e.g., whether fewer, more expensive agents with the ability to visit checkpoints individually are a better choice than more less expensive agents). Copyright 2006 ACM.

关键词： Multi agent systems

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DIARC: A testbed for natural human-robot interaction

DIARC: A testbed for natural human-robot interaction

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21st National Conference on artificial intelligence and the 18th Innovative Applications of artificial intelligence Conference, AAAI-06/IAAI-06

作者： Schermerhorn, Paul Kramer, James Middendorff, Christopher Scheutz, Matthias Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

No abstract available

ISBN: (纸本)1577352815

No abstract available

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