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Ontologies as backbone of cognitive systems engineering

Ontologies as backbone of cognitive systems engineering

2017 Annual Convention of the Society for the Study of Artificial Intelligence and the Simulation of Behaviour, AISB 2017

作者： Sanz, Ricardo Bermejo, Julita Morago, Juan Hernandez, Carlos Universidad Politecnica de Madrid Autonomous Systems Laboratory Spain TU Delft Robotics Institute Delft University of Technology Netherlands

Cognitive systems are starting to be deployed as appliances across the technological landscape of modern societies. The increasing availability of high performance computing platforms has opened an opportunity for statistics-based cognitive systems that perform quite as humans in certain tasks that resisted the symbolic methods of classic artificial intelligence. Cognitive artefacts appear every day in the media, raising a wave of mild fear concerning artificial intelligence and its impact on society. These systems, performance notwithstanding, are quite brittle and their reduced dependability limips their potential for massive deployment in mission-critical applications -e.g. in autonomous driving or medical diagnosis. In this paper we explore the actual possibility of building cognitive systems using engineering-grade methods that can assure the satisfaction of strict requirements for their operation. The final conclusion will be that, besides the potential improvement provided by a rigorous engineering process, we are still in need of a solid theory -possibly the main outcome of cognitive science- that could sustain such endeavour. In this sense, we propose the use of formal ontologies as backbones of cognitive systems engineering processes and workflows.

关键词： Life cycle

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Physiological Parameters Variation Based on the Sensory Stimuli used by a Robot in a News Reading Task

Physiological Parameters Variation Based on the Sensory Stim...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Roxana Agrigoroaie Adriana Tapus context of the EU H2020 ENRICHME projet Grant Agreement No:643691 Autonomous Systems and Robotics Laboratory U2IS ENSTA-ParisTech Université Paris-Saclay Palaiseau France

ISBN: (纸本)9781538679814

Enabling robots to determine how physiological parameters vary in relation to the profile of an individual can lead to a better adaptation of the behavior of the robot to the needs of the individual it interacts with. This paper investigates how physiological parameters (i.e., blinking, galvanic skin response (GSR), facial temperature variation) vary in a news reading task, based on various types of stimuli (i.e., auditory and visual) that TIAGo robot uses to present the news. The results from a within participant study with 11 participants are reported. We also consider the impact of personality and the user sensory profile (based on Adult and Adolescent Sensory Profile (AASP)) for the physiological parameters variation. Our results show that blinking is the main physiological parameter that varies in the non-stressing task of news reading.

关键词： better adaptation behavior robot Robot news sensory stimulation parameter variation Blinking reading Galvanic Skin Response Sensory profile

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Corrections to “Iris Center Localization Using Energy Map With Image Inpaint Technology and Post-Processing Correction”

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IEEE Access 2020年 8卷 76595-76595页

作者： Lihong Dai Jinguo Liu Zhaojie Ju Yang Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan China School of Computing University of Portsmouth Portsmouth U.K. Space Technology for Autonomous and Robotic Systems Laboratory (STAR LAB) Surrey Space Centre University of Surrey Guildford U.K.

In the above article [1] , the affiliations of authors Lihong Dai and Yang Gao need to be corrected. Moreover, the biography of Yang Gao needs to be corrected. The specific corrections are as follows.

关键词： Robots Biographies Aerospace electronics Automation Manufacturing Research and development Object recognition

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Saturated Continuous Twisting Algorithm 15

Saturated Continuous Twisting Algorithm

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15th International Workshop on Variable Structure systems, VSS 2018

作者： Golkani, M.A. Fridman, L.M. Koch, S. Reichhartinger, M. Horn, M. Faculty of Electrical and Information Engineering Graz University of Technology Institute of Automation and Control Graz Austria Department of Control Engineering and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico Mexico D.F. Mexico Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9781538664391

In this paper, a second-order system affected by perturbations is considered. A feedback control law adopting the continuous twisting algorithm is designed such that a saturated and continuous control signal is introduced to the system. In the case that a state variable is not measurable, estimate information obtained through a super-twisting observer is incorporated into the design. For the closed-loops (with and without observer), global finite-time stability properties are established. The feasibility and effectiveness of the strategy is shown employing numerical simulations. © 2018 IEEE.

关键词： Stability

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Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

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arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Haptic fMRI: A novel five DOF haptic interface for multi-axis motor neuroscience experiments 7

Haptic fMRI: A novel five DOF haptic interface for multi-axi...

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7th IEEE World Haptics Conference, WHC 2017

作者： Menon, Samir Soviche, Amaury Mithrakumar, Jananan Subbarao, Alok Ganti, Hari Khatib, Oussama Stanford Robotics Laboratory Department of Computer Science Stanford University StanfordCA94305 United States Robotics and Autonomous Systems Department Ecole Polytechnique Federale de Lausanne Route Cantonale Lausanne1015 Switzerland

ISBN: (纸本)9781509014255

We present a novel electromagnetically actuated Haptic fMRI Interface with five degrees-of-freedom (DOF), HFI-5. The interface uses two three DOF devices connected with a gimbal in a closed kinematic chain to achieve three-axis translation and two-axis rotation. To highlight the device's design, we develop a taxonomy of similar devices and demonstrate why HFI-5's design excels. We use a cross-correlation based novel analysis method to demonstrate that HFI-5 is transparent by showing that it does not affect unconstrained subject motions. This is due to its low friction ( © 2017 IEEE.

关键词： Haptic interfaces

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Implementation of a Hydrodynamic Model-Based Navigation System for a Low-Cost AUV Fleet

Implementation of a Hydrodynamic Model-Based Navigation Syst...

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Symposium on autonomous Underwater Vehicle Technology (AUV)

作者： Supun A. T. Randeni P. Nicholas R. Rypkema Erin M. Fischell Alexander L. Forrest Michael R. Benjamin Henrik Schmidt Laboratory for Autonomous Marine Sensing Systems Massachusetts Institute of Technology Cambridge MA USA Marine Unmanned Robotics and Acoustics Lab Woods Hole Oceanographic Institution Woods Hole MA USA University of California - Davis Davis CA USA

This work implements a hydrodynamic model-based localization and navigation system for low-cost autonomous underwater vehicles (AUVs) that are limited to a micro-electro mechanical system (MEMS) inertial measurement unit (IMU). The hydrodynamic model of this work is uniquely developed to directly determine the linear velocities of the vehicle using the measured vehicle angular rates and propeller speed as inputs. The proposed system was tested in the field using a fleet of low-cost Bluefin SandShark AUVs. Implementation of the model-based localization system and fusing of the solution into the vehicle navigation loop was conducted using backseat computers of the AUV fleet that run mission orientated operating suite -interval programming (MOOS-IvP). With the model-based navigation system, the maximum localization error (i.e., in comparison to a long baseline (LBL) based ground-truth position) was limited to 15 m and 30 m for two 650-second and 1070-second long missions. Extrapolation of the position drift shows that the model-based localization system is able to limit the position uncertainty to less than 100 m by the end of hour-long mission; whereas, the drift in the default IMU-based localization solution was over 1 km per hour. This is a considerable improvement by only using a MEMS IMU that generally costs less than $100. Furthermore, this work is a step towards generalizing and automating the process of hydrodynamic modeling, model parameter estimation and data fusion (i.e., fusing the localization solution with those from other available aiding sensors and feeding to the navigation loop) so that a model-based localization system can be implemented in any AUV that has backseat computing capability.

关键词： Navigation Hydrodynamics Computational modeling Computers Mathematical model Sensors Acoustics

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Why and how to avoid the flipped quaternion multiplication

arXiv

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arXiv 2018年

作者： Sommer, Hannes Gilitschenski, Igor Bloesch, Michael Weiss, Stephan Siegwart, Roland Nieto, Juan Autonomous Systems Lab ETH Zurich Computer Science and Artificial Intelligence Laboratory MIT CambridgeMA United States Dyson Robotics Lab Imperial College London United Kingdom Institute of Smart System Technologies Alpen-Adria-Universitat Klagenfurt Austria

Over the last decades quaternions have become a crucial and very successful tool for attitude representation in robotics and aerospace. However, there is a major problem that is continuously causing trouble in practice when it comes to exchanging formulas or implementations: there are two quaternion multiplications in common use, Hamilton's multiplication and its flipped version, which is often associated with NASA's Jet Propulsion laboratory. We believe that this particular issue is completely avoidable and only exists today due to a lack of understanding. This paper explains the underlying problem for the popular passive world to body usage of rotation quaternions, and derives an alternative solution compatible with Hamilton's multiplication. Furthermore, it argues for entirely discontinuing the flipped multiplication. Additionally, it provides recipes for efficiently detecting relevant conventions and migrating formulas or algorithms between them. Copyright © 2018, The Authors. All rights reserved.

关键词： NASA

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Analysis of main tasks of precision farming solved with the use of robotic means 12

Analysis of main tasks of precision farming solved with the ...

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12th International Scientific-Technical Conference on Electromechanics and robotics "Zavalishin's Reading" - 2017, ER(ZR) 2017

作者： Nguyen, Vinh Vu, Quyen Solenaya, Oksana Ronzhin, Andrey SUAI Department of Electromechanics and Robotics Bolshaya Morskaya Str. 67 Saint-Petersburg190000 Russia SPIIRAS Laboratory of Autonomous Robotic Systems 14-th line of V.I. 39 Saint-Petersburg199178 Russia

The main classes of problems of exact farming, solved with the involvement of robotics, are discussed. The use of precision navigation systems for robotic agricultural machines allows us to determine the actual soil parameters, calculate the cartograms for fertilizer application, taking into account the spatial variability of the agricultural contour. A promising method is the use of unmanned aerial vehicles for surveying and selecting intra field agricultural contours from a small height. To reduce the variability of soil characteristics in the fields, various robotic means of processing and preparation are used, including for leveling the soil. Given the regularity of planting crops on the fields, automatic systems of parallel driving of agricultural machinery are gaining popularity. Based on the analysis of modern robotic agro systems, promising areas for further research are formulated. © 2017 The Authors.

关键词： Navigation systems

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