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检索条件"机构=Center of Applied Autonomous Sensor Systems"

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An ecological approach to odour recognition in intelligent environments

An ecological approach to odour recognition in intelligent e...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Broxvall S. Coradeschi A. Loutfi A. Saffiotti Center for Applied Autonomous Sensor Systems Örebro University Orebro Sweden

We present a new approach for odour detection and recognition based on a so-called PEIS-Ecology: a network of gas sensors and a mobile robot are integrated in an intelligent environment. The environment can provide information regarding the location of potential odour sources, which is then relayed to a mobile robot equipped with an electronic nose. The robot can then perform a more thorough analysis of the odour character. This is a novel approach which alleviates some the challenges in mobile olfaction techniques by single and embedded mobile robots. The environment also provides contextual information which can be used to constrain the learning of odours, which is shown to improve classification performance

关键词： Mobile robots Intelligent robots Intelligent sensors Robot sensing systems Intelligent networks Gas detectors Electronic noses sensor arrays sensor systems Relays

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Model-free execution monitoring by learning from simulation

Model-free execution monitoring by learning from simulation

引用

2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005

作者： Pettersson, Ola Karlsson, Lars Saffiotti, Alessandro Center for Applied Autonomous Sensor Systems Department of Technology Örebro University SE-70182 Örebro Sweden

autonomous robots need the ability to plan their actions and to execute them robustly and in a safe way in face of a changing and partially unpredictable environment This is especially important if we want to design autonomous robots that can safely co-habitate with humans. In order to manage this, these robots need the ability to detect when the execution does not proceed as planned, and to correctly identify the causes of the failure. An execution monitoring system is a system that allows the robot to detect and classify these failures. In this work we show that pattern recognition techniques can be applied to realize execution monitoring by classifying observed behavioral patterns into normal or faulty behaviors. The approach has been successfully tested on a real robot navigating in an office environment. Interesting, these tests show that we can train an execution monitor in simulation, and then use it in a real robot. © 2005 IEEE.

关键词： Monitoring

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Recovery planning for ambiguous cases in perceptual anchoring

Recovery planning for ambiguous cases in perceptual anchorin...

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20th National Conference on Artificial Intelligence and the 17th Innovative Applications of Artificial Intelligence Conference, AAAI-05/IAAI-05

作者： Broxvall, Mathias Coradeschi, Silvia Karlsson, Lars Saffiotti, Alessandro Center for Applied Autonomous Sensor Systems Dept. of Technology Örebro University SE-701 82 Örebro Sweden

An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol. In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations and present planning-based methods to recover from them. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose. Copyright © 2005, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Planning

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Improving Odour Analysis Through Human-Robot Cooperation

Improving Odour Analysis Through Human-Robot Cooperation

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Loutfi S. Coradeschi Center for Applied Autonomous Sensor Systems University of Örebro Örebro Sweden www.aass.oru.se Center for Applied Autonomous Sensor Systems University of Orebro Orebro Sweden

More and more work in the field of artificial olfaction considers the integration of olfaction onto robotic systems. An important part of this integration is providing the robot with the ability to discriminate between different odour substances. This work presents the integration of an electronic nose onto a complete robotic system with multi-sensing modalities. The ambition of this work is to illustrate how classification performance of odours can be improved through the exploitation of the mobility of a robot, as well as through the cooperation between a human user and an electronic perceptual system. These points are highlighted in the context of a online robotic system designed to perform different tasks which require the ability to discriminate between odour characters. The robotic system and experimental results are presented where these tasks are tested and evaluated.

关键词： Robot sensing systems Electronic noses sensor arrays Mobile robots Humans Gas detectors sensor systems Navigation Orbital robotics System testing

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引用

IEEE International Symposium on Intelligent Control (ISIC)

作者： G. Tolt I. Kalaykov Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

In this paper, we present a number of algorithms for performing some basic image processing tasks. The common denominator is the fuzzy similarity framework, that is used for representing vagueness and uncertainty associated with the similarity concept. The algorithms are designed so as to be implementable on FPGAs, making extensive use of the FPGA's parallel processing capabilities. Due to the limited space, we give pointers to previously published work for more details about the algorithms

关键词： Image processing Field programmable gate arrays Hardware Fuzzy logic Uncertainty Algorithm design and analysis Parallel processing Robot control Robot motion Humans

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Multi-hierarchical semantic maps for mobile robotics

Multi-hierarchical semantic maps for mobile robotics

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： C. Galindo A. Saffiotti S. Coradeschi P. Buschka J.A. Fernandez-Madrigal J. Gonzalez Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden System Engineering and Automation Department University of Malaga Malaga Spain

The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.

关键词： Mobile robots Robot sensing systems Humans Navigation Robotics and automation sensor systems Orbital robotics Knowledge representation systems engineering and theory Home automation

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Social agent: expressions driven by an electronic nose

Social agent: expressions driven by an electronic nose

引用

IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement systems (VECIMS)

作者： A. Loutfi J. Widmark E. Wikstrom P. Wide Center for Applied Autonomous Sensor Systems Örebro University Orebro Sweden

A perceptual system encompasses an important perspective of the interface between a human and an interacting system. In this context, an approach is presented to establish a natural and effective interaction between an operator and a measurement system. The system output acts as a social agent, based on sensory data and presents impressions as facial expressions as well as conclusions in the form of natural language based identification. The proposed method has been evaluated in an experimental perceptual odor system set up using an artificial olfactory system.

关键词： Electronic noses Facial animation Muscles Humans Robots Biological system modeling Laboratories Skin sensor systems Face detection

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A hierarchical behavior-based approach to manipulation tasks

A hierarchical behavior-based approach to manipulation tasks

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Z. Wasik A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.

关键词： Mobile robots Fuzzy logic Robot kinematics Control systems Predictive models sensor systems Process design Visual servoing Force control Automata

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Determining edgeness using homogeneity of templates

Determining edgeness using homogeneity of templates

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： G. Tolt Center for Applied Autonomous Sensor Systems Department of Technology Orebro University Orebro Sweden

A fuzzy IF-THEN rule-based method for determining the edgeness of pixels in grayscale images is presented. It is based on the evaluation of template homogeneities and the estimation of the gradient in a local neighborhood. By taking the spatial distribution of the pixels into account, the influence of the image noise is reduced, as shown in a couple of experiments. The complexity of the operations involved is kept simple and the regularity is high, in order to facilitate a hardware implementation of the algorithm.

关键词： Image edge detection Pixel Gray-scale Fuzzy systems Noise reduction Hardware Biomedical imaging sensor systems Object detection Object recognition

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Intelligent feature estimation, based on human's perceptual features

Intelligent feature estimation, based on human's perceptual ...

引用

IEEE International Workshop on Soft Computing Techniques in Instrumentation, Measurement and Related Applications (SCIMA)

作者： I. Kalaykov P. Wide Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

The paper presents a relatively new human-computer interaction paradigm, where a human operator's perceptual actions are mimicked by the computer. In this sensor controlled system concept, we estimate a specific feature characterizing, for example, product quality, and apply intelligent analysis and an optimization to assess product quality as acquired by a human expert. The human operator contributes his/her intelligence to this man-machine interaction through learning the measurement system. An illustrative example shows how the human operator's knowledge and experience are learned by a sensor based system within a complex dough mixing optimization process in an industrial bread baking plant. The resulting sensor system acts as an intelligent feature estimator in a complex industrial process for monitoring the dynamical behavior there. The system allows easy sensor observation and makes decisions based on learning interaction with a human.

关键词： Humans Intelligent sensors sensor systems Instruments Rheology sensor phenomena and characterization Quality assessment Paper technology World Wide Web Control systems

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