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Conceptual imitation learning in a human-robot interaction paradigm

Conceptual imitation learning in a human-robot interaction p...

引用

作者： Hajimirsadeghi, Hossein Ahmadabadi, Majid Nili Araabi, Babak Nadjar Moradi, Hadi Cognitive Robotics Lab Control and Intelligent Processing Center of Excellence University of Tehran Iran

In general, imitation is imprecisely used to address different levels of social learning from high-level knowledge transfer to low-level regeneration of motor commands. However, true imitation is based on abstraction and conceptualization. This article presents a model for conceptual imitation through interaction with the teacher to abstract spatio-temporal demonstrations based on their functional meaning. Abstraction, concept acquisition, and self-organization of proto-symbols are performed through an incremental and gradual learning algorithm. In this algorithm, Hidden Markov Models (HMMs) are used to abstract perceptually similar demonstrations. However, abstract (relational) concepts emerge as a collection of HMMs irregularly scattered in the perceptual space but showing the same functionality. Performance of the proposed algorithm is evaluated in two experimental scenarios. The first one is a human-robot interaction task of imitating signs produced by hand movements. The second one is a simulated interactive task of imitating whole body motion patterns of a humanoid model. Experimental results show efficiency of our model for concept extraction, proto-symbol emergence, motion pattern recognition, prediction, and generation. © 2012 ACM.

关键词： Hidden Markov models

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Kinematics modeling of a wheel-based Pole Climbing Robot (UT-PCR)

Kinematics modeling of a wheel-based Pole Climbing Robot (UT...

引用

2005 IEEE International Conference on Robotics and Automation

作者： Baghani, Ali Nili Ahmadabadi, Majid Harati, Ahad Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)078038914X

This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole. ©2005 IEEE.

关键词： Mobile robots

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R-R interval simulation based on power spectrum curve fitting

R-R interval simulation based on power spectrum curve fittin...

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2013 20th Iranian Conference on Biomedical Engineering, ICBME 2013

作者： Aram, Zainab Setarehdan, Seyed Kamaledin Control and Intelligent Processing Center of Excellence College of Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781479932320

Analysis of heart rate variability (HRV) is one of the most important noninvasive methods of measuring autonomic nervous system (ANS) activities. Hence, simulation of a realistic sequence of HRV signal can have a significant impact on diagnosis of different diseases related to ANS. In this paper, the focus is on generating realistic R-R interval signals using frequency domain analysis. An algorithm was developed using power spectrum curve fitting. The proposed method was compared to two previously reported algorithms. Twenty different sequences of data were generated with each of the three techniques. The performances of the three methods were then evaluated by exerting a frequency domain classification method to the generated data of each technique and the results were compared to each other. © 2013 IEEE.

关键词： Curve fitting

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Effect of flexible spine on stability of a passive quadruped robot: Experimental results

Effect of flexible spine on stability of a passive quadruped...

引用

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Kani, Mohammad Hasan H. Derafshian, Mostafa Bidgoly, Hamed Jalaly Ahmadabadi, Majid Nili Cognitive Robotics Lab. Control and Intelligent Processing Center of Excellence University of Tehran Iran

ISBN: (纸本)9781457721373

In rapid quadruped animals, the flexibility of spine is obviously observable while running. In this paper, we introduce a 3D passive dynamic quadruped robot, Fanari, that is capable to gallop down a slope without any external energy. We study the effect of spine flexibility on improvement of stability, adaptability and achievement of rapid leg locomotion. So a flexible spine that is capable to bend both outward and downward, a flexible spine that is only capable to bend outward and a rigid spine are designed and tested on the robot. Based on the case studies, we discuss about the challenges and the roles of spine stiffness on the gallop action. A simulation model is also made in order to corroborate the experimental results of the robot. It is concluded that the robot with the spine that is flexible in both outward and downward directions, has the most stability, adaptability and fastest velocity in its gallop action. © 2011 IEEE.

关键词： Multipurpose robots

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Improvement of low frequency oscillation damping in power systems via an adaptive critic based neurofuzzy controller 8th

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8th International Conference on Knowledge-Based intelligent Information and Engineering Systems, KES 2004

作者： Rashidi, Farzan Moshiri, Behzad Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9783540232056

This paper proposes an Adaptive Critic Based Neuro-Fuzzy controller (ACBNFC) to Thyristor controlled Series Capacitor (TCSC), which might have a significant impact on power system dynamics. The function of the ACBNFC is to control a firing angle of the TCSC. The proposed method is used for damping the low frequency oscillations caused by disturbances such as a sudden change of small or large loads or an outage in the generators or transmission lines. To evaluate the usefulness of the proposed method, the computer simulation for single machine infinite system is performed and compared with fuzzy PD controller. Obtained results show the proposed control strategy is very robust, flexible and could be used to get the desired performance levels. The response time is also very fast. Simulation results that have been compared with fuzzy PD controller show that our method has the better control performance than fuzzy PD controller. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Damping

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A new modified fuzzy TOPSIS for group decision making using fuzzy majority opinion based aggregation

A new modified fuzzy TOPSIS for group decision making using ...

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作者： Aghaie, Hamid Shafieezadeh, Soroosh Moshiri, Behzad School of ECE Control and Intelligent Processing Center of Excellence University of Tehran Iran

ISBN: (纸本)9789644634284

This paper presents a modified fuzzy TOPSIS method with a new distance measurement and a fuzzy majority opinion aggregator for a multi criteria decision making (MCDM) problem. The rating of each alternative and the weight of each criterion is described by linguistic terms which can be expressed in triangular fuzzy numbers. We introduce a new distance metric by using graded mean integration representation of triangular fuzzy numbers. The concept of majority opinion gives an overall opinion which synthesizes the opinions of the majority of the decision makers. Fuzzy majority opinion aggregator is used to make a consensual judgment synthesizing the individual opinions. To clarify our proposed method, a numerical example is discussed. Results show that our proposed algorithm is more advantageous in reflecting opinions of the majority of decision makers and also provides more confidence for their decisions. © 2011 AmirKabir Univ of Tech.

关键词： Linguistics

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A dynamic modeling of stock prices and optimal decision making using MVP theory

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作者： Rajabioun, Ramin Rahimi-Kian, Ashkan School of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran

ISBN: (纸本)9789048123100

In this paper, first a precise mathematical model is obtained for four competing or cooperating companies' stock prices and then the optimal buy/sell signals are ascertained for five different agents which are trading in a virtual market and are trying to maximize their wealth over 1 trading year period. The model is so that gives a good prediction of the next 30th day stock prices. The companies used in this modeling are all chosen from Boston Stock Market. Genetic Programming (GP) is used to produce the predictive mathematical model. The interaction among companies and the effect imposed by each of five agents on future stock prices are also considered in our modeling. Namely, we have chosen eight companies in order that there is some kind of interrelation among them. Comparison of the GP models with Artificial Neural Networks (ANN) and Neuro-Fuzzy Networks (trained by the LoLiMoT algorithm) shows the superior potential of GP in prediction. Using these models;five players, each with a specific strategy and all with one common goal (wealth maximization), start to trade in a virtual market. We have also relaxed the short-sales constraint in our work. Each of the agents has a different objective function and all are going to maximize themselves. We have used Particle Swarm Optimization (PSO) as an evolutionary optimization method for wealth maximization. © 2009 Springer Netherlands.

关键词： Genetic programming

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The role of instantaneous relations in the estimation of brain effective connectivity and a modified measure

The role of instantaneous relations in the estimation of bra...

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2011 18th Iranian Conference of Biomedical Engineering, ICBME 2011

作者： Khadem, Ali Hossein-Zadeh, Gholam-Ali Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467310055

As a developing field of investigation, exploring the causal relations (effective connectivity) among brain regions, helps the neurologists to understand the brain function. Most of effective connectivity measures are model-based but in the recent years some nonparametric measures like Transfer Entropy (TE) have been proposed. TE is based on the conditional mutual information concept. However in the presence of strong instantaneous relations that are observed extensively among cortical activity of brain regions, TE may estimate the causal (delayed) relations inaccurately. In this paper we present a novel information-theoretic based measure called Instantaneous Interaction (II) to estimate the brain instantaneous relations. Then we present a novel measure called Modified Transfer Entropy (MTE) to estimate the causal (delayed) relations when II is significant. The performance of these new measures is evaluated on 3 simulated models and experimental EEG data. © 2011 IEEE.

关键词： Brain

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Drowsiness detection based on brightness and numeral features of eye image

Drowsiness detection based on brightness and numeral feature...

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IIH-MSP 2009 - 2009 5th International Conference on intelligent Information Hiding and Multimedia Signal processing

作者： Tabrizi, Pooneh R. Zoroofi, Reza A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9780769537627

Drowsiness detection is vital in preventing traffic accidents. Eye state analysis - detecting whether the eye is open or closed - is critical step for drowsiness detection. In this paper, we propose a new algorithm for eye state analysis, which we incorporate into a four step system for drowsiness detection: face detection, eye detection, eye state analysis, and drowsy decision. This new system requires no training data at any step or special cameras. Our novel eye state analysis algorithm detects open, semi-open, and closed eye during two steps which is based on brightness and numeral features of the eye image. We analyze our eye state analysis algorithm using ten video sequences and show superior results compared to the common technique based on distance between eyelids. © 2009 IEEE.

关键词： Luminance

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Impulse noise removal based on long-range correlation in an image

Impulse noise removal based on long-range correlation in an ...

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2003 10th IEEE International Conference on Electronics, Circuits and Systems, ICECS2003

作者： Harandi, Mehrtash T. Araabi, Babak N. Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)0780381637

Images are often contaminated by impulse noise. The major drawback of median filtering and its variants -that are widely used for removing impulsive noise- is the blurring effect for large window sizes and low noise suppression for small window sizes. In this paper, an algorithm for removing impulse noise in images is proposed. The long-range correlation information in a competitive scheme is utilized to find the gray level of degraded pixels. The experimental results show that the performance of our method in removing impulse noise is better than that of most other state-of-the-art methods. © 2003 IEEE.

关键词： Impulse noise

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