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International Conference on Neural Information processing

作者： S.M. Eshgh M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： intelligent robots intelligent agent Process control control systems intelligent control Laboratories intelligent systems Physics Mathematics Entropy

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (aiM) International Conference on Advanced intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation intelligent agent Algorithm design and analysis Grasping Redundancy

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Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot

Benefits of an active spine supported bounding locomotion wi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Khoramshahi A. Spröwitz A. Tuleu M. N. Ahmadabadi A. J. Ijspeert Ecole Polytechnique Federale de Lausanne Lausanne VD CH Biorobotics Laboratory Institute of Bioengineering EPFL Switzerland AI Laboratory Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.

关键词： Hafnium compounds Hip

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence intelligent robots Fires Tracking Process control Communication system control control systems intelligent control Optical computing intelligent systems

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Distributed form closure for convex planar objects through reinforcement learning with local information

Distributed form closure for convex planar objects through r...

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2004 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： A.H. Elahibakhsh M.N. Ahmadabadi F.J. Sharifi B.N. Araabi School of Cognitive Sciences Institute for Studies on Theoretical Physics and Mathematics Tehran Iran Dept. of Electrical and Computer Eng. AI & Robotics Lab. Center of Excellence for Control and Intelligent Processing University of Tehran Tehran Iran

Many real world applications would involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is assumed, and the robots are not allowed to fully communicate among themselves. A distributed multi-agent based approach using Q-learning is proposed. The state space, action set and learning algorithm are formulated. The results are verified through simulations using a developed Q-learning test bed.

关键词： Learning Orbital robotics intelligent robots Shape control Robot sensing systems Testing Artificial intelligence Cognitive robotics robotics and automation Automatic control

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Design and modeling of a compact rotational nonlinear spring

Design and modeling of a compact rotational nonlinear spring

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Hamed Jalaly Bidgoly Majid Nili Ahmadabadi Mohammad Reza Zakerzadeh Cognitive Robotics Laboratory The Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Iran Dynamic and Vibration Laboratory School of Mechanical Engineering College of Engineering University of Tehran Iran

ISBN: (纸本)9781509037636

In this paper, we propose a new method for implementing a rotational nonlinear spring with user defined profile, based on the combination of a linear spring with a nonlinear transmission mechanism. The proposed structure consists of a non-circular cam, a roller which moves along outer circumference of the cam, and a stretched translational linear spring which is connected between center of the cam and center of the roller. We obtain a set of differential equations to design shape of the cam for any given torque-angle profile. Also, it will be shown that profiles with both positive and negative values can be implemented by the proposed method. At last, the cam of some popular nonlinear springs are designed, including constant, cubic, hyperbolic tangent and sinusoidal springs.

关键词： Computer aided manufacturing Camelopardalis Hookean spring springs Device Spring TRANSFER MECHANISM Modeling nonlinearity Rotational SCROLL Differential equations Spring season

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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Pseudo-LiDAR for Visual Odometry

arXiv

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arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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Using general sound descriptors for early autism detection

Using general sound descriptors for early autism detection

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Asian control Conference

作者： Seyyed Hamid R. Ebrahimi Motlagh Hadi Moradi Hamidreza Pouretemad Advanced Robotics and Intelligent Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran ARIS and CIPCE School of ECE College of Engineering University of Tehran Iran Shahid Beheshti University Tehran Tehran IR

ISBN: (纸本)9781467357661

Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.

关键词： Autism Feature extraction Mel frequency cepstral coefficient Educational institutions Harmonic analysis Accuracy Motion pictures

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Self-supervised Multi-frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement

Self-supervised Multi-frame Monocular Depth Estimation with ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wenhua Wu Guangming Wang Jiquan Zhong Hesheng Wang Zhe Liu MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Insititute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Depth estimation is one of the most important tasks in scene understanding. In the existing joint self-supervised learning approaches of depth-pose estimation, depth estimation and pose estimation networks are independent of each other. They only use the adjacent image frames for pose estimation and lack the use of the estimated geometric information. To enhance the depth-pose association, we propose a monocular multi-frame unsupervised depth estimation framework, named PLPE-Depth. There are a depth estimation network and two pose estimation networks with image input and pseudo-LiDAR input. The main idea of our approach is to use the pseudo-LiDAR reconstructed from the depth map to estimate the pose of adjacent frames. We propose depth re-estimation with a better pose between the image pose and the pseudo-LiDAR pose to improve the accuracy of estimation. Besides, we improve the reconstruction loss and design a pseudo-LiDAR pose enhancement loss to facilitate the joint learning. Our approach enhances the use of the estimated depth information and strengthens the coupling between depth estimation and pose estimation. Experiments on the KITTI dataset show that our depth estimation achieves state-of-the-art performance at low resolution. Our source codes will be released on https://***/IRMVLabIPLPE-Depth.

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