Mining concept drifting data streams is a defining challenge for data mining research. Recent years have seen a large body of work on detecting changes and building prediction models from stream data, with a vague und...
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This paper proposes a new concept of the genetic robot which has its own robot genome, in which each chromosome consists of many genes that contribute to defining the robotpsilas personality. The large number of genes...
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This paper proposes a new concept of the genetic robot which has its own robot genome, in which each chromosome consists of many genes that contribute to defining the robotpsilas personality. The large number of genes also allows for a highly complex system, however it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the robotpsilas personality while manually initializing values for the individual genes. To overcome this difficulty, this paper proposes an evolutionary algorithm for a genetic robotpsilas personality (EAGRP). EAGRP evolves a gene pool that customizes the robotpsilas genome so that it closely matches a simplified set of features desired by the user. It does this using several new techniques. It acts on a 2 dimensional individual upon which a new masking method, the Eliza-Meme scheme, is used to derive a plausible individual given the restricted preference settings desired by the user. The proposed crossover method allows reproduction for the 2-dimensional genome. Finally, the evaluation procedure for individuals is carried out in a virtual environment using tailored perception scenarios.
This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distr...
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This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The Sobot is a critical question since it performs the dual purpose of overseeing intelligence as well as user interface. The Sobot is hence modelled as an artificial creature with autonomously driven behavior. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. This paper proposes evolving the personality of an artificial creature. A genome population is evolved such that it customized the genome satisfying a set of personality traits desired by the user. Evaluation procedure for each genome of the population is carried out in a virtual environment. Effectiveness of this scheme is demonstrated by using an artificial creature, Rity in the virtual 3D world created in a PC.
This paper proposes the evolutionary generation of an artificial creature's personality by using the concept of multi-objective optimization. The artificial creature has its own genome and in which each chromosome...
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This paper proposes the evolutionary generation of an artificial creature's personality by using the concept of multi-objective optimization. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. The large number of genes allows for a highly complex system, however it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the artificial creature's personality while manually assigning gene values for the individual genome. Moreover, there needs user's preference to obtain artificial creature's personality by using evolutionary generation. Preference is strongly depend on each user and most of them would have difficulty to define their preference as a fitness function. To solve this problem, this paper proposes multi-objective generating process of an artificial creature's personality. Genome set is evolved by applying strength Pareto evolutionary algorithm (SPEA). To facilitate the individuality of generated artificial creature, complement of (1-k) dominance and pruning method considering deviation are proposed. Obtained genomes are tested by using an artificial creature, Rity in the virtual 3D world created in a PC.
This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed o...
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This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.
作者：
M. FeemsterD.M. DawsonA. BehalW. DixonMatthew Feemster received the B.S degree in Electrical Engineering from Clemson University
Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962
in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology
Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no
In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects...
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In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.
Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas...
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Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task...
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Social bookmark tools are rapidly emerging on the Web. In such systems users are setting up lightweight conceptual structures called folksonomies. The reason for their immediate success is the fact that no specific sk...
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ISBN:
(纸本)9783885791881
Social bookmark tools are rapidly emerging on the Web. In such systems users are setting up lightweight conceptual structures called folksonomies. The reason for their immediate success is the fact that no specific skills are needed for participating. In this paper we specify a formal model for folksonomies, briefly describe our own system BibSonomy, which allows for sharing both bookmarks and publication references, and discuss first steps towards emergent semantics.
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