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2007 AAAI Workshop

作者： Abdullah, Nik Nailah Binti Tschetter, Eric Honiden, Shinichi Honiden Laboratory Intelligent Research Systems Division National Institute of Informatics 2-1-2 Hitotsubashi Chiyoda-Ku Tokyo 101-8430 Japan Department of Computer Science Faculty of Science University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan

ISBN: (纸本)9781577353362

Current trends in scientific collaboration focus on developing effective Web-based communication tools, such as instant messaging (i.,e IM) or video-conferencing. One objective is to provide informal communication opportunities for collaborating scientists. This paper focuses on developing an assistive technology for predicting where breakdown situations have likely occurred in chat communications. The immediate goal of the assistive technology is to help users cope with discrepancies between their expectations and the tools they are using during scientific collaboration. The ideas in this paper also have far reaching implications, introducing a method that can be used by any human-interactive application to help the application understand when the user does not know what to do. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Video conferencing

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Towards Content Oriented Integration of Product and Robot System Models

Towards Content Oriented Integration of Product and Robot Sy...

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International Symposium on Logistics and Industrial Informatics, LINDI

作者： Laszlo Horvath Imre J. Rudas Karel Jezernik John von Neumann Faculty of Informatics Budapest Technology Institute of Intelligent Engineering Systems Budapest Hungary Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

An approach and method to integrate virtual engineering and robot systems is introduced. The main idea is extended application of the principle of shape aspect that is well-proven in part modeling. Shape intensive robot system is engineered by using of shape modeling. Shapes are connected by special aspects in a shape aspect oriented model system. The main purpose of the proposed approach and method is better communication between product modeling and robot related engineering. Associativity definitions integrate part level functions into product level functions while behaviors and adaptivities are also handled as aspects. Paper starts with introduction and comparison of classical industrial product modeling and the proposed integrated product and robot system modeling. Following this, extended application of shape aspects and definition of connective aspects are detailed. Finally, implementation in open architecture industrial modeling systems is explained and future work is outlined.

关键词： Service robots systems engineering and theory robotics and automation intelligent robots Solid modeling Informatics Shape control computer aided manufacturing Logistics Electrical products industry

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Applying Dynamic Software Architecture Management to Home Service Robot Software

Applying Dynamic Software Architecture Management to Home Se...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dongsun Kim Sooyong Park Mun-Taek Choi Munsang Kim Department of Computer Science Sogang University Seoul South Korea Center for Intelligent Robotics Frontier 21 Program at Korea Institute of Science and Technology Seoul South Korea

Home service robots increasingly need to provide diverse and complex services such as cooking, sweeping and dishwashing. These services inevitably require a number of software functions simultaneously. For example, the cooking service requires an arm manipulation function to grasp dishes, an navigation function to move around, an object recognition function to find foods, an speech recognition function to understand user requirements, and etc. However, when the services and software functions are executed simultaneously in a robot without run-time software management, those may cause malfunction due to resource contention. In this paper, we describe the situation that causes resource contention and formulate architecture-based adaptation in robot software systems. Based on the formulation we proposed an approach to dynamic robot software management that effectively uses robot computing resources.

关键词： Software architecture Service robots Robotic assembly Software systems intelligent robots Costs Robot sensing systems Human robot interaction Vehicle dynamics Navigation

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Dual-coding representations for robot vision programming in Tekkotsu

Dual-coding representations for robot vision programming in ...

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作者： Touretzky, David S. Halelamien, Neil S. Tira-Thompson, Ethan J. Wales, Jordan J. Usui, Kei Computer Science Department Carnegie Mellon University Pittsburgh PA 15213 United States Computation and Neural Systems Program California Institute of Technology California United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States P. O. Box 821650 Vancouver WA 98682 Canada

We describe complementary iconic and symbolic representations for parsing the visual world. The iconic pixmap representation is operated on by an extensible set of "visual routines" (Ullman, 1984;Forbus et al., 2001). A symbolic representation, in terms of lines, ellipses, blobs, etc., is extracted from the iconic encoding, manipulated algebraically, and re-rendered iconically. The two representations are therefore duals, and iconic operations can be freely intermixed with symbolic ones. The dual-coding approach offers robot programmers a versatile collection of primitives from which to construct application-specific vision software. We describe some sample applications implemented on the Sony AIBO. © Springer science+Business Media, LLC 2007.

关键词： computer vision

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Editorial: Knowledge engineering, semantics, and signal processing in audio - visual information retrieval

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IEEE Transactions on Circuits and systems for Video Technology 2007年第3期17卷 257-258页

作者： Izquierdo, Ebroul Zhang, Jian Sikora, Thomas Huang, Thomas S. Department of Electrical Engineering Queen Mary University of London London El 4NS United Kingdom Sydney Australia School of Computer Science and Engineering University of New South Wales Australia Communication Systems Group Technical University Berlin Berlin Germany ITG University of Illinois at Urbana-Champaign United States Department of Electrical and Computer Engineering Coordinated Science Laboratory United States Image Formation and Processing Group Beckman Institute for Advanced Science and Technology United States Institute's Major Research Theme Human Computer Intelligent Interaction National Academy of Engineering Chinese Academies of Engineering and Sciences China International Association of Pattern Recognition Optical Society of American United States

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关键词： Special issues and sections Knowledge engineering Information retrieval Audio-visual systems

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Method of Converting Speech Codec Formats between GSM 06.20 and G. 729

Method of Converting Speech Codec Formats between GSM 06.20 ...

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IEEE International Workshop on intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： Ruslan Shevchuk Ludmila Honchar Pavlo Bykovyy Computer Science Department Ternopil National Economic University Ternopil Ukraine Research Institute of Intelligent Computer Systems Ternopil National Economic University Ternopil Ukraine

In this paper, we proposed an efficient method of converting speech codec formats between GSM 06.20 and G.729. Unlike a classic tandem method, proposed method executes transformation of coding parameters without the u... 详细信息

关键词： Speech codecs GSM Speech coding Speech analysis Delay Internet telephony Decoding Signal analysis Physics computing Speech synthesis

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Vision-based control for rigid body stabilization

Vision-based control for rigid body stabilization

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 2759-3219

作者： Rita Cunha Carlos Silvestre Joao Hespanha A. Pedro Aguiar Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move in SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the image coordinates and reconstructed depth information that guarantees i) almost global asymptotic stability of the desired equilibrium point;ii) positive invariance of a conveniently defined subset of SE(3), to enforce feature visibility;and iii) exponential stability of an error vector directly defined in the image plane.

关键词： landmarks image plane Error vector equilibrium point Rigid Global Asymptotic Stability Imagery (Psychotherapy) images control law Coordinates Visual servoing Body Statement Public Speaking visibility

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Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints

Feedback linearization and simultaneous stiffness-position c...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Palli C. Melchiorri T. Wimbock M. Grebenstein G. Hirzinger DEIS Department of Electronics Computer Science and Systems University of Bologna Bologna Italy German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and the actuated force allows to control both the position and the stiffness of each joint. The main advantage of this actuation modality is that the achieved stiffness becomes a mechanical characteristic of the system and it is not the result of an immediate control action as in the classical impedance control scheme (Davison, 2003). Different examples of implementation of this kind of devices are known in literature, even if limited to one single joint (Kjita et al., 2003; Laumond and Kineocam, 2006; Mansard and Chaumette, 2004 and 2006) and the application of antagonistic actuated kinematic chains in the field of robotic hand design is under investigation (Stasse et al., 2006). After a brief review of the dependence of the properties of antagonistic actuation on the transmission elements characteristics, a scheme for simultaneous stiffness-position control of the linearized system is presented. Finally, simulation results of a two-link antagonistic actuated arm are reported and discussed.

关键词： Linear feedback control systems Robot control Service robots Orbital robotics Robot sensing systems State feedback Control systems Electrical equipment industry Actuators Humans

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Subspace Model Identification Methods for Identifying the Small-scale Unmanned Helicopter Dynamics

Subspace Model Identification Methods for Identifying the Sm...

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IEEE International Conference on Integration Technology (ICIT)

作者： Wenbing Chen Ming Liu Yunjian Ge Institute of Intelligent Machines Chinese Academy of Sciences Department of Automation University of Science and Technology China Department of Electrical and Computer Systems Engineering Monash University Australia Institute of Intelligent Machines Chinese Academy and Sciences China

Because most multivariable control methods are model-based, and the dynamic model for a particular small-scale helicopter which is simple enough to be practical for controller is not readily available, the identification of small-scale helicopter's dynamic model is a necessary part of any model-based control design. This paper describes the MO ESP method which uses numerically robust computation tools applied in the model identification of a small-scale helicopter dynamics. The result of simulation shows this method is suitable for the dynamic identification of a small-scale helicopter.

关键词： Helicopters Vehicle dynamics MIMO Iterative algorithms Machine intelligence Control design Robustness Nonlinear dynamical systems System identification State-space methods

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