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Evaluating fuzzy voice commands by internal rehearsal for controlling a robot manipulator

Evaluating fuzzy voice commands by internal rehearsal for co...

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SICE Annual Conference

作者： A.G. Buddhika P. Jayasekara Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by internal rehearsal. The robot's experience on previous movements is very useful for understanding fuzzy linguistic information. Therefore, an internal rehearsal system is introduced to acquire the robot's experience on previous movements. Such acquisition enhances the robot's capability to interpret fuzzy linguistic information in FVCs according to the current environmental context. The proposed system is used to evaluate the fuzzy linguistic information related to the primitive movements of a robot manipulator. Those primitive movements are realized by behavior evaluation network (BEN) with the guidance of the internal rehearsal system. Mainly, the system is utilized to understand fuzzy voice motion commands (FVMCs) and fuzzy voice joint commands (FVJCs) for controlling the end-effector movements and the single joint movements of the robot manipulator. The proposed idea is demonstrated with a PA-10 robot manipulator.

关键词： Fuzzy control Robot control Manipulators Fuzzy systems Human robot interaction Computational modeling Speech synthesis control systems Humanoid robots Mobile robots

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Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties

Mechanical designs of active upper-limb exoskeleton robots: ...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： R. A. R. C. Gopura Kazuo Kiguchi Department of Advanced Systems Control Engineering Saga University Saga Japan

Active upper-limb exoskeleton robots have been developing from 1960s. In recent years, the mechanical designs and control algorithms of active upper-limb exoskeleton robots were developed significantly. This paper reviews the state-of-the-art of active upper-limb exoskeleton robots that are applied in the areas of rehabilitation and assistive robotics. In addition, the main requirements of the active upper-limb exoskeleton robot are identified and the mechanical designs of existing active upper-limb exoskeleton robot are classified. The design difficulties of an active upper-limb exoskeleton robot are discussed.

关键词： Exoskeletons Rehabilitation robotics Joints Shoulder Service robots Medical robotics Thorax Anatomy Humans Medical services

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Yoshiyama, Hiroaki Sugi, Takenao Wang, Bei Shirakawa, Shuichiro Nakamura, Masatoshi Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China National Center of Neurology and Psychiatry Tokyo Japan Departmcnt of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Human sleep stages during whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly. © 2009 SICE.

关键词： Sleep research

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Adaptation of robot behaviors toward user perception on fuzzy linguistic information by fuzzy voice feedback

Adaptation of robot behaviors toward user perception on fuzz...

引用

18th IEEE International Symposium on Robot and Human Interactive, RO-MAN 2009

作者： Jayasekara, A.G. Buddhika P. Watanabe, Keigo Kiguchi, Kazuo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Intelligent Mechanical Systems Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan

ISBN: (纸本)9781424450817

This paper proposes a method to adapt robot behaviors toward user's perception by human teaching. Human-friendly robotic system should be able to understand the fuzzy linguistic information based on the user's guidance and the environmental conditions. The contextual meaning of fuzzy linguistic information depends on the conditions of the environment. Therefore, user's perception is acquired to evaluate the fuzzy linguistic information in user commands based on fuzzy voice feedback. The primitive behaviors are evaluated by behavior evaluation network (BEN). Feedback evaluation system (FES) is introduced to evaluate the user feedback to correct the robot's perception by adapting the BEN. This yields the adaptation of the system for understanding fuzzy linguistic information toward the corresponding environment. A situation of cooperative rearrangement of user's working space is simulated to illustrate the system. This is demonstrated by using a PA-10 robot manipulator. © 2009 IEEE.

关键词： Manipulators

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Voice instructions for controlling a robotic forceps with image and auxiliary information

Voice instructions for controlling a robotic forceps with im...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Izumi, Kiyotaka Tokunaga, Takuya Watanabe, Keigo Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Intelligent Mechanical Systems Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan

ISBN: (纸本)9784907764333

An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in threedimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realize a user-friendly interface. The effectiveness of the present system is demonstrated by actual experiments. © 2009 SICE.

关键词： Fuzzy control

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Nanofabrication of three-dimensional imprint diamond molds by ECR oxygen ion beams using polysiloxane

Nanofabrication of three-dimensional imprint diamond molds b...

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作者： Shuji, Kiyohara Tomoyuki, Kashiwagi Hirofumi, Takikawa Yuichi, Kurashima Yoshio, Taguchi Yoshinari, Sugiyama Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Department of Mechanical Systems Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan Application and Technical Section ELIONIX INC 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan

We have investigated the nanofabrication of three-dimensional (3D) chemical vapor deposited (CVD) diamond molds in Electron Cyclotron Resonance (ECR) oxygen ion beam etching technologies using polysiloxane [-R2SiO-]n as an electron beam (EB) mask and a room-temperature (RT)-imprint resist material. The polysiloxane exhibited a negative-exposure characteristic and its sensitivity was 5:5 × 10 -5 C/cm2. The maximum etching selectivity of polysiloxane film against diamond film was 4.7, which was obtained under the following ECR oxygen ion etching conditions: ion energy of 400 eV, ion incidence angle of 0 ° , microwave power of 100 W, gas pressure of 1:4 × 10 -2 Pa and stage temperature of 24 ° C. The diamond molds of cone and tetragonal pyramid dots were fabricated with polysiloxane mask in EB lithography technology using the RT-nanoimprint lithography (NIL) process. The dots are 500, 600, 700, 800, 900 nm in diameter and width respectively. The pitch between the dots is 2 μm, and each dot has a height of about 1 μm. It was found that the optimum imprinting pressure and its depth obtained after the press for 5 min were 0.5 MPa and 0.5 μm respectively. The resulting diameter of each imprinted polysiloxane pattern was in good agreement with that of the 3D-diamond mold. We carried out the RT-NIL process for the fabrication of diamond nanopatterns, using the 3D-diamond molds that we developed. © 2009 The Surface Science Society of Japan.

关键词： Room temperature

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Behavior generation in robots by emotional motivation

Behavior generation in robots by emotional motivation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Kiyoaka Izumi Sajal Chandra Banik Keigo Watanabe Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

Emotions are necessary in robotic system to get some extra benefits especially in intelligence and autonomy with the motivational mechanism for behavior generation. A robot needs to be intelligent enough to adjust with dynamic and flexible environment. Benefits can be amplified if emotional intelligence can be incorporated with the available control methods. We describe an emotion model to be used for a robotic system with an application in a simulated environment. The simulation shows satisfactory results in emotion generation and actions selection.

关键词： Robots

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Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds

Kinematics-based control of underactuated vehicles with four...

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IEEE International Conference on Networking, Sensing and control

作者： Keigo Watanabe Kiyotaka Izumi Kensaku Okamura Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

In this paper, an invariant manifold approach is applied for controlling chained form systems with four inputs and six states. This type of systems includes VTOL (vertical take off and landing) aerial robots such as X4-flyer, AUVs (autonomous underwater vehicles) such as a longitudinal or lateral X4 -AUV, etc. The present underactuated control method is composed of a two step method: the first step is an attractive control to achieve an invariant manifold vector and the second step is a state feedback control to assure the asymptotic behavior of states constrained on each invariant manifold. Some simulations with changes in design parameters are given to demonstrate the effectiveness of the proposed method.

关键词： control systems Velocity control Underwater vehicles State feedback Feedback control Manifolds Robot control control system synthesis Mobile robots Acceleration

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T-S fuzzy model adopted SLAM algorithm with linear programming based data association for mobile robots

T-S fuzzy model adopted SLAM algorithm with linear programmi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Keigo Watanabe Chandima Dedduwa Pathiranage Kiyoaka Izumi Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper describes a Takagi-Sugeno (T-S) fuzzy model adopted solution to the simultaneous localization and mapping (SLAM) problem with two-sensor data association (TSDA) method. Fuzzy Kalman filtering of the SLAM problem (FKF-SLAM) is used in this paper together with newly proposed data association algorithm. An extended TSDA (ETSDA) method is introduced for the SLAM problem in mobile robot navigation based on an interior point linear programming (LP) approach. Simulation results are given to demonstrate that the ETSDA method has low computational complexity and it is more accurate than the existing single-scan joint probabilistic data association (JPDA) method.

关键词： Simultaneous localization and mapping Linear programming Mobile robots Fuzzy systems State estimation Kalman filters Filtering Vehicles Stochastic processes Nonlinear systems

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Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

Evaluating fuzzy voice commands by user guided visual attent...

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SICE Annual Conference

作者： A.G. Buddhika P. Jayasekara Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as “very little.” The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as “move carefully.” A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used.

关键词： Fuzzy control Robot control Manipulators Fuzzy systems Humans Orbital robotics Fuzzy logic Service robots Mobile robots control systems

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