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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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Herb 2.0: Lessons learned from developing a mobile manipulator for the home

Herb 2.0: Lessons learned from developing a mobile manipulat...

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作者： Srinivasa, Siddhartha S. Berenson, Dmitry Cakmak, Maya Collet, Alvaro Dogar, Mehmet R. Dragan, Anca D. Knepper, Ross A. Niemueller, Tim Strabala, Kyle Vande Weghe, Mike Ziegler, Julius Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley 94703 United States School of Interactive Computing Georgia Institute of Technology Atlanta GA 30332 United States Knowledge-based Systems Group RWTH Aachen University Aachen 52062 Germany Department of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe D-76128 Germany

We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed Herb 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments. © 2012 IEEE.

关键词： Motion planning

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Pitsch, Karola Lohan, Katrin S. Rohlfing, Katharina Saunders, Joe Nehaniv, Chrystopher L. Wrede, Britta Faculty of Technology Bielefeld University Bielefeld 33501 Germany Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain and Cognitive Sciences 16163 Genova Italy Emergentist Semantics Group at Bielefeld University CITEC Bielefeld 33501 Germany Adaptive Systems Research Group School of Computer Science University of Hertfordshire Hatfield AL10 9AB United Kingdom

ISBN: (纸本)9781467346054

The paper investigates the effects of a robot's on-line feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes. © 2012 IEEE.

关键词： Human robot interaction

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Karola Pitsch Katrin S. Lohan Katharina Rohlfing Joe Saunders Chrystopher L. Nehaniv Britta Wrede Applied Informatics Group and the Research Institute for Cognition and Robotics Faculty of Technology Bielefeld University Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain & Cognitive Sciences Emergentist Semantics group at Bielefeld University Adaptive Systems Research Group School of Computer Science University of Hertfordshire

ISBN: (纸本)9781467346047

The paper investigates the effects of a robot's "on-line" feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes.

关键词： Coaching ENCOUNTERS Robot Feedback Human machine interaction REACTIVE cargo

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Function Substitution: Towards Constraint Solving in Software Testing

Function Substitution: Towards Constraint Solving in Softwar...

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International Conference on Quality Software

作者： Xin Feng Simon Marr Tony O'Callaghan Zhi Quan Zhou Jacques Carette Division of Science and Technology BNU-HKBU United International College Zhuhai China Marine Robotics Research Centre University of Limerick Limerick Ireland Interaction Design Centre University of Limerick Limerick Ireland School of Computer Science and Software Engineering University of Wollongong Wollongong Australia Department of Computing and Software McMaster University Hamilton Canada

Constraint solving is a fundamental tenet of most test case generation strategies. However, conventional constraint solving methods were not designed in consideration of that aspect of test case generation. It has led to a situation where test case generation techniques can miss test cases when constraints contain function invocations. This is due to the fact that, when solving constraints to generate test cases, function invocations are not effectively handled and, as a result, solutions to some constraints are not found even though they do exist. This problem occurs in both specification-based and code-based testing. To address the problem, this paper presents a function substitution method that transforms test case constraints that contain certain types of functions into equivalent constraints that do not contain those functions. The transformation preserves the solution space and avoids missed test cases. As a result, the completeness of test case generation can be improved.

关键词： Educational institutions Input variables Marketing and sales Software Frequency modulation Software testing

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Network-based humanoid robot remote interaction with the actual situation Fusion technology

Network-based humanoid robot remote interaction with the act...

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The 2011 International Conference on Advanced Materials and Information technology Processing(AMITP 2011)

作者： YU Guochen WANG Zhiliang XIE Lun XU Jiaming State Key Laboratory of Robotics and System Harbin Institute of Technology School of Computer and Communication Engineering University of Science and Technology Beijing

ISBN: (纸本)9783037851579

With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the server responsible for controlling the record of news and information network transit between paragraphs;through remote interaction, real-time client to complete the real humanoid robot control functions. Interoperability between the client, first to sign the server. Server information of all registered users to return to the client process, then the client users will be able to get online users to select the remote robot interaction..When a user operation, the client program as a virtual robot through the virtual robot laboratory will be displayed in realtime robot control results.

关键词： Humanoid robot,remote interactive,virtual,real-time,network

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative Engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators Control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying Control system hardware Finite element method Autonomous robots basic structure Materials selection

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Modeling and Control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative Engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Neural-network-based human intention estimation for physical human-robot interaction

Neural-network-based human intention estimation for physical...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Ge, Shuzhi Sam Li, Yanan He, Hongsheng Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457707223

To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation. © 2011 IEEE.

关键词： Human robot interaction

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