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Interpolation based Fuzzy Automaton for Human-Robot Interaction

IFAC Proceedings Volumes 2009年第16期42卷 317-322页

作者： Szilveszter Kovács Dávid Vincze Márta Gácsi ádám Miklósi Péter Korondi Department of Automation University of Miskolc Miskolc-Egyetemváros Miskolc H-3515 Hungary Department of Cybernetics and AI Technical University of Kosice Letná 9/B 04120 Košice Slovakia Department of Information Technology University of Miskolc Miskolc-Egyetemváros Miskolc H-3515 Hungary Department of Ethology Eötvös University Pázmány P. 1/c H-1117 Budapest Hungary Computer and Automation Research Institute of the Hungarian Academy of Sciences Department of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics H-1521 Budapest Po.Box. 91. Hungary

Abstract One way of handling Human-Robot Interaction (HRI) is based on the concept, that the robot acts like an animal companion to human. According to this paradigm the Robot should not be molded to mimic the human being, and form human-to-human like communication, but to follow the existing biological examples and form inter-species interaction. The 20.000 year old human-dog relationship is a good example for this paradigm of the HRI, as interaction of different species. One good reason of this approach in HRI is the lack of the “uncanny valley” effect i.e. increasing similarity of robots to humans will actually increase the chances that humans refuse interaction (will be frightened). In this paper, for ethologically inspired HRI model implementation, a fuzzy model structure built upon the framework of low computational demand Fuzzy Rule Interpolation (FRI) methods and fuzzy automaton is suggested. The application of FRI methods fits well the conceptually “spare rule-based” structure of the existing descriptive verbal ethological models. (In case of the descriptive verbal ethological models, the “completeness” of the rule-base is not required). The main benefit of the FRI method adaptation in ethological model implementation is the fact, that it has a simple rule-based knowledge representation format. Because of this, even after numerical optimization of the model, the rules are still “human readable”, and helps the formal validation of the model by the ethological experts. On the other side due to the FRI base, the model has still low computational demand and fits directly the requirements of the embedded implementations. For demonstrating the applicability of the proposed structure, some components of a human-dog interaction FRI model, which also suitable for HRI, will be briefly introduced in this paper.

关键词： Fuzzy Rule Interpolation Fuzzy Automaton Behaviour-based Control Human-Robot Interaction

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A domain-specific language for the model-driven construction of advanced web-based dialogs 08

A domain-specific language for the model-driven construction...

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17th International Conference on World Wide Web 2008, WWW'08

作者： Freudenstei, Patrick Nussbaumer, Martin Allerding, Florian Gaedke, Martin Institute of Telematics D-76128 Karlsruhe Germany Institute of Applied Informatics and Formal Description Methods D-76128 Karlsruhe Germany Chemnitz University of Technology Distributed and Self-organizing Computer Systems Group D-09107 Chemnitz Germany

ISBN: (纸本)9781605580852

Complex dialogs with comprehensive underlying data models are gaining increasing importance in today's Web applications. This in turn accelerates the need for highly dynamic dialogs offering guidance to the users and thus reducing cognitive overload. Beyond that, requirements from the fields of aesthetics, Web accessibility, platform-independence, and Web service integration arise. To this end, we present an evolutionary, extensible approach for the model-driven construction of advanced dialogs. It is based on a Domain-specific Language (DSL) focusing on simplicity and fostering collaboration with stakeholders.

关键词： Websites

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Current harmonic compensation by three-phase converters controlled by space vector modulation

Current harmonic compensation by three-phase converters cont...

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作者： Paire, Damien Cirrincione, Maurizio Pucci, Marcello Járdán, Rafael K. Nagy, István Miraoui, Abdellatif Belfort France I.S.S.I.A.-C.N.R. Institute on Intelligent Systems for the Automation Palermo Italy Budapest University of Technology and Economics Department of Automation and Applied Informatics Budapest Hungary Computer and Automation Institute Hungarian Academy of Science Budapest Hungary

ISBN: (纸本)9781424417667

This paper deals with the application of a method developed for the compensation of harmonic currents generated by nonlinear loads, connected to the utility grid, using three phase dc/ac converters. The converters are supplied by renewable power sources, i.e. they are part of a Distributed Generation System. Nonlinear load current harmonics are compensated by a voltage oriented control (VOC). Current control is performed directly on the grid current so no additional current sensors are needed for ensuring sinusoidal grid current. The proposed method has been verified both by computer simulation and experimentally on a test setup where the control algorithm is implemented in a computer embedded card (dSPACE). © 2008 IEEE.

关键词： Harmonic analysis

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3d virtual model for intelligent space

3d virtual model for intelligent space

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9th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2008

作者： Zanaty, Péter Sziebig, Gábor Korondi, Péter Frei, Zsolt Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary Department of Industrial Engineering Narvik University College Norway Institute of Physics Eötvös University Hungary

By virtually re-creating and visualizing an intelligent space (iSpace) geographically far from the original version, one opens up the possibility of remote control and interaction between the real iSpace and the virtual copy. Here we present the required components for such a mixed environment: the actual iSpace in a form of a laboratory built for such experiments, the stereoscopic (real 3D) visualization tool at the far end to reproduce the original iSpace, and the middleware embodied by the computer network that connects the two. To remotely operate in the iSpace one has to overcome the important problem of synchronization that is made difficult by the time delay in the computer network. Here we present our first approach to solve this problem by demonstrating a successful remote control of a mobile robot in this mixed environment.

关键词： Remote control

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Safe robot control in the intelligent space using mobile code technology

Safe robot control in the intelligent space using mobile cod...

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9th International Symposium of Hungarian Researchers on Computational Intelligence and informatics, CINTI 2008

作者： Jeni, László A. Istenes, Zoltán Tejfel, Máté Korondi, Péter Hashimoto, Hideki Institute of Industrial Science University of Tokyo Japan Dep. of Software Technology and Methodology Eötvös Loránd University Hungary Dep. of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

This paper describes how the safe mobile code technology can be integrated into the Intelligent Space environment. In the Intelligent Space, several Distributed Intelligent Network Devices communicate and share their information about a human environment. In this environment mobile robots can be controlled with mobile code technology. The mobile code is a program-component obtained from a remote system, transferred across a network and dynamically downloaded and executed on the robots. This code is created, verified, stored and transmitted to the robot using the CPPCC architecture, where properties and their proofs also attached to the code. The receiver can verify the proofs and it can decide whether to use or to refuse the received mobile component. Information about the robot's environment is also sent to the robot from the Intelligent Space. Robots contain explicit and formally expressed security requirements. Explicit and formal properties of the mobile code are attached to the mobile code. Then a formal verification system can verify the mobile code properties correspondence against the robots requirements. The robot refuses to execute those mobile code tasks violating it's requirements.

关键词： Mobile robots

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Gain-scheduling and iterative feedback tuning ofPI controllers for longitudinal slip control

Gain-scheduling and iterative feedback tuning ofPI controlle...

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ICCC 2008 - IEEE 6th International Conference on Computational Cybernetics

作者： Radac, M.-B. Precup, R.-E. Preitl, S. Tar, J.K. Fodor, J. Petriu, E.M. Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech. Polytechnical Institution Budapest Hungary School of Information Technology and Engineering University of Ottawa Ottawa Canada

ISBN: (纸本)9781424428755

The paper suggests PI controllers for longitudinal slip control in the framework of a laboratory Anti-lock Braking System (ABS). The new design methods make use of gain-scheduling and Iterative Feedback Tuning. They prove to be relatively simple and transparent thus ensuring low-cost automation solutions. The digital implementation of the controllers is done for the laboratory ABS. Real-time experimental results validate the theoretical approaches. © 2008 IEEE.

关键词： Controllers

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New dual channel quasi resonant DC-DC converter topologies for distributed energy utilization

New dual channel quasi resonant DC-DC converter topologies f...

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International (EPE-PEMC) Power Electronics and Motion Control Conference

作者： J. Hamar I. Nagy P. Stumpf H. Ohsaki E. Masada Department of Automation and Applied Informatics Budapest University of Technology & Economics Budapest Hungary University of Tokyo Tokyo Japan Railway Technology Research Institute Tokyo Japan

The paper is concerned with new resonant converter configurations, belonging to the previously published dual channel dc-dc converter family. On one hand, the new configurations solve a significant shortcoming of the original ones, namely, the output midpoint potential was floating in comparison with the input midpoint. This caused a high-frequency oscillation of the output midpoint, often significantly limiting the application fields. Common ground can be used at the input and output sides at the new configurations. In addition, two of the new topologies also include electrical isolation, performed by an isolating high-frequency transformer. This property is often necessary in order to fulfill the strict industrial requirements against the power converters.

关键词： Converters Capacitors Inductors Control systems Topology Switches Motion control

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Improved performance models and algorithms

Improved performance models and algorithms

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ICCC 2008 - IEEE 6th International Conference on Computational Cybernetics

作者： Bogárdi-Mészöly, Ágnes Levendovszky, Tihamér Rövid, András Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann Gy. ter 3. IV. em Budapest H-1111 Hungary Budapest Tech Polytechnical Institution Institute of Intelligent Engineering Systems Bécsi út 96/B Budapest H-1034 Hungary

ISBN: (纸本)9781424428755

Web-based software systems access some resources while executing the requests of the clients, typically several requests arrive at the same time, thus, competitive situation is established for the resources. In case of modeling such situation queueing model-based approaches are widely recognized. In our work, novel models and algorithms have been proposed to model the queue limit performance factor. In addition, the computational complexity and the limit analysis of the proposed models and algorithms have been provided. Moreover, the practical application of the results has been shown. © 2008 IEEE.

关键词： Queueing theory

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Data Model Driven Enterprise Service Bus Interceptors

Data Model Driven Enterprise Service Bus Interceptors

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Euromicro Conference on Software Engineering and Advanced Applications (SEAA)

作者： Michael Thonhauser Christian Kreiner Egon Teiniker Gernot Schmoelzer Institute for Technical Informatics Graz University of Technology Graz Austria FH JOANNEUM University of Applied Science Kapfenberg Austria Salomon Automation GmbH Friesach Austria

Integration of distributed software systems is an important issue in enterprise computing. Assembling of loosely coupled services via XML based protocols is a frequently used technique today. To overcome the struggle between safety of a strong typed interface and flexibility of generic parameters, we present a novel approach that uses model-typed interface parameters together with the idea of model compatibility verification. It respects separated ownerships of service provider and consumer interfaces, and adds a mediating connector based on platform-independent, model-based functional interface reconciliation. Given a pair of compatible interfaces an interface connector that integrates related services can be realized automatically. The concept of rule-based compatibility verification can also increase the efficiency of service repository lookups significantly.

关键词： Data models Service oriented architecture XML Software engineering Software systems Protocols Connectors Programming Application software informatics

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Improved Performance Models and Algorithms

Improved Performance Models and Algorithms

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International Conference on Computational Cybernetics (ICCC)

作者： Agnes Bogardi-Meszoly Tihamer Levendovszky Andras Rovid Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Intelligent Engineering Systems Budapest Technology Polytechnical Institution Budapest Hungary

关键词： Algorithm design and analysis Yarn Software systems Computational complexity Application software Algebra Stochastic processes Queueing analysis Economic forecasting automation

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