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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3321卷 343-351页

作者： Foo, Norman Meyer, Thomas Brewka, Gerhard National ICT Australia University of New South Wales Sydney NSW 2052 Australia School of Computer Science and Engineering University of New South Wales Sydney NSW 2052 Australia Intelligent Systems Department Computer Science Institute University of Leipzig Augustusplatz 10-11 04109 Leipzig Germany

Logic programs with ordered disjunctions (LPODs) are natural vehicles for expressing choices that have a preference ordering. They are extensions of the familiar extended logic programs that have answer sets as semantics. In game theory, players usually prefer strategies that yield higher payoffs. Since strategies are choices, LPODs would seem to be a suitable logical formalism for expressing some game-theoretic properties. This paper shows how pure strategy normal form games can be encoded as LPODs in such a way that the answer sets that are mutually most preferred by all players are exactly the Nash equilibria. A similar result has been obtained by researchers using a different, but related, logical formalism, viz., ordered choice logic programs that were used to encode extensive games. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Game theory

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Cooperative embodied communication emerged by interactive humanoid robots

Cooperative embodied communication emerged by interactive hu...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Sakamoto T. Kanda T. Ono M. Kamashima M. Imai H. Ishiguro ATR Intelligent Robotics and Communication Laboratories Soraku-gun Kyoto Japan Department of Media Architecture Future University-Hakodate Hakodate Hokkaido Japan Department of Computer Science Graduate School of Science and Technology Keio University Yokohama Kanagawa Japan Department Adaptive Machine Systems Graduate School of Engineering Osaka University Osaka Japan

Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for smooth and natural communication, as they are in human-human communication. We have developed a semi-autonomous humanoid robot system that is capable of cooperative body movements with humans using environment-based sensors and switching communicative units. And we conducted an experiment using this robot system and verified the importance of cooperative behaviors in a route-guidance situation where a human gives directions to the robot. This result indicates that the cooperative body movements greatly enhance the emotional impressions of human in a route-guidance situation. We believe these results allow us to develop interactive humanoid robots that sociably communicate with humans.

关键词： Humanoid robots Robot sensing systems intelligent robots Human robot interaction Laboratories Sensor systems Communication switching computer science Adaptive systems Educational institutions

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Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

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Application of fuzzy neural network in the system of concrete undamaged inspection

Application of fuzzy neural network in the system of concret...

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World Congress on intelligent Control and Automation (WCICA)

作者： Jing Xu Qingchun Meng Songsen Yang Wen Zhang Changhong Song Department of Civil Engineering Qingdao Institute of Architecture and Engineering Qingdao China Department of Computer Science Ocean University of China Qingdao China State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780382730

The accuracy of concrete strength inspection has a great influence on the safety evaluation of the building. In order to increase the accuracy, Fuzzy Neural Network (FNN) was built up to evaluate concrete stmngth: It takes full advantage of the characteristics of the common concrete testing methods: drill and rebound, and the abilities of FNN including automatic learning, generation and fuzzy logic inference. The experiment shows that the max relative error of the predicted results is 1.12%, which is satisfied with the requirements of the engineering. The method effieieatly maps the complex non-linear relationship between the drill values and the rebound values, and provides a efficient way for the concrete strength inspection and evaluation.

关键词： Fuzzy neural networks intelligent networks Concrete Inspection Application software computer science Oceans Civil engineering intelligent systems intelligent structures

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Planar Spline Trajectory Following for an Autonomous Helicopter

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Journal of Advanced Computational Intelligence and intelligent Informatics 2004年第3期8卷 237-242页

作者： Harbick, Kale Montgomery, James F. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los AngelesCA90089-0781 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109-8099 United States

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable. © Fuji Technology Press Ltd. Creative Commons CC BY-ND: This is an Open Access article distributed under the terms of the Creative Commons Attribution-NoDerivatives 4.0 International License (http://***/licenses/by-nd/4.0/).

关键词： Unmanned aerial vehicles (UAV)

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Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle

Autonomous deployment and repair of a sensor network using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Corke S. Hrabar R. Peterson D. Rus S. Saripalli G. Sukhatme CSIRO Manufacturing and Infrastructure Technology QLD Australia Center for Robotics and Embedded Systems University of Southern California Los Angeles CA USA Department of Computer Science Dartmouth College Hanover NH USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

We describe a sensor network deployment method using autonomous flying robots. Such networks are suitable for tasks such as large-scale environmental monitoring or for command and control in emergency situations. We describe in detail the algorithms used for deployment and for measuring network connectivity and provide experimental data we collected from field trials. A particular focus is on determining gaps in connectivity of the deployed network and generating a plan for a second, repair, pass to complete the connectivity. This project is the result of a collaboration between three robotics labs (CSIRO, USC, and Dartmouth.).

关键词： Unmanned aerial vehicles Helicopters Robot sensing systems Mobile robots Network topology Remotely operated vehicles computer science Monitoring Ad hoc networks Aircraft navigation

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Mechanical property characterization of the zebrafish embryo chorion

Mechanical property characterization of the zebrafish embryo...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Deok-Ho Kim Yu Sun Seok Yun Byungkyu Kim Chang Nam Hwang Sang Ho Lee B.J. Nelson Microsystem Research Center Korea Institute of Science and Technology Seoul South Korea Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Department of Mechanical and Industrial Engineering University of Toronto Canada School of Life Sciences and Biotechnology Korea University Seoul South Korea

A microrobotic force sensing system is used to characterize the mechanical properties of the chorion of zebrafish embryos and quantitate the mechanical property differences of the chorion at different developmental stages. Quantitative relationships between applied forces and chorion structural deformations are established for various developmental stages. The measured penetration forces for puncturing chorion at the blastula stage are 1.3 times as large as those at the pre-hatching stage. Through the use of an analytical biomembrane elastic model, chorion elastic modulus values are determined. The modulus at the blastula stage is 1.66 times as large as that at the pre-hatching stage. The experimental results quantitatively describe "chorion softening," which is mostly due to the proteolytic activity at the pre-hatching stage. This study also reveals the effect of pronase treatment on zebrafish chorion, which produces an "artificial chorion softening" effect. This draws an analogy between pronase treatment and proteolytic activities at the pre-hatching stage.

关键词： Mechanical factors Embryo Biomembranes Force measurement Biochemistry Analytical models Organisms intelligent robots Softening Cells (biology)

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A modal parameters identification method based on recurrent neural networks

A modal parameters identification method based on recurrent ...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Jing Xu Qing-Chun Meng Dong-Ming Zhou Yan Ge Department of Civil Engineering Qingdao Institute of Architecture and Engineering Qingdao China Department of Computer Science Ocean University of China Qingdao China State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing Beijing China

ISBN: (纸本)0780384032

This paper presents a recurrent neural network-based approach for modal parameters identification of structure-unknown systems. The proposed approach involves two steps. The first step is to build a recurrent neural network to map the complex nonlinear relation between the excitations and responses of the structure-unknown system by off-line learning. The second step is to propose a procedure to determine the modal parameters of the system from the trained neural networks. The dynamic characteristics of the structure are directly evaluated from the weighting matrices of the trained recurrent neural network. Furthermore, an illustrative example demonstrates the feasibility of using the proposed method to identify modal parameters of structure-unknown systems. The method proposed can be used to research on fault diagnosis of engineer structure.

关键词： Parameter estimation Recurrent neural networks Neural networks MIMO Artificial neural networks Network topology Cybernetics Nonlinear dynamical systems Nonlinear equations Frequency domain analysis

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Classification of atrial tachyarrhythmias in electrocardiograms using time frequency analysis

Classification of atrial tachyarrhythmias in electrocardiogr...

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computers in Cardiology (CinC)

作者： M.G. Tsipouras V.P. Oikonomou Di Fotiadis L.K. Michalis D. Sideris Unit of Medical Technology and Intelligent Information Systems Department of Computer Science University of Ioannina (UoI) Ioannina Greece Biomedical Research Institute-FORTH Ioannina Greece Division of Cardiology Medical School Ioannina Greece

In this work a novel automated method, combining time-frequency analysis and expert's knowledge, for the classification of atrial tachyarrhythmias is presented. It is based on the analysis of small ECG segments and their classification into three categories of cardiac rhythm: (a) atrial fibrillation, (b) atrial flutter and (c) normal sinus rhythms. Time-frequency analysis is used to calculate the power spectrum density for each segment. Several spectral characteristics are extracted from the power spectrum density, representing the energy distribution on the time-frequency plane. These characteristics are used as input in an artificial neural network, which classifies each ECG segment into one of the three categories. The method is validated using the MIT-BIH arrhythmia database and the obtained average sensitivity and specificity are 93.4% and 96.5%, respectively.

关键词： Time frequency analysis Electrocardiography Rhythm Databases Atrial fibrillation Cardiology Artificial neural networks Medical diagnostic imaging Feature extraction Heart

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Image attachment using fuzzy-genetic algorithms

Image attachment using fuzzy-genetic algorithms

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： B. Resko P. Korondi Z. Petres J.F. Bourges H. Hashimoto Japanese-Hungarian Laboratory Budapest University슠of슠Technology슠and슠Economics Hungary Computer Science and Software Engineering Department Laval University Sainte Foy QUE Canada Institute of Industrial Sciences Integrated Intelligent Systems Japanese-Hungarian Laboratory University of Tokyo Tokyo Japan

This paper gives contribution to the construction of an image mosaic by pasting together a sequence of photographs taken by a regular digital camera from the same position but in different directions. In order to find the best match between two overlapping images, a fuzzy-genetic based algorithm is presented. A translation vector with a minimal difference between the common picture parts has to be found. The difference is defined using the fuzzyfied contours of each images. The search of the optimal translation is considered as a minimization process. This paper proposes a method that uses genetic algorithms to find the minimum point corresponding to the optimal translation. Using the fuzzy based comparison of the two images yields a fast fitness function, while the implementation of the proposed method in a genetic hardware has a low and variable computational cost. The precision of the method is inverse-proportional with the computational time, which makes it ideal to be used in real time systems.

关键词： Cameras Genetic algorithms intelligent systems Laboratories Real time systems Pixel computer industry Industrial economics Informatics Software engineering

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