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Implementation and usability evaluation of AAC system for handicapped persons 1

引用

3rd International Conference on Human.Society@Internet - HSI 2005

作者： Park, Myoung-Soo Kim, Jonk-Ki Hur, Tai-Sung Kim, Nag-Hwan Lee, Eun-Sil Woo, Yo-Seop Min, Hong-Ki Dept. of Inf. and Telecomm. Eng. Univ. of Incheon Korea Republic of Dept. of Information Security Konyang University Nonsan Chung-Nam Korea Republic of Dept. of Computing and Information Systems Inha Technical College Incheon Korea Republic of Dept. of Computer Application Control Kyonggi Institute of Technology Korea Republic of

ISBN: (数字)9783540318088

ISBN: (纸本)9783540278306

This study generally is purposed to implementation and usability evaluation of augmentative and alternative communication system (hereinafter referred to as an "AAC system"). Also the device is aimed as an AAC system using symbols for HCI, allowing a handicapped person to make a general communication with others in a free and convenient manner. This study specifically presents a method of predicting predictions, which contributes to reducing the size of the AAC system. This method includes selecting vocabulary and classifying it by domains so as to meet the characteristics of the AAC communication, using a noun thesaurus for semantic analysis, and building a sub-category dictionary. Accordingly, this study has verified the system by applying it to linguistically handicapped persons with different kinds of handicaps two times. © Springer-Verlag Berlin Heidelberg 2005.

关键词： computer systems

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

引用

IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Kim, Jong-Hae Okuma, Shigeru Kim, Young-Woo Hwang, Don-Ha Kim, Min-Huei Kim, Dong-Hee Dept. of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Japan Space Robotics Research Center Toyota Technological Institute Nagoya City Japan Changwon Korea Republic of Dept. of Electrical and Automation Eng. Yeungnam College of Sci. and Tech. Daegu Korea Republic of Dept. of Electrical Engineering Yeungnam University Kyongsan Kyungbuk Korea Republic of

ISBN: (纸本)0780387384

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control low' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver. © 2005 IEEE.

关键词： Behavioral research

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A novel approach to pneumatic position servo control of a glass wall cleaning robot

A novel approach to pneumatic position servo control of a gl...

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zhang, Houxiang Zhang, Jianwei Liu, Rong Zong, Guanghua Dept. TAMS Faculty of Computer Science University of Hamburg Vogt-Kölln-Straße 30 22527 Hamburg Germany Robotics Institute Sch. of Mech. Eng. and Automation BeiHang University Beijing China

ISBN: (纸本)0780384636

Taking Shanghai Science and Technology Museum as the operation target, the robot named skycleaner which is totally actuated by pneumatic cylinders and is sucked to the glass walls with vacuum suckers is presented. In order to solve the problems of lower stiffness and the nonlinear movement characteristic of the pneumatic system, a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system using the principle of pneumatic pulse width-modulation (PWM). Testing results show that the controller can effectively improve the control quality. This implies that the method can meet the requirements of realization.

关键词： Robots

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Entrainment of silicon central pattern generators for legged locomotory control

Entrainment of silicon central pattern generators for legged...

引用

17th Annual Conference on Neural Information Processing Systems, NIPS 2003

作者： Tenore, Francesco Etienne-Cummings, Ralph Lewis, M. Anthony Dept. of Electrical and Computer Eng. Johns Hopkins University Baltimore MD 21218 United States Institute of Systems Research University of Maryland College Park MD 20742 United States Iguana Robotics Inc. P.O. Box 625 Urbana IL 61803 United States

ISBN: (纸本)0262201526

We have constructed a second generation CPG chip capable of generating the necessary timing to control the leg of a walking machine. We demonstrate improvements over a previous chip by moving toward a significantly more versatile device. This includes a larger number of silicon neurons, more sophisticated neurons including voltage dependent charging and relative and absolute refractory periods, and enhanced programmability of neural networks. This chip builds on the basic results achieved on a previous chip and expands its versatility to get closer to a self-contained locomotion controller for walking robots.

关键词： Silicon

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Distributed form closure for convex planar objects through reinforcement learning with local information

Distributed form closure for convex planar objects through r...

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： A.H. Elahibakhsh M.N. Ahmadabadi F.J. Sharifi B.N. Araabi School of Cognitive Sciences Institute for Studies on Theoretical Physics and Mathematics Tehran Iran Dept. of Electrical and Computer Eng. AI & Robotics Lab. Center of Excellence for Control and Intelligent Processing University of Tehran Tehran Iran

Many real world applications would involve grasp of large objects in unstructured environments. Agent-based approach to multi-robot grasp of objects would prove useful under the above circumstances. In this paper, the problem of form closure grasp for planar convex objects by multiple robots is tackled. Contrary to the previous approaches, no a priori information about the shape of the object is assumed, and the robots are not allowed to fully communicate among themselves. A distributed multi-agent based approach using Q-learning is proposed. The state space, action set and learning algorithm are formulated. The results are verified through simulations using a developed Q-learning test bed.

关键词： Learning Orbital robotics Intelligent robots Shape control Robot sensing systems Testing Artificial intelligence Cognitive robotics robotics and automation Automatic control

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Features with fuzzy probability

Features with fuzzy probability

引用

International Conference and Workshop on eng.neering of computer-Based Systems

作者： A. Pieczyriski S. Robak A. Walaszek-Babiszewska Inst. of Control & Comput. Eng. University of Zielona Gora Poland Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Chair of Computer Science and Management The University of Zielona Zielona Góra Poland Chair of Econometrics and Computer Science Silesian Technical University Zabrze Poland Chair of Econometrics and Computer Science Silesian Technical University Zabrze Poland

This paper proposes an expert system description based on a feature diagram tree, annotated with weighted variant features in the software family context. The principle of how some variant features may be described on the basis of fuzzy logic is presented and fuzzy probability of market conditions is introduced. The proposed description integrates the external cross-tree constraints, and the resulting homogeneity of the logic then allows its usage to further applications, e.g., generators, or to the purposes of constraint based reasoning itself. The appliance of the proposed approach is demonstrated by the example of a mobile phone tariff description. In the example descriptions of the decision tree for customers have been prepared.

关键词： Object oriented modeling Fuzzy logic computer science Application software Mobile handsets control eng.neering computing Econometrics Expert systems Home appliances Decision trees

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Towards robotic assistants in nursing homes: Challeng.s and results

Towards robotic assistants in nursing homes: Challenges and ...

引用

IROS 2002

作者： Pineau, Joelle Montemerlo, Michael Pollack, Martha Roy, Nicholas Thrun, Sebastian Robotics Institute Carnegie Mellon University Pittsburgh PA 15232 United States Dept. of Elec. Eng./Computer Science University of Michigan Ann Arbor MI 48019 United States

This paper describes a mobile robotic assistant, developed to assist elderly individuals with mild cognitive and physical impairments, as well as support nurses in their daily activities. We present three software modules relevant to ensure successful human-robot interaction: an automated reminder system;a people tracking and detection system;and finally a high-level robot controller that performs planning under uncertainty by incorporating knowledge from low-level modules, and selecting appropriate courses of actions. During the course of experiments conducted in an assisted living facility, the robot successfully demonstrated that it could autonomously provide reminders and guidance for elderly residents. © 2003 Elsevier Science B.V. All rights reserved.

关键词： Mobile robots

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Intention Aware Interactive Multi-Modal Robot Programming

Intention Aware Interactive Multi-Modal Robot Programming

引用

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Iba, Soshi Paredis, Christiaan J.J. Khosla, Pradeep K. Robotics Institute Carnegie Mellon University Pittsburgh PA 15213-3890 Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213-3890 G. W. Woodruff Sch. of Mech. Eng. Georgia Institute of Technology Atlanta GA 30332-0405

As robots enter the human environment, there are increasing needs for novice users to be able to program robots with ease. A successful robot programming system should be intuitive, interactive, and intention aware. Intuitiveness refers to the use of intuitive user interfaces such as speech and hand gestures. Interactivity refers to the system's ability to let the user interact preemptively with the robot to take its control at any given time. Intention awareness refers to the system's ability to recognize and adapt to user intent. This paper focuses on the intention awareness problem for interactive multi-modal robot programming system. In our framework, user intent takes on the form of a robot program, which in our context is a sequential set of commands with parameters. To solve the intention recognition and adaptation problem, the system converts robot programs into a set of Markov chains. The system can then deduce the most likely program the user intends to execute based on a given observation sequence. It then adapts this program based on additional interaction. The system is implemented on a mobile vacuum cleaning robot with a user who is wearing sensor gloves, inductive position sensors, and a microphone.

关键词： Robot programming

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Composite systems control by combined math-analytical and FS/NN computing approach 3

Composite systems control by combined math-analytical and FS...

引用

3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2003

作者： Dimirovski, Georgi M. Jing, Yuan-Wei Zhao, Jun Zhang, Si-Ying Dogus University Department of Computer Engineering Faculty of Engineering Acibadem Kadiköy IstanbulTR-34722 Turkey SS Cyril and Methodius University Institute of Automation and Systems Eng Faculty of Electrical Engineering SkopjeMK-1000 Macedonia Northeastern University Institute of Control Science School of Information Science and Eng. Shenyang Liaoning China

A control systems eng.neering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systems eng.neering. Copyright © 2003 IFAC.

关键词： Fuzzy systems

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Novel approach in the adaptive control of systems having strongly nonlinear coupling between their unmodeled internal degrees of freedom

Novel approach in the adaptive control of systems having str...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： I.J. Rudas K. Kozlowski J.K. Tar K. Jezernik John von Neumann Faculty of Informatics Institute of Mathematical and Computational Sciences Budapest Hungary Chair of Control Robotics and Computer Science Poznan University of Technology Poznan Poland Budapest Polytechnic Institute of Mathematical and Computational Sciences Budapest Faculty of Electrical Eng. and Computer Science Institute of Robotics University of Maribor Slovenia

The application of a novel branch of computational cybernetics is extended to the adaptive control of very inaccurately and partly modeled electromechanical systems also having unmodeled non-linear dynamic coupling with their environment. The method uses "uniform structures" for modeling, and "uniform procedures" for "repetitive" or cumulative learning like in the case of the "traditional" soft computing approaches. But it considerably reduces the number of free parameters tuning with simple, lucid, and explicit algebraic operations of limited number of steps. It is demonstrated via simulation that the control can operate even if strongly nonlinear terms (Coulomb friction and sticking combined with the elastic and viscous terms of the unmodeled external interaction in the Stribeck model), and elastically deformable joints are present. As a paradigm a mechanically 3 DOF SCARA arm actuated by voltage-controlled DC motors is considered. The system has 9 degrees of freedom (6 mechanical and 3 electrical). For the controller only three mechanical degrees can efficiently compensate the effect of the unmodeled degrees of freedom, the external interaction, and the inaccuracy of the modeled part of the robot.

关键词： Adaptive control Couplings Deformable models Cybernetics Electromechanical systems Computational modeling Friction Voltage DC motors Robots

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