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The degree of human visual attention in the visual search

Artificial Life and robotics 2000年第2期4卷 57-61页

作者： Hiroaki Mizuhara Jing-Long Wu Yoshikazu Nishikawa Department of Mechanical Engineering Yamaguchi University Ube Japan Department of Intelligent Mechanical Systems Faculty of Engineering Kagawa University Takamatsu Japan Faculty of Information Sciences Osaka Institute of Technology Hirakata Japan

Human beings can obtain visual information in parallel through the retina, but they cannot pay attention to all the information at the same time. In psychological studies, the human characteristics of visual attention have often been investigated by analyzing the characteristics of the visual search task. Previous studies suggested that the information features of the visual search task are processed in parallel at early stages of processing. However, the authors consider that these features are not processed completely in parallel, and have a reciprocal action to each other. In order to clarify the reciprocal action of the features in a visual search and the continuity of visual attention, the characteristics of reaction times were measured with changing forms of visual stimuli. The experimental results suggested that the reaction time changed when the features of the visual stimuli in the visual search task changed. This means that the features are affected by each other. Furthermore, continuity of reciprocal action is also suggested, and the degree of visual attention is decided by this continuity. The results provided significant basic data to support our proposed mathematical model of visual attention.

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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A Hybrid Neural Control Scheme for Visual-Motor Coordination

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IEEE Control systems 1999年第4期19卷 34-41页

作者： Behera, Laxmidhar Kirubanandan, Nandagopal Centre for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani 333031 India

Visual-motor coordination, also referred to as hand-eye coordination, in the context of robotics is the process of using visual information to control a robot manipulator to reach a target point in its workspace. The task requires learning the mapping that exists between camera output and desired end effector location. Biological organisms have demonstrated their superior adaptive capabilities in motion control over present-day robotic systems. Inspired by this fact, various neural network models based on biological systems have been developed for robot control tasks. The drawback of many neural schemes to tackle visual-motor control problems is that of a long training period. We suggest an approach using Kohonen's self-organizing scheme to learn this hand-eye coordination problem in reduced time with high accuracy. Our approach has also been compared with a conventional calibration-based algorithm. These schemes have been implemented in real time on a CRS PLUS robot arm. Experimental results show that the proposed neural scheme is on an average 10 times faster in training compared to similar neural approaches existing in the literature. This speed is also comparable to the conventional algorithm and is more accurate.

关键词： Robot kinematics Robot control Biological systems Manipulators Robot vision systems Cameras End effectors Programmable control Adaptive control Motion control

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Object oriented toolkit for multiobjective genetic optimisation 3

Object oriented toolkit for multiobjective genetic optimisat...

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3rd International Conference on Computational Intelligence and Multimedia Applications, ICCIMA 1999

作者： Kumar, Rajeev Kumar, N. Vinay Nagrath, I.J. Centre for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani333 031 India

ISBN: (纸本)0769503004

Evolutionary computations are emerging as powerful tools for search and optimisation, and increasingly being used in many scientific and engineering applications. Side-by-side, object oriented computing has revolutionised, during the current decade, the style of programming and software system design and development which is now configured around the 'class' concept. We present a general purpose object oriented toolkit which serves as a generic utility for wide ranging applications involving optimisation of both single and multiple objectives. The toolkit supports the state of the art of genetic optimisation techniques;the design is modular, flexible and extensible, in line with the object oriented programming paradigm. The toolkit is currently being implemented in C++ for obvious reasons of wider support and portability across platforms. Templates and derived classes are used for elegance and reuse of the code and the library. The interfaces try to hide as many of the implementation details as possible so that the programming and modification at higher level become simple. Nonetheless, defining interfaces is an iterative process, so with the design and implementation of the toolkit, with each major addition and upgrade, they are constantly evolving. © 1999 IEEE.

关键词： Object oriented programming

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Vibratory tactile display: A fractal Brownian approach 3

Vibratory tactile display: A fractal Brownian approach

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3rd International Conference on Computational Intelligence and Multimedia Applications, ICCIMA 1999

作者： Agarwal, M.C. Arvind, K.L. Kumar, Rajeev Behera, L. Nagrath, I.J. Centre for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani333 031 India

ISBN: (纸本)0769503004

This paper deals with the formulation of a height profile model for a vibratory tactile display unit using the concept of fractal dimensions and fractal Brownian motion. The paper discusses, in brief, the theory of fractals and the imaging process. The fractal dimension from image data is calculated using second-order statistics and the Fourier power spectrum. The image fractal model is then used to separate out the homogeneous and inhomogeneous regions. An algorithm is presented to compute the fractal dimension of various blocks;second-order statistics for homogeneous regions and another method for inhomogeneous regions. The algorithm is implemented on synthetic textures as well as on real images. © 1999 IEEE.

关键词： Fractal dimension

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On generalisation of machine learning with neural-evolutionary computations 3

On generalisation of machine learning with neural-evolutiona...

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3rd International Conference on Computational Intelligence and Multimedia Applications, ICCIMA 1999

作者： Kumar, Rajeev Department of Computer Science Centre for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani333 031 India

ISBN: (纸本)0769503004

Generalisation is a non-trivial problem in machine learning and more so with neural networks which have the capabilities of inducing varying degrees of freedom. It is influenced by many factors in network design, such as network size, initial conditions, learning rate, weight decay factor, pruning algorithms, and many more. In spite of continuous research efforts, we could not arrive at a practical solution which can offer a superior generalisation. We present a novel approach for handling complex problems of machine learning. A multiobjective genetic algorithm is used for identifying (near-) optimal subspaces for hierarchical learning. This strategy of explicitly partitioning the data for subsequent mapping onto a hierarchical classifier is found both to reduce the learning complexity and the classification time. The classification performance of various algorithms is compared and it is argued that the neural modules are superior for learning the localised decision surfaces of such partitions and offer better generalisation. © 1999 IEEE.

关键词： Degrees of freedom (mechanics)

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Navigation by weighted chance 2

Navigation by weighted chance

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2nd International Conference on intelligent Processing and Manufacturing of Materials, IPMM 1999

作者： Reimann, S. Mansour, A. Institute for Autonomous Intelligent Systems GMD - German National Research Center for Information Technology Birlinghoven Germany Nagoya Japan

ISBN: (纸本)0780354893

This paper deals with the problem of how to control the movement of a simple robot which has the goal to reach a specified target within finite time and to stay within some pre-defined distance to it. The [System's design proposed is as minimal as possible and reflects the basal reflex arc as observed in biological systems. The dynamics is due to a multiplicatively modified random walk. In particular only one simple, omni-directional sensor is used so that the robot does not receive any directional information about the target. The mobile robot shows a reliable and fast homing behavior towards a defined area and stays in some given neighborhood of it. The computational effort needed is seen to be minimal. © 1999 IEEE.

关键词： Stochastic systems

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Vibratory tactile display: a fractal Brownian approach

Vibratory tactile display: a fractal Brownian approach

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International Conference on Computational Intelligence and Multimedia Applications

作者： M.C. Agarwal K.L. Arvind R. Kumar L. Behera I.J. Nagrath Centre for Robotics & Intelligent Systems Birla Institute of Technology and Science Pilani India

This paper deals with the formulation of a height profile model for a vibratory tactile display unit using the concept of fractal dimensions and fractal Brownian motion. The paper discusses, in brief, the theory of fractals and the imaging process. The fractal dimension from image data is calculated using second-order statistics and the Fourier power spectrum. The image fractal model is then used to separate out the homogeneous and inhomogeneous regions. An algorithm is presented to compute the fractal dimension of various blocks; second-order statistics for homogeneous regions and another method for inhomogeneous regions. The algorithm is implemented on synthetic textures as well as on real images.

关键词： Displays Fractals Surface texture Fingers Electrical capacitance tomography Force sensors Statistics Robots Bismuth Haptic interfaces

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Object oriented toolkit for multiobjective genetic optimisation

Object oriented toolkit for multiobjective genetic optimisat...

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International Conference on Computational Intelligence and Multimedia Applications

作者： R. Kumar N.V. Kumar I.J. Nagrath Centre for Robotics & Intelligent Systems Birla Institute of Technology and Science Pilani India Birla Institute of Technology and Science Pilani Rajasthan IN

Evolutionary computations are emerging as powerful tools for search and optimisation, and increasingly being used in many scientific and engineering applications. Side-by-side, object oriented computing has revolutionised, during the current decade, the style of programming and software system design and development which is now configured around the 'class' concept. We present a general purpose object oriented toolkit which serves as a generic utility for wide ranging applications involving optimisation of both single and multiple objectives. The toolkit supports the state of the art of genetic optimisation techniques; the design is modular, flexible and extensible, in line with the object oriented programming paradigm. The toolkit is currently being implemented in C++ for obvious reasons of wider support and portability across platforms. Templates and derived classes are used for elegance and reuse of the code and the library. The interfaces try to hide as many of the implementation details as possible so that the programming and modification at higher level become simple. Nonetheless, defining interfaces is an iterative process, so with the design and implementation of the toolkit, with each major addition and upgrade, they are constantly evolving.

关键词： Genetics Application software Object oriented programming Evolutionary computation Power engineering and energy Power engineering computing Software systems Software design Design optimization Libraries

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On generalisation of machine learning with neural-evolutionary computations

On generalisation of machine learning with neural-evolutiona...

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International Conference on Computational Intelligence and Multimedia Applications

作者： R. Kumar Department of Computer Science Centre for Robotics & Intelligent Systems Birla Institute of Technology and Science Pilani India

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