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2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space最新文献

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Cooking procedure recognition and support system by intelligent environments 智能环境下的烹饪过程识别与支持系统
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937913
Y. Nakauchi, Takuo Suzuki, Akira Tokumasu, S. Murakami
{"title":"Cooking procedure recognition and support system by intelligent environments","authors":"Y. Nakauchi, Takuo Suzuki, Akira Tokumasu, S. Murakami","doi":"10.1109/RIISS.2009.4937913","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937913","url":null,"abstract":"In this paper, we propose cooking support system by using ubiquitous sensors. We developed machine learning algorithm that recognizes cooking procedures by taking account of various and numerous sensor information and past human behaviors. In order to provide appropriate instructions to a user, we also developed Markov-model based human behavior prediction algorithm. By employing these algorithms, we developed cooking support system that automatically displays cooking instruction movies according to users progresses. We conducted experiments with subjects and the experimental results confirmed the feasibility of the proposed cooking support system.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"42 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120937182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
A platform of informationally structured space for the autonomous homecare system 自主家庭护理系统的信息结构化空间平台
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937915
F. Chou, Chyong-Mei Chen, Kun-Feng Liu
{"title":"A platform of informationally structured space for the autonomous homecare system","authors":"F. Chou, Chyong-Mei Chen, Kun-Feng Liu","doi":"10.1109/RIISS.2009.4937915","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937915","url":null,"abstract":"In this paper, a behavior model of home cared aging family is presented and used by our designed intelligent pervasive-care system. This system uses multiple interlaced and non-visual sensors to recognize the behavior of concerned family in independent and concurrent. It also provides a competition mechanism between those heterogeneous sensing agents for verifying the recognized behavior. Those independent agents process and classify sensed single to some known symptoms. Based on those known symptoms, the reasoning mechanism in our behavior model can infer the occurring events, actions, and purpose of the cared aging family. So the behavior model empowers the intelligent pervasive-care system to monitor the home activities of cared aging family, and assist them to inform suitable peoples when some accidents occurrence.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116802787","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Hierarchical growing neural gas for information structured space 信息结构化空间的层次增长神经气体
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937906
M. Satomi, H. Masuta, N. Kubota
{"title":"Hierarchical growing neural gas for information structured space","authors":"M. Satomi, H. Masuta, N. Kubota","doi":"10.1109/RIISS.2009.4937906","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937906","url":null,"abstract":"In this paper, we discuss a robot vision in order to perceive people and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). In this paper, we propose a method for sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Next, we propose a method of hierarchical neural network based on Growing neural gas to construct a 3D environmental relation. Finally, we show experimental results of the proposed method.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125827436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 27
Effective strategy for autonomous navigation without prior knowledge in FastSLAM FastSLAM中无先验知识自主导航的有效策略
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937903
Teppei Saitoh, Motohiro Sanpei, Y. Kuroda
{"title":"Effective strategy for autonomous navigation without prior knowledge in FastSLAM","authors":"Teppei Saitoh, Motohiro Sanpei, Y. Kuroda","doi":"10.1109/RIISS.2009.4937903","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937903","url":null,"abstract":"This paper describes the efficient strategy for planning for autonomous mobile robot navigation using the information which is the resulting probabilistic distribution of position and map acquired by solving the SLAM. In order to estimate good robots position and map, we used a highly efficient variant of the grid based version of the FastSLAM algorithm. D* Lite algorithm for global path planning, which has the effective replanning at the partial cost field changed, was employed. Because the acquired map in the SLAM is also grid based which indicates the probabilistic existence of the obstacles in each grid, and SLAMs uncertain grid map is utilized to compute the cost field for path planning. In this research, it was proven that the mobile robot could carry out autonomous navigation in the outdoor field without prior information. This paper presented that the mobile robot reached the predefined goal with estimating good position and map simultaneously.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"41 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124461736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A multimodal face detection system for elderly companion robot 一种用于老年陪伴机器人的多模态人脸检测系统
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937899
Yong Tao, Hongxing Wei, Tianmiao Wang, Diansheng Chen
{"title":"A multimodal face detection system for elderly companion robot","authors":"Yong Tao, Hongxing Wei, Tianmiao Wang, Diansheng Chen","doi":"10.1109/RIISS.2009.4937899","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937899","url":null,"abstract":"Regarding to global problem of ageing, the need for robots to take care of elderly people at private homes is essential, requiring a very natural and human oriented way of interaction between the old people and robot. In this paper a multimodal face detection system is presented, which is composed of face detection based on AdaBoost learning algorithm and environmental perception method. In the experiments, the system has been successfully implemented and tested on a service robot for human face detection. It is useful for the application of human-robot interaction for elderly companion robot.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125258210","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed behavior learning of multiple mobile robots based on spiking neural network and steady-state genetic algorithm 基于脉冲神经网络和稳态遗传算法的多移动机器人分布式行为学习
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937909
H. Sasaki, N. Kubota
{"title":"Distributed behavior learning of multiple mobile robots based on spiking neural network and steady-state genetic algorithm","authors":"H. Sasaki, N. Kubota","doi":"10.1109/RIISS.2009.4937909","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937909","url":null,"abstract":"This paper deals with a method of distributed behavior learning of multiple mobile robots. Recently, various types of artificial neural networks are applied for behavior learning of mobile robots in unknown and dynamic environments. In the paper, we propose a method of distributed behavioral learning based on a spiking neural network. The robot learns the forward relationship from sensory inputs to motor outputs and inverse predictive relationship from motor outputs to sensory inputs. However, the behavioral leaning capability of the robot depends strongly on the network structure. Therefore, we use a parallel steady-state genetic algorithm for acquiring the network topology suitable to the environment. Finally, we discuss the effectiveness of the proposed method through simulation results on behavioral learning.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127036865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Intelligent ambience-robot cooperation - Door-closing tasks with various robots - 智能环境-机器人合作-各种机器人的关门任务-
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937907
T. Sakaguchi, Takeshi Ujiie, Shinichi Tsunoo, K. Yokoi, K. Wada
{"title":"Intelligent ambience-robot cooperation - Door-closing tasks with various robots -","authors":"T. Sakaguchi, Takeshi Ujiie, Shinichi Tsunoo, K. Yokoi, K. Wada","doi":"10.1109/RIISS.2009.4937907","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937907","url":null,"abstract":"A large amount of information involving human beings is available on the Internet; however, only little information that involves robots is available. We believe that having ambient intelligence provides helpful information for robots under ubiquitous computing technologies. The purpose of our research is to describe common environmental information in order to enable a robotic system to execute target tasks in a variety of ambient conditions. This system can correspond to various robots and various objects when we design the task information, which does not depend on the types and structures of these robots. In this paper, we focus on the door-closing task performed by robots among various other tasks and propose a robot control method that integrates the ambient intelligence. The effectiveness of the proposed system is experimentally confirmed using a refrigerator with two types of doors; a door status sensor, which we developed; a humanoid robot; and a mobile manipulator.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129477368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Wearable joint kinematic monitoring system using inertial and magnetic sensors 采用惯性和磁传感器的可穿戴关节运动监测系统
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937902
Syoji Kobashi, K. Kawano, Y. Tsumori, S. Yoshiya, Y. Hata
{"title":"Wearable joint kinematic monitoring system using inertial and magnetic sensors","authors":"Syoji Kobashi, K. Kawano, Y. Tsumori, S. Yoshiya, Y. Hata","doi":"10.1109/RIISS.2009.4937902","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937902","url":null,"abstract":"Wearable joint kinematics monitoring is effective for analyzing daily human behavior, for evaluating the knee functionality in the daily life, etc. This study proposes a new wearable joint kinematics monitoring system using a composite sensor which is composed of inertial and magnetic sensors. For each segment of the joint, the composite sensor is attached. By indentifying the two sets of acceleration and magnetic vector at the center of knee joint, difference of pose between the sensors are estimated. And, all of three joint angles; flexion/extension (f/e) angle, internal/external (i/e) rotation angle and varus/valgus (v/v) angle, are calculated. The proposed system was applied to knee joint kinematic analysis. The measurement accuracy was evaluated by comparing with optical sensor system. The mean error of measuring f/e angle was −1.61 ± 3.09 deg; of measuring i/e angle was 0.93 ± 1.75 deg; and of measuring v/v angle was 1.83 ± 1.79 deg. To demonstrate the applicability of wearable monitoring, the proposed method was applied to measure knee joint angles during walking and during stair-climbing.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125285027","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Perceptual system for intelligent service robot by using a three-dimensional range camera 基于三维测距相机的智能服务机器人感知系统
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937916
H. Masuta, N. Kubota
{"title":"Perceptual system for intelligent service robot by using a three-dimensional range camera","authors":"H. Masuta, N. Kubota","doi":"10.1109/RIISS.2009.4937916","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937916","url":null,"abstract":"This paper discusses a perceptual system for a intelligent service robot from the viewpoint of human visual perception. Recently, various sensors were equipped with an autonomous robot enable to get too much information on the environment. However, the robot must perceive the necessary information from too much information to take a flexible action like a human. In this study, we emphasize the importance of human vision for the robot to realize perception and action flexibility. Especially, we focus on the perceptual system based on perceiving-acting cycle discussed in ecological psychology. First, we propose a retinal model for a 3D-range camera based on human retinal structure, and the information extraction method using a spiking neural network based on perceiving-acting cycle. Next, we apply the proposed method for a task of clearing the table. As an experimental result, we show the proposed method can directly perceive the necessary information by the attention mechanism for the flexible perception according to spatiotemporal context based on the spiking neural network.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"356 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115935689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Outer shape classification in rotation manipulation by Universal Robot Hand 通用机器人手旋转操作中的外形状分类
2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space Pub Date : 2009-05-15 DOI: 10.1109/RIISS.2009.4937919
Hiroyuki Nakamoto, W. Fukui, F. Kobayashi, F. Kojima, N. Imamura, H. Shirasawa
{"title":"Outer shape classification in rotation manipulation by Universal Robot Hand","authors":"Hiroyuki Nakamoto, W. Fukui, F. Kobayashi, F. Kojima, N. Imamura, H. Shirasawa","doi":"10.1109/RIISS.2009.4937919","DOIUrl":"https://doi.org/10.1109/RIISS.2009.4937919","url":null,"abstract":"We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.","PeriodicalId":110992,"journal":{"name":"2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126166571","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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