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2005 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Faster learning in embodied systems through characteristic attitudes 通过特征态度在具身系统中更快地学习
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-12-12 DOI: 10.1109/CIRA.2005.1554338
D. Jacob, D. Polani, Chrystopher L. Nehaniv
{"title":"Faster learning in embodied systems through characteristic attitudes","authors":"D. Jacob, D. Polani, Chrystopher L. Nehaniv","doi":"10.1109/CIRA.2005.1554338","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554338","url":null,"abstract":"Classical reinforcement learning is a general learning paradigm with wide applicability in many problem domains. Where embodied agents are concerned, however, it is unable to take advantage of the structured, regular nature of the physical world to maximise learning efficiency. Here, using a model of a three joint robot arm, we show initial learning accelerated by an order of magnitude using simple constraints to produce characteristic attitudes, implemented as part of the learning algorithm. We point out possible parallels with constraints on the movement of natural organisms owing to their detailed mechanical structure. The work forms part of our EMBER framework for reinforcement learning in embodied agents introduced and developed in 2004.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114177874","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
Wavelet-based Disturbance Classification with Robot Ann Application Example 基于小波的机器人神经网络干扰分类应用实例
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554273
V. Hölttä, Joonas Varso
{"title":"Wavelet-based Disturbance Classification with Robot Ann Application Example","authors":"V. Hölttä, Joonas Varso","doi":"10.1109/CIRA.2005.1554273","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554273","url":null,"abstract":"In a certain robot control benchmark it is known that certain types of disturbances occur. This paper presents a classifier that gives a fuzzy estimate of the disturbance that is currently affecting the process. The classifier uses the discrete wavelet transform to extract features from the measurement signal. Based on the features, a fuzzy inference system gives an estimate of the proportion of different disturbances that are present in the signal. The output of the classifier is used to select the controller such that a controller that is tuned for a particular disturbance is used for controlling the process during the disturbance","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133555487","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
Expression of Emotion in Robots Using a Flow ofArtificial Consciousness 利用人工意识流在机器人中表达情感
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554313
A. Ogiso, S. Kurokawa, M. Yamanaka, Yukinobu Imai, J. Takeno
{"title":"Expression of Emotion in Robots Using a Flow ofArtificial Consciousness","authors":"A. Ogiso, S. Kurokawa, M. Yamanaka, Yukinobu Imai, J. Takeno","doi":"10.1109/CIRA.2005.1554313","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554313","url":null,"abstract":"This paper discusses the development of a robot head that creates a facial expression according to emotion resulting from a flow of consciousness. The authors focused attention on the human consciousness and proposed a system using a unique artificial consciousness according to the relationship between emotion and the resulting human facial expressions. The artificial consciousness is used to imitate the human consciousness and generate emotion in the robot using data from the Internet. The authors have also developed a robot system that is similar in structure to that of the human anatomy in order to achieve smooth communication with people. By combining these two systems, the authors were able to realize the expression of emotion according to a flow of consciousness using a humanoid robot","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128305690","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: 5
Intelligent Communication Between Agents of Autonomous Decentralized FMS 自主分散FMS中agent间的智能通信
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554315
Hidehiko Yamamoto, E. Marui
{"title":"Intelligent Communication Between Agents of Autonomous Decentralized FMS","authors":"Hidehiko Yamamoto, E. Marui","doi":"10.1109/CIRA.2005.1554315","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554315","url":null,"abstract":"Autonomous decentralized flexible manufacturing system (AD-FMS) is one of the near future production style. This paper describes the intelligent communication method to realize the AD-FMS. Specifically, how to communicate among each agent and how to use the acquired information is utilized are described. After applying the developed system to some AD-FMS examples, it is ascertained that it is useful","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124645468","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: 5
High Frequency Translational Oscillation & Rotational Drilling of the Needle in Reducing Target Movement 高频平移振荡;减少目标运动中针的旋转钻孔
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554271
K. Yan, W. Ng, K. Ling, Tien-I Liu, Yan Yu, T. Podder
{"title":"High Frequency Translational Oscillation & Rotational Drilling of the Needle in Reducing Target Movement","authors":"K. Yan, W. Ng, K. Ling, Tien-I Liu, Yan Yu, T. Podder","doi":"10.1109/CIRA.2005.1554271","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554271","url":null,"abstract":"Flexible instrument insertion is one of the most commonly performed procedures in percutaneous surgery. Target movement caused by tissue deformation results in targeting inaccuracy no matter how well the initial planning is. Various efforts have been put into modeling the tissue deformation to predict the target movement. This paper investigates two approaches in reducing the target movement physically. One is high frequency translational oscillation of the needle. The other is rotational drilling of the needle. Experiments have been carried out accordingly to test these hypotheses. From the results, we can see that both methods can reduce the target movement effectively","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114858856","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: 11
An Approach for Programming Robots by Demonstration: Generalization Across Different Initial Configurations of Manipulated Objects 机器人演示编程的一种方法:被操纵对象不同初始构型的泛化
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554255
A. Alissandrakis, Chrystopher L. Nehaniv, K. Dautenhahn, J. Saunders
{"title":"An Approach for Programming Robots by Demonstration: Generalization Across Different Initial Configurations of Manipulated Objects","authors":"A. Alissandrakis, Chrystopher L. Nehaniv, K. Dautenhahn, J. Saunders","doi":"10.1109/CIRA.2005.1554255","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554255","url":null,"abstract":"Imitation is a powerful learning tool that can be used by a robotic agent to socially learn new skills and tasks. One of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching depends on different metrics and granularity. Focusing on object manipulation and arrangement demonstrated by a human, this paper presents Jabberwocky, a system that uses different metrics and granularity to produce action command sequences that when executed by an imitating agent can achieve corresponding effects (manipulandum absolute/relative position, displacement, rotation and orientation). Based on a single demonstration of an object manipulation task by a human and using a combination of effect metrics, the system is shown to produce correspondence solutions that are then performed by an imitating agent, generalizing with respect to different initial object positions and orientations in the imitator's workspace. Depending on the particular metrics and granularity used, the corresponding effects will differ (shown in examples), making the appropriate choice of metrics and granularity depend on the task and context","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133113580","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: 26
Plenary talk June 29; The 3rdGeneration of Robotics: Ubiquitous Robot 6月29日全体会议;第三代机器人:无处不在的机器人
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554245
Jong-Hwan Kim
{"title":"Plenary talk June 29; The 3rdGeneration of Robotics: Ubiquitous Robot","authors":"Jong-Hwan Kim","doi":"10.1109/CIRA.2005.1554245","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554245","url":null,"abstract":"This talk shows its possibility of implementation in real life through demonstrations using a Sobot, Rity: i) continuous interface between physical and virtual worlds ii) seamless transmission of Sobot between a PC and a Mobot, and iii) omnipresence of Sobot. Rity, developed at the Robot Intelligence Technology (RIT) Laboratory, KAIST, is a Sobot implemented as a 12 DOF artificial creature in the virtual 3D world created in a PC. It has virtual sensors to survive in the virtual world and physical sensors attached to the PC to interact with the real world. Based on sensor information it can express its emotion, and interact with human beings through a web camera in the real world. It can generate behaviors autonomously and has its own IP. This means that it can be accessed through a network at anywhere and anytime using any device. With this technique omnipresence of Sobot can be realized in a ubiquitous space. The eventual goal of this research is to integrate Sobot, Embot, and Mobot to build up a Ubibot so that ubiquitous services through it can be available in a ubiquitous era","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123327471","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
Remote Tools Using Wireless Communication for Self-Recon gurable Robot, Applied to maam Project 基于无线通信的自侦察机器人远程工具，在maam项目中的应用
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-30 DOI: 10.1109/CIRA.2005.1554350
C. Guéganno, D. Duhaut
{"title":"Remote Tools Using Wireless Communication for Self-Recon gurable Robot, Applied to maam Project","authors":"C. Guéganno, D. Duhaut","doi":"10.1109/CIRA.2005.1554350","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554350","url":null,"abstract":"This paper presents, first, the maam project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. To develop a new concept of robot requires to bring answers to the general questions of displacement of the modules, docking. This is why we focus here on the high level tools, built on a middleware including wireless communication. We show how such tools can decrease the duration of development, and facilitate the technology transfers","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122031936","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: 2
A collective moving algorithm in modular robotics: contribution of communication capacities 模块化机器人中的集体移动算法:通信能力的贡献
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554349
V. Montreuil, D. Duhaut, A. Drogoul
{"title":"A collective moving algorithm in modular robotics: contribution of communication capacities","authors":"V. Montreuil, D. Duhaut, A. Drogoul","doi":"10.1109/CIRA.2005.1554349","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554349","url":null,"abstract":"The goal of self-reconfigurable robotics is to replace a complex robot by a swarm of more simple robots called modules which can change the way they are connected, creating thus a robot which can adapt his shape to the environment in which it is evolving. The goal of this approach is to obtain a large robustness against breakdowns. In order to further increase this robustness, we can use autonomous modules which can move by their own and which can make/break connections with other modules as desired. We present a behaviour model for autonomous modules to permit the swarm to get over simple difficulties: climbing on straight walls, getting over ditches and moving down straight walls. Our model is an identical finite state machine implanted in all modules which is dedicated to the movement of autonomous modules swarm. We also present three simulations in which we study three different levels of communication, thus estimating influence of these capacities on the modules swarm speed to get over three consecutive difficulties.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115365760","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
Cooperative systems modeling, example of a cooperative e-maintenance system 合作系统建模，一个合作电子维护系统的例子
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554316
David Saint-Voirin, Christophe Lang, Noureddine Zerhouni, Hervé Guyennet
{"title":"Cooperative systems modeling, example of a cooperative e-maintenance system","authors":"David Saint-Voirin, Christophe Lang, Noureddine Zerhouni, Hervé Guyennet","doi":"10.1109/CIRA.2005.1554316","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554316","url":null,"abstract":"Cooperation is an efficiency factor in many activities like design, medicine or maintenance. Several researches try to optimize cooperation activity by using tools or algorithms designed to enhance human interaction. Few researches are made on conceptual cooperation modeling. However, industrials want to compare different algorithms, organizations or cooperation modes. It is also useful to represent these systems in order to simplify design operations. We proposed our cooperating systems modeling in previous work of D. Saint-Voirin, C. Lang, and N. Zerhouni (2003). This one provides a simulation approach to answer this needs. In this paper, we present an application of our modeling principles on an existing e-maintenance system. This system is part of our work on the European PROTEUS project [ITEA 01011, http://www.proteus-iteaproject.com/] by M. Thron, J.P. Thomesse, X. Reboeuf, C. Lang, E. Garcia, J. Szymansi, T. Bangemann (2003). By using these modeling principles, industrials should be able to represent and simulate their remote maintenance systems in order to optimize them.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117347139","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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