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

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On the tips of one's toes: self-localization in a dynamic environment 踮起脚尖:动态环境中的自我定位
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554300
F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria
{"title":"On the tips of one's toes: self-localization in a dynamic environment","authors":"F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria","doi":"10.1109/CIRA.2005.1554300","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554300","url":null,"abstract":"This paper deals with the self-localization of an autonomous mobile robot within a dynamic environment. The concept of dynamic environments is extended along the vertical direction: this paper assumes that above our heads exists a free zone where also highly dynamic environments become almost \"static\". The localization process, if managed into the free zone, does not suffer from feature occlusions and other related issues. The feature matching process is carried out using a typical split and merge algorithm which supplies an extended Kalman filter with observations used to perform position tracking.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"199 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":"133461862","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: 7
Robot navigation using biosonar for natural landmark tracking 利用生物声纳进行自然地标跟踪的机器人导航
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554246
Maosen Wang, H. Tamimi, A. Zell
{"title":"Robot navigation using biosonar for natural landmark tracking","authors":"Maosen Wang, H. Tamimi, A. Zell","doi":"10.1109/CIRA.2005.1554246","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554246","url":null,"abstract":"A biosonar based mobile robot navigation system is presented for the natural landmark classification using acoustic image matching. The aim of this approach is to take advantage of the perceived properties of bats' prey and landmark identification mechanisms for mobile robots' tracking of natural landmarks. Recognizing natural landmarks like trees through sequential echolocation and acoustic image analyzing allows mobile robot to update its location in the natural environment. In this work, a working implementation of the biosonar system on a mobile robot is shown. It collects sequential echoes to produce acoustic images through digital signal processing (DSP), then compresses images with discrete cosine transform or pyramid algorithm. Fast normalized cross correlation (FNCC) and kernel principal component analysis (KPCA) are respectively used to make the final classification. Experimental result indicates that a mobile robot can achieve the ability of natural landmark classification only based on biomemetic sonar, the topological congruency of the relational structure with cross correlation in acoustic images is reliable in time domain, while the kernel principle component analysis based classification is robust in frequency domain and demands fewer echolocation for landmark classification.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"150 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":"123266723","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
Evolutionary acquisition of complex behaviors through intelligent composite motion control 基于智能复合运动控制的复杂行为进化获取
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554282
Masakazu Suzuki
{"title":"Evolutionary acquisition of complex behaviors through intelligent composite motion control","authors":"Masakazu Suzuki","doi":"10.1109/CIRA.2005.1554282","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554282","url":null,"abstract":"In this paper the intelligent composite motion control, ICMC, is introduced as a method for evolutionary acquisition of complex behaviors. The paper describes how adaptive robot behavior acquisition is achieved by the presented method in evolutionary manner. The methodology does not simply aim at ad hoc execution of given tasks but acquisition of complex behaviors that can be effectively utilized to more complex behaviors. The ICMC is then applied to the cooperative behavior realization problem in robot soccer to demonstrate the acquisition process.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"47 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":"114864217","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: 18
Time sequence data mining for cooking support robot 烹饪辅助机器人时序数据挖掘
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554323
Y. Nakauchi, T. Fukuda, K. Noguchi, T. Matsubara
{"title":"Time sequence data mining for cooking support robot","authors":"Y. Nakauchi, T. Fukuda, K. Noguchi, T. Matsubara","doi":"10.1109/CIRA.2005.1554323","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554323","url":null,"abstract":"Recent development of information technology is making electric household appliances computerized and networked. If the environments surrounding us could recognize our activities indirectly by sensors, the novel services, which respect our activities, can be possible. In this paper, we propose human activity recognition system, which infers the next human action by taking account of the past human behaviors observed so far. We also developed cooking support robot, which suggests what the human should do next by voice and gesture. Experimental results confirmed the feasibility of the inference system and the quality of support.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"57 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":"116131797","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: 8
Multiactor approach and hexapod robot learning 多因素方法与六足机器人学习
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554353
Y. Zennir, P. Couturier
{"title":"Multiactor approach and hexapod robot learning","authors":"Y. Zennir, P. Couturier","doi":"10.1109/CIRA.2005.1554353","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554353","url":null,"abstract":"This paper presents a multiactor approach of the Q-learning used to teach a hexapod robot to control its trajectory. So, each actor participating to the same global task performs its own learning process taking into account or not the other agents. As any actor \"leg of hexapod robot\" cannot achieve its movements without interacting with others, co-ordination may be set up. This \"co-ordination with actors\" approach is applied to solve the problems of displacement, trajectory and posture control of a hexapod robot in its environment. The efficiency of the approach is validated through simulation results.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"79 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":"117217458","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: 4
Trajectory reconstruction with NURBS curves for robot programming by demonstration 基于NURBS曲线的机器人轨迹重建，并通过实例进行了验证
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554257
J. Aleotti, S. Caselli, Giuliano Maccherozzi
{"title":"Trajectory reconstruction with NURBS curves for robot programming by demonstration","authors":"J. Aleotti, S. Caselli, Giuliano Maccherozzi","doi":"10.1109/CIRA.2005.1554257","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554257","url":null,"abstract":"Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviors is the programming by demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviors from a human operator demonstration. This paper describes a virtual reality based PbD system for pick-and-place and manipulation tasks. The system recovers smooth robot trajectories from single or multiple user demonstrations, thereby overcoming sensor noise and human inconsistency problems. More specifically, we investigate the benefits of the human hand trajectory reconstruction with NURBS curves by means of a best-fit data smoothing algorithm. Some experiments involving object transportation while avoiding obstacles in the workspace show the viability and effectiveness of the approach.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"280 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":"114947533","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: 30
Autonomous transition of transportation network by interactions between agents and an environment agent与环境交互作用下交通网络的自主过渡
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554284
K. Daisuke, U. Katsunori, F. Tetsuro
{"title":"Autonomous transition of transportation network by interactions between agents and an environment","authors":"K. Daisuke, U. Katsunori, F. Tetsuro","doi":"10.1109/CIRA.2005.1554284","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554284","url":null,"abstract":"We have formulated and examined an autonomous organization system for transportation network system. In this paper, we have considered costs not only to traverse but also to maintain some routes on a transportation network. The results say that the proposed algorithm changes a transportation algorithm, into a feasible topology that has the smallest cost to traverse and the property of the small-world network.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121852934","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
Sensory operation of robot manipulator by using brain-wave signals 利用脑波信号实现机器人机械手的感官操作
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554270
M. Shiraishi, H. Sumiya
{"title":"Sensory operation of robot manipulator by using brain-wave signals","authors":"M. Shiraishi, H. Sumiya","doi":"10.1109/CIRA.2005.1554270","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554270","url":null,"abstract":"When we look at a comfortable scene or feel relaxed, our brain waves generally exhibit /spl alpha/-wave signals in the frequency band of approximately 8 to 13 Hz. These a waves particularly exhibit a 1/f fluctuation in which the corresponding power is inversely proportional to frequency f. 1/f /spl alpha/-wave signals obtained from test subjects listening to relaxing music were inputted to a robot manipulator. To evaluate the resulting motions, test subjects were asked to complete questionnaires while they watched two types of manipulator motions: a 1/f motion and a white-noise-like motion. The results indicated that 90% of the subjects felt comfortable while watching the 1/f manipulator motions.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"33 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":"126827196","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
Robust tracking control of space robots using fuzzy neural network 空间机器人模糊神经网络鲁棒跟踪控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554274
Changhong Wang, Baomin Feng, G. Ma, Chuang Ma
{"title":"Robust tracking control of space robots using fuzzy neural network","authors":"Changhong Wang, Baomin Feng, G. Ma, Chuang Ma","doi":"10.1109/CIRA.2005.1554274","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554274","url":null,"abstract":"This paper proposes for space robots a robust fuzzy neural network (FNN) controller, which does not require linear parameterization necessary for standard adaptive control of fixed-base robot manipulator. With suitable modifications, this FNN tracking controller can achieve high-precision position control. Simulation results of a two-link planar space robot verify the validity of the proposed RFNN controller in the presence of uncertainties.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"32 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":"121447118","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: 20
Ball balancing system: an educational device for demonstrating optimal control 球平衡系统:演示最佳控制的教育装置
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554306
J. Kostamo, H. Hyötyniemi, P. Kuosmanen
{"title":"Ball balancing system: an educational device for demonstrating optimal control","authors":"J. Kostamo, H. Hyötyniemi, P. Kuosmanen","doi":"10.1109/CIRA.2005.1554306","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554306","url":null,"abstract":"The basic ideas of feedback and control are not difficult to understand. However it is an interesting challenge to demonstrate control techniques in an entertaining and attractive way. The ball balancing device presented in this paper was developed to be used as a research and exhibition device. The solution of the control design problem is based on the physical model of the process and modern control theory. Linear quadratic regulator is used to control the process and Kalman filter is used to estimate the state of the ball. Machine vision is applied in the position measurement of the ball and linear servo motors are used as actuators.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"9 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":"114241715","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
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