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

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Longitudinal vehicle guidance using neural networks 基于神经网络的纵向车辆制导
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554356
A. Tahirovic, S. Konjicija, Z. Avdagić, G. Meier, C. Wurmthaler
{"title":"Longitudinal vehicle guidance using neural networks","authors":"A. Tahirovic, S. Konjicija, Z. Avdagić, G. Meier, C. Wurmthaler","doi":"10.1109/CIRA.2005.1554356","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554356","url":null,"abstract":"The purpose of this paper is to show a simple ability of using neural networks in longitudinal vehicle guidance. The main motivation is an opportunity of neural networks to learn from acquired real driver data, as well as to reproduce many driver behaviour styles raging from extremely comfort to extremely sportive ones. This possibility is shown with a simulated model based longitudinal trajectory generation. This model has used an adjustable comfort parameter for different sorts of driver behaviour. Experiment results, obtained with Audi test vehicle, are also presented.","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":"124307756","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
Model-free execution monitoring by learning from simulation 通过从模拟中学习来进行无模型执行监控
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554327
O. Pettersson, L. Karlsson, A. Saffiotti
{"title":"Model-free execution monitoring by learning from simulation","authors":"O. Pettersson, L. Karlsson, A. Saffiotti","doi":"10.1109/CIRA.2005.1554327","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554327","url":null,"abstract":"Autonomous robots need the ability to plan their actions and to execute them robustly and in a safe way in face of a changing and partially unpredictable environment. This is especially important if we want to design autonomous robots that can safely co-habitate with humans. In order to manage this, these robots need the ability to detect when the execution does not proceed as planned, and to correctly identify the causes of the failure. An execution monitoring system is a system that allows the robot to detect and classify these failures. In this work we show that pattern recognition techniques can be applied to realize execution monitoring by classifying observed behavioral patterns into normal or faulty behaviors. The approach has been successfully tested on a real robot navigating in an office environment. Interesting, these tests show that we can train an execution monitor in simulation, and then use it in a real robot.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"29 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":"128704314","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
Low level navigation system for a POMDP based on WiFi and ultrasound observations 基于WiFi和超声观测的低空导航系统
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554299
M. Ocaña, M. Sotelo, L. Bergasa, R. Flores
{"title":"Low level navigation system for a POMDP based on WiFi and ultrasound observations","authors":"M. Ocaña, M. Sotelo, L. Bergasa, R. Flores","doi":"10.1109/CIRA.2005.1554299","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554299","url":null,"abstract":"In this paper we present the low level navigation system carried out in a partially observable Markov decision process (POMDP) based on WiFi and ultrasound observations. We use an H-shape model for the corridor, obtained from ultrasound range sensor. This system leads the robot to follow a corridor while it's detecting transitions for each door in autonomous mode. We demonstrate that this system is useful as low level navigator in a POMDP for indoor environments with a real robot. Some experimental results are shown. Finally, the conclusions and future works are presented.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"28 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":"122385602","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
Development of a robot with a sense of self 开发具有自我意识的机器人
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554279
K. Kawamura, W. Dodd, P. Ratanaswasd, Ridelto A. Gutierrez
{"title":"Development of a robot with a sense of self","authors":"K. Kawamura, W. Dodd, P. Ratanaswasd, Ridelto A. Gutierrez","doi":"10.1109/CIRA.2005.1554279","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554279","url":null,"abstract":"This paper describes our efforts to develop a robot with a sense of self using a multiagent-based cognitive architecture and control with three distinctive memory systems, namely (1) spatio-temporal short-term memory, (2) procedural/declarative/episodic long-term memory and (3) a task-oriented adaptive working memory. Such a robot may be called a cognitive robot. Cognitive robots share a number of key features with conscious machines. We are exploring the interface between cognitive robots and machine consciousness through an internal model called the Self Agent.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"85 6 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":"131011042","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: 28
Modular neural control for a reactive behavior of walking machines 步行机器人反应行为的模块化神经控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554310
P. Manoonpong, F. Pasemann, J. Fischer
{"title":"Modular neural control for a reactive behavior of walking machines","authors":"P. Manoonpong, F. Pasemann, J. Fischer","doi":"10.1109/CIRA.2005.1554310","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554310","url":null,"abstract":"A small modular neural network is presented which is able to control the sensor-driven behavior of walking machines with many degrees of freedom. The controller is composed of a so called minimal recurrent controller (MRC) for sensory signal processing, a SO(2)-network as neural oscillator to generate the rhythmic leg movements, and a velocity regulating network (VRN) which expands the steering capabilities of the walking machine. This recurrent neurocontroller enables the machine to explore an in-door environment by avoiding obstacles. It was developed and tested using a physical simulation environment, and was then successfully transferred to the physical four-legged walking machine, called AMOS-WD02.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126596286","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: 10
Design and shape deposition manufacturing (SDM) fabrication of a PZT-actuated tool for micromanipulation pzt驱动微操作工具的设计和形状沉积制造(SDM)制造
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554263
A. Eisinberg, I. Izzo, A. Menciassi, K. Houston, P. Valdastri, P. Dario, Rickhard Gustafsson, U. Simu, S. Johansson
{"title":"Design and shape deposition manufacturing (SDM) fabrication of a PZT-actuated tool for micromanipulation","authors":"A. Eisinberg, I. Izzo, A. Menciassi, K. Houston, P. Valdastri, P. Dario, Rickhard Gustafsson, U. Simu, S. Johansson","doi":"10.1109/CIRA.2005.1554263","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554263","url":null,"abstract":"In this paper a novel tool for micromanipulation is presented. The device has been purposely designed for integration in small mobile microrobots, aimed at performing cooperative precision manipulation and assembly tasks. Concerning the actuation, multilayer piezoceramic components were developed and employed. The selected low-cost fabrication technique is shape deposition manufacturing (SDM), and different alternatives have been investigated, in order to select the optimal design. Several prototypes have been fabricated, and preliminary experimental tests have been performed, both regarding the characterization and the grasping capabilities.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 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":"125859489","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
State observer-based discrete-time fuzzy control system 基于状态观测器的离散模糊控制系统
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554331
Hugang Han, Yoshio Morioka, S. Katagiri
{"title":"State observer-based discrete-time fuzzy control system","authors":"Hugang Han, Yoshio Morioka, S. Katagiri","doi":"10.1109/CIRA.2005.1554331","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554331","url":null,"abstract":"This paper addresses the fuzzy control problem for a class of discrete-time nonlinear systems with disturbance. In case not all the system states are available, state observer is proposed. Consequently, the whole system behavior can be attributed to a kind of the standard singularly perturbed form. The system design is based on the estimated values from the state observer. It is shown that the proposed fuzzy controller guarantees the output of the considered system follows the desired value while maintaining all signals involved in the system stable.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"85 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":"131530809","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 real time architecture for small biped robot YABIRO 小型双足机器人YABIRO的分布式实时体系结构
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554351
M. Gil, F. Blanes, G. Benet, P. Perez, José-Enrique Simó-Ten, J. Coronel
{"title":"Distributed real time architecture for small biped robot YABIRO","authors":"M. Gil, F. Blanes, G. Benet, P. Perez, José-Enrique Simó-Ten, J. Coronel","doi":"10.1109/CIRA.2005.1554351","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554351","url":null,"abstract":"In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"4 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":"128041014","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
A study on active balancing for rotating machinery using influence coefficient method 用影响系数法研究旋转机械的主动平衡
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554352
Soo-Hun Lee, Bongstik Kim, Jong-Duck Moon, Do-Hyung Kim
{"title":"A study on active balancing for rotating machinery using influence coefficient method","authors":"Soo-Hun Lee, Bongstik Kim, Jong-Duck Moon, Do-Hyung Kim","doi":"10.1109/CIRA.2005.1554352","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554352","url":null,"abstract":"Unbalance-induced vibration of rotating machineries is an essential factor in lowering the efficiency and performance of a rotating system. Particularly, the severe resonant vibration of a rotor while passing critical speeds has harmful effect on the rotor system. To minimize this vibration effect, this paper shows the active balancing approach using the active balancing device of an electromagnetic type and the balancing control program with a gain scheduling control for real spindle system. The designed active balancing device features a simple structure, fast response, accurate control, and non-contact driving in order to resolve major problems of existing balancing system. In addition, the balancing control method using influence coefficient matrix of a reference model as the gain matrix is proved to be effective in balancing by experiments even though rotating system's characteristics are changed suddenly. The stability of reference influence coefficient is verified by frequency response functions. The active balancing experiment for spindle system with our balancing device and program is well performed during operation, and then controlled unbalance responses are also below the vibration limit at all rotating speed ranges including critical speeds.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"38 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":"131931923","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: 15
Uncalibrated visual-servoing of a dual-arm robot for surgical tasks 用于外科手术任务的双臂机器人的非校准视觉伺服
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554269
P. Hynes, G. Dodds, A. Wilkinson
{"title":"Uncalibrated visual-servoing of a dual-arm robot for surgical tasks","authors":"P. Hynes, G. Dodds, A. Wilkinson","doi":"10.1109/CIRA.2005.1554269","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554269","url":null,"abstract":"In minimally invasive surgery, small incisions are made in a patient's body and tools are inserted through these incisions. A surgeon performs operations using visual feedback from camera images. Such procedures can be very strenuous to perform. Various steps have been taken to utilize robots in minimally invasive surgery. The vast majority of such systems are teleoperated, with very little work on autonomous systems. This work looks at the potential of using uncalibrated visual-servoing robotic systems as an aid for surgeons. The range of tasks involved in minimally invasive surgery present a good set of tasks for the further development of visual-servoing techniques. In this paper we present a test-bed that is used to develop visual servo algorithms for the completion of complex surgical tasks. A sample task involving manipulation of a thread using the two grippers is evaluated for its implementation efficacy.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"60 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":"134207156","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
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