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

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Ambient intelligence as paradigm of a full automation process at home in a real application 以环境智能为范例的全自动化过程在家居中的实际应用
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554322
Alfonso Gárate, Imanol Lucas, N. Herrasti, Antonio López
{"title":"Ambient intelligence as paradigm of a full automation process at home in a real application","authors":"Alfonso Gárate, Imanol Lucas, N. Herrasti, Antonio López","doi":"10.1109/CIRA.2005.1554322","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554322","url":null,"abstract":"As a result of the increasing miniaturization of electronic circuitry and the corresponding increase in computational power of embedded systems, the point has been reached where it is possible to integrate electronics into the day to day elements of people's lives. The types of relationship man-machine-product currently found based on pushbuttons, keys and menus will disappear, to be replaced by intelligent systems with which interact through natural speech, movements, gestures, etc. The environments, by means of the systems, products and machines of which they are made, will respond, and will even anticipate, the orders given by the user's voice, gestures or hands, facial expressions, etc. This challenge has been reached by the project called GENIO: to get a multimodal user interface to control any kind of domestic devices, mainly the household appliances and the entertainment systems, in other to obtain a first product based on the precepts of ambient intelligence.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"26 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":"132885549","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
Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination 移动机器人智能自主导航:空间概念获取与目标识别
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554335
Eric A. Antonelo, M. Figueiredo, A. Baerveldt, R. Calvo
{"title":"Intelligent autonomous navigation for mobile robots: spatial concept acquisition and object discrimination","authors":"Eric A. Antonelo, M. Figueiredo, A. Baerveldt, R. Calvo","doi":"10.1109/CIRA.2005.1554335","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554335","url":null,"abstract":"An autonomous system able to construct its own navigation strategy for mobile robots is proposed. The navigation strategy is molded from navigation experiences (succeeding as the robot navigates) according to a classical reinforcement learning procedure. The autonomous system is based on modular hierarchical neural networks. Initially, the navigation performance is poor (many collisions occur). Computer simulations show that after a period of learning, the autonomous system generates efficient obstacle avoidance and target seeking behaviors. Experiments also offer support for concluding that the autonomous system develops a variety of object discrimination capability and of spatial concepts.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"80 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":"125969552","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
Designing and observing human-robot interactions for the study of social development and its disorders 设计和观察人类与机器人的互动，以研究社会发展及其障碍
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554252
H. Kozima, C. Nakagawa, Y. Yasuda
{"title":"Designing and observing human-robot interactions for the study of social development and its disorders","authors":"H. Kozima, C. Nakagawa, Y. Yasuda","doi":"10.1109/CIRA.2005.1554252","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554252","url":null,"abstract":"This paper describes the design principle of our robot, Keepon, and reports the longitudinal observation of the interactions between the robot and children with developmental disorders. The robot, Keepon, is a small (12cm tall), simple (like a yellow snowman), soft (made of silicone rubber), creature-like robot, which was designed for studies on human social development and possible remedies for developmental disorders. We observed how children with developmental disorders interacted with the robot in an unconstrained playroom for more than a year (over 500 child-sessions). From these observations, we found that the children changed their ontological understanding of the robot, and consequently their way of interaction, as the interaction unfolded. We conclude that the robot's rather predictable responses gave the children a relaxed mood for spontaneous play, from which social communication with the robot and with another person would naturally emerge.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"30 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":"124731607","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
Fund raising systems using robots (architecture and behavior study) 使用机器人的融资系统(架构与行为研究)
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554330
Gaetano La Russa, E. Ageenko, Yaroslav Karulin
{"title":"Fund raising systems using robots (architecture and behavior study)","authors":"Gaetano La Russa, E. Ageenko, Yaroslav Karulin","doi":"10.1109/CIRA.2005.1554330","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554330","url":null,"abstract":"In this article we present an interactive automated robot called RoboBeggar that has fund raising capabilities. The system consists of a human-like multimodal robotic unit controlled by a computer. A stand with a touch screen display and a bank card reader provides access to the e-learning and e-commerce applications of the robot. The primary use for the existing robotic system is to collect donations for charity activities and to transfer charity related knowledge to the users of the robot. The robot can be placed in major public places. In the test case presented in this article, its location was a church during the Christmas festivities of 2004. The control system of the robot is a software built upon a Java framework in a way that it can be used for a variety of applications where human interaction is required (i.e. shopping, listing adviser, consultancy, etc.). This article describes the architecture of the robotic system, the solution chosen for the simple management of its complex interface modules and its feasibility for providing insightful data about human interaction. In this article we also discuss possible user scenarios and future perspectives.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"71 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":"124081219","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
Automatic dextrous handling of micro components using a 6 DOF microgripper 使用6自由度微夹持器自动灵活处理微组件
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554265
P. Korhonen, Quan Zhou, J. Laitinen, S. Sjövall
{"title":"Automatic dextrous handling of micro components using a 6 DOF microgripper","authors":"P. Korhonen, Quan Zhou, J. Laitinen, S. Sjövall","doi":"10.1109/CIRA.2005.1554265","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554265","url":null,"abstract":"This paper presents an automatic dextrous handling and inspection system for optoelectronics components using a novel 6 DOF microgripper. The control system includes three hierarchical layers: actuator control layer, motion planning layer, and mission layer. Visual servoing is applied in automatic manipulation. The performance of the system is demonstrated in a machine vision based automatic inspection task for 300 /spl times/ 300 /spl times/ 100 /spl mu/m optoelectronics components.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"34 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":"129917119","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
A vision based algorithm for active robot localization 基于视觉的主动机器人定位算法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554301
E. Frontoni, P. Zingaretti
{"title":"A vision based algorithm for active robot localization","authors":"E. Frontoni, P. Zingaretti","doi":"10.1109/CIRA.2005.1554301","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554301","url":null,"abstract":"This paper describes a method to localize a mobile robot in a structured indoor environment from visual information provided by omnidirectional images. In particular, an approximate algorithm for active robot localization in partially observable environments based on a POMDP model is introduced. Results from many different tests are presented to prove the setting of algorithm parameters. They show that a localization accuracy of less than 25 cm can be achieved even with a partial knowledge of the environment. Besides, the proposed approximated algorithm reduces the computational cost without degrading results.","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":"122782066","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
Great selection pressure genetic algorithm with adaptive operators for adjusting the weights of neural controller 基于自适应算子的大选择压力遗传算法调节神经控制器权值
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554286
B. Lacevic, S. Konjicija, Z. Avdagić
{"title":"Great selection pressure genetic algorithm with adaptive operators for adjusting the weights of neural controller","authors":"B. Lacevic, S. Konjicija, Z. Avdagić","doi":"10.1109/CIRA.2005.1554286","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554286","url":null,"abstract":"In this paper, capabilities of a feed-forward neural network regarding control of the complex object are investigated. Neural controllers have been trained by a genetic algorithm with adaptive mutation and crossover probabilities. A specific model of aggressive selection operator is proposed along with one way of co-evolution of the crossover and mutation rates. Also, different mechanisms of operator adaptation were compared in sense of resulting controller performance. Finally, the measurement results, taken from the object (hydraulically driven two-joint robot arm) are presented.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"165 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":"132462673","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
Evolutionary fuzzy system for architecture control in a constructive neural network 基于构造神经网络的建筑控制进化模糊系统
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554333
R. Calvo, M. Figueiredo, Eric A. Antonelo
{"title":"Evolutionary fuzzy system for architecture control in a constructive neural network","authors":"R. Calvo, M. Figueiredo, Eric A. Antonelo","doi":"10.1109/CIRA.2005.1554333","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554333","url":null,"abstract":"This work describes an evolutionary system to control the growth of a constructive neural network for autonomous navigation. A classifier system generates Takagi-Sugeno fuzzy rules and controls the architecture of a constructive neural network. The performance of the mobile robot guides the evolutionary learning mechanism. Experiments show the efficiency of the classifier fuzzy system for analyzing if it is worth inserting a new neuron into the architecture.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"72 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":"132187885","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
Development of Representations, Categories and Concepts—a Hypothesis 表征、范畴和概念的发展—一个假设
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554341
H. Valpola
{"title":"Development of Representations, Categories and Concepts—a Hypothesis","authors":"H. Valpola","doi":"10.1109/CIRA.2005.1554341","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554341","url":null,"abstract":"A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. The author proposes an architecture which learns a hierarchy of increasingly abstract, invariant features. Invariance is achieved by selecting information which reflects distinctions present in supervisory signals conveyed by contextual inputs. The main hypothesis is that the right contextual information can be efficiently distributed by associations and attentional process. The original sources of contextual information are specialised systems which reflect the innate, hard-wired behavioural goals of the system. Sensorimotor coordination generates structured sensory stimuli and the intrinsic contextual signals can select the behaviourally significant structures","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"366 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113986822","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
Advanced solution for a benchmark robot control problem 一个基准机器人控制问题的先进解决方案
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554305
Joonas Varso, K. Zenger, V. Hölttä, H. Koivo
{"title":"Advanced solution for a benchmark robot control problem","authors":"Joonas Varso, K. Zenger, V. Hölttä, H. Koivo","doi":"10.1109/CIRA.2005.1554305","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554305","url":null,"abstract":"The paper presents one solution to a benchmark problem, where the target was to control the position of one robot axis. The model given corresponds to a commercial robot, although some simplifications have been made in constructing the model. The nonlinear and time-varying nature of the process together with large disturbances of several types were the challenge for control design. Traditional optimization and frequency domain techniques were used for tuning suitable PID controllers for each specific disturbance type. Based on input-output measurements the disturbance types were identified using a wavelet technique, and the different PID controllers were scheduled according to the identification result. The performance of the developed controller was tested by simulations and by calculating the value of a cost criterion.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"20 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":"115938157","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
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