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2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Development of URC Testing & Certification System URC测试认证系统的开发
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382897
Sang-Guk Jung, Shim-Seok Lee, Y. Park, Jang-Kyung Kim
{"title":"Development of URC Testing & Certification System","authors":"Sang-Guk Jung, Shim-Seok Lee, Y. Park, Jang-Kyung Kim","doi":"10.1109/CIRA.2007.382897","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382897","url":null,"abstract":"Ubiquitous robotic companion (URC) is defined as a network-based intelligent service robot and it is in the early stage on commercial. URC provides various services directly to a user at close hand compare to industrial robot, and thus malfunction or electric unstability of URC can be a significant problem to the user. The poor service quality can also make a bad robot image and it can be an obstacle in robot commercialization. In this respect, the safety and service quality should be guaranteed. This paper focuses on a test specification and certification system of URC to guarantee the service quality and safety.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125423281","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
Reinforcement Learning with a Supervisor for a Mobile Robot in a Real-world Environment 现实环境中移动机器人的监督强化学习
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382878
K. Welch, R. Peters
{"title":"Reinforcement Learning with a Supervisor for a Mobile Robot in a Real-world Environment","authors":"K. Welch, R. Peters","doi":"10.1109/CIRA.2007.382878","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382878","url":null,"abstract":"This paper describes two experiments with supervised reinforcement learning (RL) on a real, mobile robot. Two types of experiments were preformed. One tests the robot's reliability in implementing a navigation task it has been taught by a supervisor. The other, in which new obstacles are placed along the previously learned path to the goal, measures the robot's robustness to changes in environment. Supervision consisted of human-guided, remote-controlled runs through a navigation task during the initial stages of reinforcement learning. The RL algorithms deployed enabled the robot to learn a path to a goal yet retain the ability to explore different solutions when confronted with a new obstacle. Experimental analysis was based on measurements of average time to reach the goal, the number of failed states encountered during an episode, and how closely the RL learner matched the supervisor's actions.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125436306","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
A robust PID like state-feedback control via LMI approach: An application on a Double Inverted Pendulum System 基于LMI方法的鲁棒类PID状态反馈控制:在双倒立摆系统中的应用
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382838
A. Delibasi, I. Küçükdemiral, G. Cansever
{"title":"A robust PID like state-feedback control via LMI approach: An application on a Double Inverted Pendulum System","authors":"A. Delibasi, I. Küçükdemiral, G. Cansever","doi":"10.1109/CIRA.2007.382838","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382838","url":null,"abstract":"This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H2 and Hinfin specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127208223","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
Autonomous Configuration of Transportation Network by Artificial Pheromone System 基于人工信息素系统的交通网络自主配置
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2006-09-25 DOI: 10.1109/CIRA.2007.382840
Herianto, Tomoaki Koiwa, D. Kurabayashi
{"title":"Autonomous Configuration of Transportation Network by Artificial Pheromone System","authors":"Herianto, Tomoaki Koiwa, D. Kurabayashi","doi":"10.1109/CIRA.2007.382840","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382840","url":null,"abstract":"This paper discusses an algorithm to realize the autonomous organization of a transportation network system inspired by social insects. As social insects, a group of ants show advanced performance in their activity by using a chemical substance called pheromone. Although the pheromone shows some interesting characteristics, it is difficult to use it in real applications. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations. The pheromone potential field system can be used in a transportation network system.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123768590","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
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