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2009 4th International Conference on Autonomous Robots and Agents最新文献

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Planning based on Dynamic Bayesian Network algorithm using dynamic programming and variable elimination 基于动态贝叶斯网络的规划算法，采用动态规划和变量消去
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803924
Sungmin Jung, Gyubok Moon, Yongjun Kim, Kyungwhan Oh
{"title":"Planning based on Dynamic Bayesian Network algorithm using dynamic programming and variable elimination","authors":"Sungmin Jung, Gyubok Moon, Yongjun Kim, Kyungwhan Oh","doi":"10.1109/ICARA.2000.4803924","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803924","url":null,"abstract":"According to the development of robot technology, Human-Robot Interaction (HRI) is the field of study highlighted. The study aims to find the goal of human action considering their intention and behavior based on their respective habits. To gain the principle of behavior on the goal by understanding that of human, engineers draw the inference of the result needed from Planning through HRI. In this paper, plan inference for aimed goal is modeled by calculating with probability what task system performs through the observed behavior. Dynamic Bayesian Network (DBN) uses the probabilistic inference to reveal the relation of data varying according to time. Machine Repository Pioneer data of UCI has proved that accuracy and efficiency of inference is higher than the existing DBN by lowering useless calculation applying the variable elimination method and the concept of dynamic programming for DBN algorithm.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125178239","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
Automatic meal planning using artificial intelligence algorithms in computer aided diabetes therapy 计算机辅助糖尿病治疗中使用人工智能算法的自动膳食计划
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803989
J. Bulka, A. Izworski, Joanna Koleszynska, J. Lis, I. Wochlik
{"title":"Automatic meal planning using artificial intelligence algorithms in computer aided diabetes therapy","authors":"J. Bulka, A. Izworski, Joanna Koleszynska, J. Lis, I. Wochlik","doi":"10.1109/ICARA.2000.4803989","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803989","url":null,"abstract":"Paper presents the review of the computer aided diabetes therapy introducing GIGISim (Glucose-Insulin and Glycemic Index Web Simulator) e-learning tool based on the glucose and insulin plasma levels simulation models and genetic algorithms optimization. Together with the system, recently reported solutions assisting diabetes therapy were summarized and their functionality presented. Artificial intelligence is applied in GIGISim tools to improve patients' management and health awareness. Interactive, diabetes-dedicated simulators, supported with genetic algorithms (GA) have a great deal of educational potential for patients and their families, and may also offer a means of training for health-care professionals. It is generally believed that evolutionary algorithms (EA), which GA are a particular class of, perform consistently well across all types of optimization problems, in this case the optimization of the diabetes meal plan.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125279170","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
An experimental iterative learning strategy for a biped performing semi-active walking 双足动物半主动行走的实验迭代学习策略
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803945
Ting-Ying Wu, T. Yeh
{"title":"An experimental iterative learning strategy for a biped performing semi-active walking","authors":"Ting-Ying Wu, T. Yeh","doi":"10.1109/ICARA.2000.4803945","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803945","url":null,"abstract":"In this paper, an iterative learning strategy is proposed for a biped which performs semi-active walking in the way that during the single support phase of walking, only the joints in the support leg are actuated and those in the swing leg are unactuated. This strategy is intended to provide further experimental tuning on the actuated joint trajectories computed by a model-based optimization procedure. The strategy demands the biped to swing its leg repeatedly, and during each swinging the hip trajectory is iteratively modified by a learning law to minimize foot scuffing of the swing leg and yet keep the associated foot clearance to within a small limit for reducing power consumption. Experiments show that the learning strategy leads to a convergent hip trajectory after 11 iterations. Besides, when the trajectory is adopted for actual walking, the biped demonstrates a good balance between power efficiency and robustness to ground conditions.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114436850","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
Development of a low cost optical tilt sensor 低成本光学倾斜传感器的研制
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803958
A. Aish, M. Rehman
{"title":"Development of a low cost optical tilt sensor","authors":"A. Aish, M. Rehman","doi":"10.1109/ICARA.2000.4803958","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803958","url":null,"abstract":"The paper deals with the theory, design, fabrication and test results of a Fiber optic tilt sensor. The sensor is based upon the modulation of light intensity with the change in the level of Mercury (Hg) surface with tilt. 650 nm light-emitting diode (LED) is used as light source and the reflected light is detected by light dependant resistor (LDR). The output of the receiver circuit is directly proportional to the tilt angle. The sensitivity of the two probe sensor is 0.013 V mrad−1 and the maximum range covered is 53.4 mrad. The sources of error and their minimization have been discussed.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128540426","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
Lane detection system based on software and hardware codesign 基于软硬件协同设计的车道检测系统
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803972
M. Jeng, Chung-Yen Guo, Bo-Cheng Shiau, Liann-Be Chang, P. Hsiao
{"title":"Lane detection system based on software and hardware codesign","authors":"M. Jeng, Chung-Yen Guo, Bo-Cheng Shiau, Liann-Be Chang, P. Hsiao","doi":"10.1109/ICARA.2000.4803972","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803972","url":null,"abstract":"In this paper, we present a lane detection system (LDS) based on software and hardware codesign. In combining both hardware and software designs, it can achieve a real time lane detection within a processing time of less than 50ms. The hardware implemented by FPGA chip captures the lane image from CCD camera within a time less 10ms, which is faster than by software captures. In software design, the global edge detection is able to transfer the gray level image to binary pattern and show the edge of the object. Then, using this binary pattern find out the traffic lane location with following algorithm like the peak-finding and grouping, edge connecting, lane segment combination, lane boundaries selection. The lane departure warning algorithm detects the vehicle whether in traffic lane and judges whether sends out the warning. Experimental results demonstrate a quite good accuracy in lane detection whether at day or night condition.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129229136","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: 17
Robotics competitions in engineering eduction 工程教育中的机器人竞赛
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4804032
M. Chew, S. Demidenko, Chris Messom, G. S. Gupta
{"title":"Robotics competitions in engineering eduction","authors":"M. Chew, S. Demidenko, Chris Messom, G. S. Gupta","doi":"10.1109/ICARA.2000.4804032","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4804032","url":null,"abstract":"Internationally engineering education has had to become more pro-active in attracting students with the technical knowledge, skills and motivation enabling them to excel in four or more years of study with the ultimate goal of addressing the ever-growing demand for qualified engineers from the industry. General public perceptions that engineering is a difficult career field while offering inadequate financial rewards as compared to alternative fields have resulted in significant reduction in student numbers, particularly among high quality students across all the engineering, sciences and technical disciplines. This paper presents the experience of using robotic competition events to motivate school students and help them appreciate what is involved in an engineering design and development fields.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124629972","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: 25
Fixed point relational fuzzy clustering 不动点关系模糊聚类
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803942
R. Brouwer
{"title":"Fixed point relational fuzzy clustering","authors":"R. Brouwer","doi":"10.1109/ICARA.2000.4803942","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803942","url":null,"abstract":"The proposed relational fuzzy clustering method called FRFP (fuzzy relational fixed point) is not based on minimizing an objective function, as in traditional methods, but rather on determining a fixed point of a function of the desired membership matrix with the proximity matrix as parameter. The proposed method is compared to other relational clustering methods including NERFCM, Rouben's method and Windhams AP method. A clustering quality index is calculated for doing the comparison. using various proximity matrices as input. Simulations show the method to be very effective and less computationally expensive than other fuzzy relational data clustering methods.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126754888","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
Error compensation of GPS using sensor fusion in intelligent vehicle 基于传感器融合的智能车载GPS误差补偿
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803944
Chung Byeong-Mook, Seok Jin-Woo, Yeo In-Ju, Cho Che-Seung
{"title":"Error compensation of GPS using sensor fusion in intelligent vehicle","authors":"Chung Byeong-Mook, Seok Jin-Woo, Yeo In-Ju, Cho Che-Seung","doi":"10.1109/ICARA.2000.4803944","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803944","url":null,"abstract":"In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However, the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show that the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130937705","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
Design of multi-joint tracked robot for adaptive uneven terrain driving 多关节履带式机器人自适应不平整地形行驶设计
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803933
Dooyeol Koh, K. Hyun, S. Kim
{"title":"Design of multi-joint tracked robot for adaptive uneven terrain driving","authors":"Dooyeol Koh, K. Hyun, S. Kim","doi":"10.1109/ICARA.2000.4803933","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803933","url":null,"abstract":"Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132154618","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
A method for cooperative robot actions through multi-stage construction of action intelligence 一种基于多阶段动作智能构建的机器人协同行动方法
2009 4th International Conference on Autonomous Robots and Agents Pub Date : 2000-02-01 DOI: 10.1109/ICARA.2000.4803925
Masakazu Suzuki, Y. Igarashi
{"title":"A method for cooperative robot actions through multi-stage construction of action intelligence","authors":"Masakazu Suzuki, Y. Igarashi","doi":"10.1109/ICARA.2000.4803925","DOIUrl":"https://doi.org/10.1109/ICARA.2000.4803925","url":null,"abstract":"This article presents a method for cooperative robot actions through multi-stage construction of action intelligence. The Intelligent Composite Motion Control is a learning methodology for intelligent robots that gradually realizes complex actions from fundamental motions. It is not easy, however, to obtain the action intelligence of a complex cooperation at once, hence the intelligence is constructed through multi-stage action intelligence optimization. For optimization Multi-stage Genetic Algorithm, MGA, is used. The MGA solves a large-scale optimization problem with complicated constraints as multi-stage combinatorial optimization problems with simple constraints, which are solved by GA to generate their suboptimal solution sets. The empirical knowledge obtained is effectively utilized in similar situations and moreover to achieve more complex actions. The method is successfully applied to optimal realization of cooperative robot soccer actions. And it is shown that the resultant action intelligence has large applicability.","PeriodicalId":435769,"journal":{"name":"2009 4th International Conference on Autonomous Robots and Agents","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132699685","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
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