Artificial Life and Robotics最新文献_第7页

A highly scalable Self-organizing Map accelerator on FPGA and its performance evaluation FPGA 上高度可扩展的自组织映射加速器及其性能评估

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Artificial Life and Robotics Pub Date : 2023-11-22 DOI: 10.1007/s10015-023-00916-5

Yusuke Yamagiwa, Yuki Kawahara, Kenji Kanazawa, Moritoshi Yasunaga

引用次数: 0

Pig sorting system with three exits that incorporates an RGB-D sensor for constant use during fattening 生猪分拣系统有三个出口，配有 RGB-D 传感器，可在育肥期间持续使用

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Artificial Life and Robotics Pub Date : 2023-11-18 DOI: 10.1007/s10015-023-00917-4

Kikuhito Kawasue, Khin Dagon Win, Kumiko Yoshida, Geunho Lee

{"title":"Pig sorting system with three exits that incorporates an RGB-D sensor for constant use during fattening","authors":"Kikuhito Kawasue, Khin Dagon Win, Kumiko Yoshida, Geunho Lee","doi":"10.1007/s10015-023-00917-4","DOIUrl":"10.1007/s10015-023-00917-4","url":null,"abstract":"<div><p>In pig production, the number of pigs raised on each farm is increasing, but the population of workers involved in pig production is decreasing, so lighter labor is expected. On the other hand, it is also important to improve pig grading and profitability. Weight is a major criterion for pig grading. Too heavy or too light will decrease profits, and pigs need to be shipped at the appropriate weight. However, since each pig weighs more than 100 kg, weighing each pig is very labor-intensive. In large farms, more than 50 pigs are kept in a single piggery, and they are shipped together at the same time, after determining the day when they have reached the proper weight for shipment. In order to improve profitability, it is important to control the growth of pigs in a piggery so that they grow uniformly and to determine the appropriate shipping date. In this study, a prototype system was developed to automatically measure daily weight distribution. If the weight distribution in the piggery is known, appropriate shipping dates can be determined. This paper reports the results of a valid experiment using the developed system.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139261269","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

Poisoning attack on VIMT and its adverse effect 对 VIMT 的中毒攻击及其不利影响

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Artificial Life and Robotics Pub Date : 2023-11-13 DOI: 10.1007/s10015-023-00914-7

Taichi Ikezaki, Osamu Kaneko, Kenji Sawada, Junya Fujita

{"title":"Poisoning attack on VIMT and its adverse effect","authors":"Taichi Ikezaki, Osamu Kaneko, Kenji Sawada, Junya Fujita","doi":"10.1007/s10015-023-00914-7","DOIUrl":"10.1007/s10015-023-00914-7","url":null,"abstract":"<div><p>In recent years, various approaches have been proposed to design control systems that directly utilize data without mathematical plant models. Data-driven control involves updating or redesigning a controller using actual operating data, enabling fine-tuning control systems and achieving desired characteristics. However, the increasing prevalence of cyber-attacks targeting control systems presents significant societal challenges. A study by Russo and Proutiere (in Proceeding of American Control Conference (ACC), 2021) showed a poisoning approach targeting virtual reference feedback tuning, a data-driven control method. The study suggests that compromising the data used in the data-driven method may result in the closed-loop performance failing to achieve desired specifications and, in the worst case, destabilizing the control system. Hence, investigating the adverse effects of cyber-attacks on data employed in data-driven methods becomes crucial. This study explores the impact of a poisoning attack on the data used in the data-driven control method, specifically emphasizing virtual internal model tuning as a representative data-driven control approach.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136346557","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

Neural-network-driven method for optimal path planning via high-accuracy region prediction 通过高精度区域预测实现最优路径规划的神经网络驱动方法

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Artificial Life and Robotics Pub Date : 2023-11-08 DOI: 10.1007/s10015-023-00915-6

Yuan Huang, Cheng-Tien Tsao, Tianyu Shen, Hee-Hyol Lee

{"title":"Neural-network-driven method for optimal path planning via high-accuracy region prediction","authors":"Yuan Huang, Cheng-Tien Tsao, Tianyu Shen, Hee-Hyol Lee","doi":"10.1007/s10015-023-00915-6","DOIUrl":"10.1007/s10015-023-00915-6","url":null,"abstract":"<div><p>Sampling-based path planning algorithms suffer from heavy reliance on uniform sampling, which accounts for unreliable and time-consuming performance, especially in complex environments. Recently, neural-network-driven methods predict regions as sampling domains to realize a non-uniform sampling and reduce calculation time. However, the accuracy of region prediction hinders further improvement. We propose a sampling-based algorithm, abbreviated to Region Prediction Neural Network RRT* (RPNN-RRT*), to rapidly obtain the optimal path based on a high-accuracy region prediction. First, we implement a region prediction neural network (RPNN), to predict accurate regions for the RPNN-RRT*. A full-layer channel-wise attention module is employed to enhance the feature fusion in the concatenation between the encoder and decoder. Moreover, a three-level hierarchy loss is designed to learn the pixel-wise, map-wise, and patch-wise features. A dataset, named Complex Environment Motion Planning, is established to test the performance in complex environments. Ablation studies and test results show that a high accuracy of 89.13% is achieved by the RPNN for region prediction, compared with other region prediction models. In addition, the RPNN-RRT* performs in different complex scenarios, demonstrating significant and reliable superiority in terms of the calculation time, sampling efficiency, and success rate for optimal path planning.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135341998","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

Enhancing defective region visualization in industrial products using Grad-CAM and random masking data augmentation 利用 Grad-CAM 和随机屏蔽数据增强技术加强工业产品缺陷区域可视化

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Artificial Life and Robotics Pub Date : 2023-11-08 DOI: 10.1007/s10015-023-00913-8

Tatsuki Shimizu, Fusaomi Nagata, Koki Arima, Kohei Miki, Hirohisa Kato, Akimasa Otsuka, Keigo Watanabe, Maki K. Habib

{"title":"Enhancing defective region visualization in industrial products using Grad-CAM and random masking data augmentation","authors":"Tatsuki Shimizu, Fusaomi Nagata, Koki Arima, Kohei Miki, Hirohisa Kato, Akimasa Otsuka, Keigo Watanabe, Maki K. Habib","doi":"10.1007/s10015-023-00913-8","DOIUrl":"10.1007/s10015-023-00913-8","url":null,"abstract":"<div><p>Defect detection in various industrial products ensures product quality and safety. This paper introduces an innovative design, training, and evaluation application employing CNN, CAE, YOLO, FCN, and SVM models, to facilitate defect detection without requiring extensive IT expertise. However, conventional usage of Grad-CAM for visualizing defect regions sometimes includes irrelevant areas unrelated to the target defects. A novel data augmentation technique called random masking is proposed to enhance the visualization of defective regions, leading to more accurate and focused defect detection in various industrial products. This technique is used during training, replacing non-target areas in each image with randomly generated mask patterns. The efficacy of the proposed technique is demonstrated through visualization tests of defective regions using Grad-CAM. Furthermore, an ablation study is conducted to assess the effectiveness of the data augmentation techniques, comparing the performance of Grad-CAM with and without random masking augmentation. We further provide insights into the dataset used and present noteworthy findings from the evaluation, showcasing the contributions of our work in advancing defect detection methodologies.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135390619","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 neuromorphic circuits with receptor cell model for animal-like gait generation using foot pressure 开发带有受体细胞模型的神经形态电路，利用脚压产生类似动物的步态

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Artificial Life and Robotics Pub Date : 2023-11-07 DOI: 10.1007/s10015-023-00911-w

Katsuyuki Morishita, Akihisa Ishida, Isuke Okuma, Ken Saito

{"title":"Development of neuromorphic circuits with receptor cell model for animal-like gait generation using foot pressure","authors":"Katsuyuki Morishita, Akihisa Ishida, Isuke Okuma, Ken Saito","doi":"10.1007/s10015-023-00911-w","DOIUrl":"10.1007/s10015-023-00911-w","url":null,"abstract":"<div><p>The authors are studying to mimic the mechanism of gait generation in animals and implement the mechanism in robots. Previously, the authors developed a quadruped robot system that spontaneously generates gait through feedback on foot pressure. The neuromorphic circuits that mimic the animal's nervous systems control the legs of the quadruped robot. Neuromorphic circuits are analog electronic circuits that output electrical spikes the same as biological neurons. However, quadruped robots system require digital processing by a microcontroller to transmit signals from pressure sensors to the neuromorphic circuit. In addition, a microcontroller drives the servo motors using a pulsewidth modulation waveform. This paper describes a newly developed neuromorphic circuit that does not require the processing of a microcontroller to convert pressure sensor signals. The authors add the receptor cell model and the integral circuit to the conventional neuromorphic circuit. By converting pressure sensor signals with the receptor cell model and the integral circuit, the neuromorphic circuit can be processed similar to a microcontroller. As a simulation and a measurement result, we confirmed that the proposed neuromorphic circuit could implement in a quadruped robot system.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135475886","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

Towards robotic deep spatiotemporal language understanding based on mental-image-directed semantic theory 基于心理图像导向语义理论的机器人深度时空语言理解

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Artificial Life and Robotics Pub Date : 2023-11-02 DOI: 10.1007/s10015-023-00905-8

Rojanee Khummongkol, Masao Yokota

{"title":"Towards robotic deep spatiotemporal language understanding based on mental-image-directed semantic theory","authors":"Rojanee Khummongkol, Masao Yokota","doi":"10.1007/s10015-023-00905-8","DOIUrl":"10.1007/s10015-023-00905-8","url":null,"abstract":"<div><p>Among subsets of natural language, spatial language, more exactly spatiotemporal language here, has been considered most essential for human-like interaction between people and robots expected in near future. Quite distinctively from conventional learning-based approaches to natural language understanding (NLU), mental-image-directed theory (MIDST) proposes a robotic deep NLU methodology based on a mental image model as a formal system for knowledge representation and reasoning. The application system named CoMaS is designed to understand User’s utterances in text and respond in text or animation through human-like spatiotemporal reasoning based on the mental image model. In this work, CoMaS was compared with human subjects through a psychological experiment on spatiotemporal language understanding and showed globally good agreement with them and locally some interesting and reasonable disagreement. This kind of disagreement was found among the human participants as well and explainable as difference in personal conceptualization or reasoning based on mental image. The experimental results and theoretical discussion based on them showed well the effectiveness and uniqueness of our study.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.8,"publicationDate":"2023-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135876439","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

Deep-reinforcement learning-based route planning with obstacle avoidance for autonomous vessels 基于深度强化学习的自动驾驶船舶避障路线规划

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Artificial Life and Robotics Pub Date : 2023-10-26 DOI: 10.1007/s10015-023-00909-4

Ryosuke Saga, Rinto Kozono, Yutaro Tsurumi, Yasunori Nihei

引用次数: 0

A data grid strategy for non-prehensile object transport by a multi-robot system 多机器人系统中不可抓握物体运输的数据网格策略

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Artificial Life and Robotics Pub Date : 2023-10-24 DOI: 10.1007/s10015-023-00908-5

Priyank Narvekar, Andrew Vardy

{"title":"A data grid strategy for non-prehensile object transport by a multi-robot system","authors":"Priyank Narvekar, Andrew Vardy","doi":"10.1007/s10015-023-00908-5","DOIUrl":"10.1007/s10015-023-00908-5","url":null,"abstract":"<div><p>In this paper, we propose a control strategy for non-prehensile object transport using a multi-robot system. While an object can be unmanageable for a single robot to push and transport, we demonstrate via simulations that a team of cooperative robots can be used to transport such an object. The proposed control strategy is divided into two phases: caging and cooperative transport. In the first phase, the robots start from arbitrary positions and then approach the object to be transported, forming a cage around it. The second phase consists of cooperatively transporting the object ensuring it remains caged during transport. In the proposed strategy, the robots take a decentralized approach where robots behave autonomously while being in indirect communication by leveraging distributed data structures to share their state. Our use of distributed data structures like distributed locks, sets, and maps offered by the data grid concept provides a mechanism for inter-robot communication without development of a new application-specific protocol. To our knowledge, the use of in-memory data grid (IMDG) is new to the field of multi-robot systems. We believe it could provide a promising solution to simplify inter-robot communication. In this paper, we present our design for a coordinated motion control strategy for object transport leveraging IMDG. Finally, we demonstrate our results using a realistic simulator that shows the feasibility of our approach in various environments.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.9,"publicationDate":"2023-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71910335","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

An evolutionary robotics approach to a multi-legged robotic swarm in a rough terrain environment 粗糙地形环境中多足机器人群的进化机器人方法

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Artificial Life and Robotics Pub Date : 2023-10-21 DOI: 10.1007/s10015-023-00906-7

Daichi Morimoto, Haruhi Tsukamoto, Motoaki Hiraga, Kazuhiro Ohkura, Masaharu Munetomo

引用次数: 0