Artificial Life and Robotics最新文献_第8页

“Unfavorable” environmental effects can also be beneficial: a simulation analysis of centipede-like swarm robots based on implicit control for navigation and exploration in unknown environments “不利”的环境影响也可能是有益的：基于隐式控制的类蜈蚣群体机器人在未知环境中导航和探索的仿真分析

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Artificial Life and Robotics Pub Date : 2023-10-14 DOI: 10.1007/s10015-023-00907-6

Runze Xiao, Yusuke Tsunoda, Koichi Osuka

{"title":"“Unfavorable” environmental effects can also be beneficial: a simulation analysis of centipede-like swarm robots based on implicit control for navigation and exploration in unknown environments","authors":"Runze Xiao, Yusuke Tsunoda, Koichi Osuka","doi":"10.1007/s10015-023-00907-6","DOIUrl":"10.1007/s10015-023-00907-6","url":null,"abstract":"<div><p>In this study, we propose a centipede-like swarm robotic system capable of utilizing “unfavorable” environmental effects such as robot–environment collisions, robot–robot collisions, signal noise, and signal interval, to aid navigation and exploration in 2D unknown environments. Traditional swarm robots demand complex systems to counteract “unfavorable” environmental effects, making the design of robots to handle unknown environments with theoretical infinite possibilities exceedingly challenging. In contrast, our approach does not view these “unfavorable” environmental effects as foes to be combated, but instead employs strategies like implicit control to convert them into beneficial influences on the task. This simplifies the swarm robot system, enabling navigation and exploration with only goal direction as the single input, eliminating the need for inter-robot observation, inter-robot communication and obstacle detection. Finally, we validate our system’s effectiveness through simulations in the CoppeliaSim environment, demonstrating the benefits of “unfavorable” environmental effects and the method’s universal applicability.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"28 4","pages":"690 - 702"},"PeriodicalIF":0.9,"publicationDate":"2023-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71909818","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}

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Sea urchin survey system in coastal areas using a μ-ASV 使用 μ-ASV 的沿海地区海胆调查系统

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Artificial Life and Robotics Pub Date : 2023-10-14 DOI: 10.1007/s10015-023-00910-x

Makoto Morito, Junichiro Tahara, Kouki Yoshimura, Hiroshi Matsunaga, Kenichiro Sato

引用次数: 0

Swarm robots using Lévy walk with concession in targets exploration 在目标探测中使用Lévy行走的群机器人

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Artificial Life and Robotics Pub Date : 2023-10-11 DOI: 10.1007/s10015-023-00900-z

Yoshiaki Katada, Kazuhiro Ohkura

{"title":"Swarm robots using Lévy walk with concession in targets exploration","authors":"Yoshiaki Katada, Kazuhiro Ohkura","doi":"10.1007/s10015-023-00900-z","DOIUrl":"10.1007/s10015-023-00900-z","url":null,"abstract":"<div><p>In the swarm robotics community, Lévy walk has been recognized as one of the most efficient search strategies for the environment, with sparse targets that robots have no prior knowledge of. Generally, Lévy walk is generated by following the Lévy distribution. Our previous results also confirmed that the Lévy walk outperformed the usual random walk for exploration strategy in real swarm robot experiments. On the other hand, it has been reported in several papers that each individual in swarm robots does not follow Lévy distribution due to collision avoidance from other robots, resulting in inefficient search. Therefore, we introduced concessions to the swarm robots to improve search efficiency. This paper investigated the performance of the Lévy walk with concession. Robots concede other robots when they receive the signal that other robots execute longer walks. We conducted a series of computer simulations varying ranges detecting other robots’ walk distance signals, the number of robots, the number of targets, and the distribution of targets. The results suggest that the search efficiency of Lévy walk was improved by concession. Furthermore, we confirmed that improving search efficiency saturates beyond the threshold of range detecting other robots’ walk distance signals.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"28 4","pages":"652 - 660"},"PeriodicalIF":0.9,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71909422","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

Comparison of the relationship between pectoral-fin movement and fin shape based on force index for fish-type balloon robot 基于力指数的鱼式气球机器人胸鳍运动与鳍形关系比较

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Artificial Life and Robotics Pub Date : 2023-10-10 DOI: 10.1007/s10015-023-00903-w

Naoki Kagiya, Masafumi Uchida

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Technical issues of underwater surveying in Urban rivers 城市河流水下测量的技术问题

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Artificial Life and Robotics Pub Date : 2023-10-09 DOI: 10.1007/s10015-023-00901-y

Takahiro Kudo, Etsuro Shimizu

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Basic analog–digital circuit for motion detection based on the vertebrate retina with low power consumption 基于脊椎动物视网膜的低功耗运动检测基本模拟数字电路

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Artificial Life and Robotics Pub Date : 2023-10-09 DOI: 10.1007/s10015-023-00904-9

Kimihiro Nishio, Arisa Fukuda

{"title":"Basic analog–digital circuit for motion detection based on the vertebrate retina with low power consumption","authors":"Kimihiro Nishio, Arisa Fukuda","doi":"10.1007/s10015-023-00904-9","DOIUrl":"10.1007/s10015-023-00904-9","url":null,"abstract":"<div><p>Basic analog–digital motion detection circuits with low power consumption were proposed based on the vertebrate retina. The motion sensor based on the retina is constructed with a one- or two-dimensional array of the unit circuits. The proposed unit circuit for motion detection is constructed with an analog circuit for photoelectric conversion and the digital circuit for generating the motion signal. The metal oxide semiconductor (MOS) transistors utilized to the analog circuits are operated in the subthreshold region. The analog circuit has the characteristic of the low power consumption. The proposed circuit was evaluated by the simulation program with integrated circuit emphasis (SPICE) with the 0.6 μm complementary metal oxide semiconductor (CMOS) process. The test circuits of basic digital circuits were fabricated with the same process. In the simulation and the experiment, the power supply voltage was set to the low voltage. We found that the digital circuit becomes low power consumption because the MOS transistors was operated in the subthreshold region by setting the low voltage. The proposed circuit is characterized by the simple structure and the low power consumption. In the future, the novel motion detection sensor with low power consumption can be realized by applying the integrated circuits constructed with the array of the proposed unit circuits.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 1","pages":"114 - 119"},"PeriodicalIF":0.8,"publicationDate":"2023-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135094277","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

Generating collective behavior of a robotic swarm using an attention agent with deep neuroevolution 使用具有深度神经进化的注意力代理生成机器人群体的集体行为

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Artificial Life and Robotics Pub Date : 2023-10-05 DOI: 10.1007/s10015-023-00902-x

Arumu Iwami, Daichi Morimoto, Naoya Shiozaki, Motoaki Hiraga, Kazuhiro Ohkura

引用次数: 0

The optimization of sparse modeling for drowsiness estimation based on general facial skin temperature distribution 基于一般面部皮肤温度分布的瞌睡估计稀疏模型的优化

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Artificial Life and Robotics Pub Date : 2023-09-28 DOI: 10.1007/s10015-023-00898-4

Atsushi Yoshida, Kosuke Oiwa, Akio Nozawa

{"title":"The optimization of sparse modeling for drowsiness estimation based on general facial skin temperature distribution","authors":"Atsushi Yoshida, Kosuke Oiwa, Akio Nozawa","doi":"10.1007/s10015-023-00898-4","DOIUrl":"10.1007/s10015-023-00898-4","url":null,"abstract":"<div><p>In recent years, there has been a growing demand for drivers’ drowsiness detection technology in driver monitoring systems for level 3 automated vehicles. In a previous study, sparse modeling was applied to the facial skin temperature distribution which can be remotely measured with a thermography camera, achieving an estimation accuracy of about 74% in three stages. However, the constructed drowsiness estimation model had low generalization performance because it was an individual model, and the sparse modeling had the property of easily decomposing behavioral indicators other than drowsiness. Therefore, in the construction of a general model using sparse modeling, individual features among subjects may be preferentially decomposed, and a method to absorb these effects is needed. Thus, in this study, we devised an attempt to reduce the influence of decomposition of individual features by applying averaged faces. Partial averaging of images across subjects is thought to remove such effects. In this study, we attempted to construct a general model for drowsiness estimation by applying sparse modeling to facial thermal images averaged across subjects, and to examine the possibility of using averaged facial thermal images in constructing general model. As a result, we obtained an estimation accuracy of approximately 54.6% in average by applying averaging, which is 7% higher than that using the original images, and succeeded in reducing its standard deviation by 4–6.9%. As the result, modeling with averaged images was shown to be effective in improving generality.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"28 4","pages":"771 - 778"},"PeriodicalIF":0.9,"publicationDate":"2023-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71910947","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

Safety controller based on control barrier functions using quasi-saturation function 基于准饱和控制屏障函数的安全控制器

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Artificial Life and Robotics Pub Date : 2023-09-26 DOI: 10.1007/s10015-023-00899-3

Satoshi Ueki, Takahiro Ikeda, Hironao Yamada

引用次数: 0

Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system 基于误差反馈的水下机器人机械手阻抗控制

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Artificial Life and Robotics Pub Date : 2023-09-21 DOI: 10.1007/s10015-023-00896-6

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

{"title":"Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system","authors":"Yuichiro Taira, Shinichi Sagara, Masahiro Oya","doi":"10.1007/s10015-023-00896-6","DOIUrl":"10.1007/s10015-023-00896-6","url":null,"abstract":"<div><p>This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea operation that requires a contact between the manipulator’s tip (e.g., the hand) and various types of environments, it is desirable that the mechanical impedance of the manipulator is adjusted according to the contact surface. From this point of view, the paper focuses on the design of an impedance control scheme. Several impedance controllers have been developed. Most of them were designed on the assumption that the control capability of the vehicle is the same as that of the manipulator. However, it has been pointed out in the literature that for a real underwater robot, its vehicle control is more challenging than its manipulator control, because the vehicle has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. In view of this fact, we develop an impedance control scheme for the manipulator under the condition that the vehicle is independently controlled by a motion controller with poor performance. Moreover, we provide the results of simulations for comparing an existing controller with the proposed one.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"28 4","pages":"830 - 849"},"PeriodicalIF":0.9,"publicationDate":"2023-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71910068","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