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Segmentation and analysis of console operation using self-organizing map with cluster growing method

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2 Author(s)
Suzuki, S. ; Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan ; Harashima, F.

For manipulation of remote mobile robots, adequate scheduling of tasks and selecting of operational commands are required. This paper presents an analysis procedure to make the task switching profile visible by utilizing the Self-Organizing Map (SOM) and new cluster growing method. For practical verification, an experiment system with radio-controlled construction equipments was built, and the proposed analysis procedure was applied to the experimental task. As a result, it was confirmed by correlation analysis that distances among decomposed clusters corresponding to segments of operation strongly relate to performance index of the task.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009

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