By Topic

Robotic Intelligence in Informationally Structured Space, 2009. RIISS '09. IEEE Workshop on

Date March 30 2009-April 2 2009

Filter Results

Displaying Results 1 - 25 of 28
  • [Front cover]

    Page(s): c1
    Save to Project icon | Request Permissions | PDF file iconPDF (271 KB)  
    Freely Available from IEEE
  • [Copyright notice]

    Save to Project icon | Request Permissions | PDF file iconPDF (68 KB)  
    Freely Available from IEEE
  • Table of contents

    Page(s): iii - vi
    Save to Project icon | Request Permissions | PDF file iconPDF (114 KB)  
    Freely Available from IEEE
  • Welcome message

    Page(s): vii - viii
    Save to Project icon | Request Permissions | PDF file iconPDF (104 KB)  
    Freely Available from IEEE
  • Human health monitoring system of systems with fuzzy logic by sensor network

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (727 KB) |  | HTML iconHTML  

    This paper describes a human health monitoring system by an ultrasonic sensor and an mat sensor systems. The system is realized with constrain-free, low cost and bed-side usage applicable. In it the ultrasonic sensor system obtains the state of a patient in bed by placing it under a bed frame. The mat sensor system detects heart beats and respiration signals by placing it to the mattress on the bed. This means that we can measure autonomic nerve system by using the heart rate and contribute the diagnosis of sleep apnea. This system employs fuzzy logic techniques to detect them. Thus, the system of systems with fuzzy logic can noninvasively and unconsciously provide human health information with high accuracy. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A multimodal face detection system for elderly companion robot

    Page(s): 7 - 11
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (571 KB) |  | HTML iconHTML  

    Regarding to global problem of ageing, the need for robots to take care of elderly people at private homes is essential, requiring a very natural and human oriented way of interaction between the old people and robot. In this paper a multimodal face detection system is presented, which is composed of face detection based on AdaBoost learning algorithm and environmental perception method. In the experiments, the system has been successfully implemented and tested on a service robot for human face detection. It is useful for the application of human-robot interaction for elderly companion robot. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Fuzzy Qualitative Gaussian Inference: Finding hidden Probability Distributions using Fuzzy Membership Functions

    Page(s): 12 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2150 KB) |  | HTML iconHTML  

    This paper introduces fuzzy qualitative Gaussian inference: a novel way to build fuzzy membership functions that map to hidden probability distributions underlying the informationally structured space. This method is used to classify boxing moves from natural human motion capture data. In our experiment, the system is able to recognise seven different boxing stances simultaneously with an accuracy superior to a GMM-based classifier. Results seem to indicate that a template can be learned and a stance identified in under 18 milliseconds, which may allow recognition in real-time. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • EMG-based control for lower-limb power-assist exoskeletons

    Page(s): 19 - 24
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1347 KB) |  | HTML iconHTML  

    Power-Assist for lower-limb is expected by many physically weak persons to assist their daily activities. It is important for the power-assist robots that the assist motion is generated based on users motion intention. This paper presents a muscle-model-oriented EMG-based (electromyogram-based) control method to activate a lower-limb power-assist robot according to the users motion intention since the EMG directly reflects the users muscle activities. In the proposed method, a matrix which expresses the relationship between the muscle activities and the generating joint torque is applied to estimate the users motion intention in real-time. The effectiveness of the proposed control method was evaluated by performing experiments. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Wearable joint kinematic monitoring system using inertial and magnetic sensors

    Page(s): 25 - 29
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1241 KB) |  | HTML iconHTML  

    Wearable joint kinematics monitoring is effective for analyzing daily human behavior, for evaluating the knee functionality in the daily life, etc. This study proposes a new wearable joint kinematics monitoring system using a composite sensor which is composed of inertial and magnetic sensors. For each segment of the joint, the composite sensor is attached. By indentifying the two sets of acceleration and magnetic vector at the center of knee joint, difference of pose between the sensors are estimated. And, all of three joint angles; flexion/extension (f/e) angle, internal/external (i/e) rotation angle and varus/valgus (v/v) angle, are calculated. The proposed system was applied to knee joint kinematic analysis. The measurement accuracy was evaluated by comparing with optical sensor system. The mean error of measuring f/e angle was -1.61 plusmn 3.09 deg; of measuring i/e angle was 0.93 plusmn 1.75 deg; and of measuring v/v angle was 1.83 plusmn 1.79 deg. To demonstrate the applicability of wearable monitoring, the proposed method was applied to measure knee joint angles during walking and during stair-climbing. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Effective strategy for autonomous navigation without prior knowledge in FastSLAM

    Page(s): 30 - 37
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (504 KB) |  | HTML iconHTML  

    This paper describes the efficient strategy for planning for autonomous mobile robot navigation using the information which is the resulting probabilistic distribution of position and map acquired by solving the SLAM. In order to estimate good robots position and map, we used a highly efficient variant of the grid based version of the FastSLAM algorithm. D* Lite algorithm for global path planning, which has the effective replanning at the partial cost field changed, was employed. Because the acquired map in the SLAM is also grid based which indicates the probabilistic existence of the obstacles in each grid, and SLAMs uncertain grid map is utilized to compute the cost field for path planning. In this research, it was proven that the mobile robot could carry out autonomous navigation in the outdoor field without prior information. This paper presented that the mobile robot reached the predefined goal with estimating good position and map simultaneously. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Adaptive boundary-following algorithm guided by artificial potential field for robot navigation

    Page(s): 38 - 45
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5384 KB) |  | HTML iconHTML  

    We propose a novel boundary-following algorithm that works in conjunction with any potential function that is guaranteed to take the robot to the target. The potential field must not have any local minima but is not required to avoid moving too closely to the boundary. The proposed method has several advantages: a) The calculation of the C-space is avoided, which can be costly especially if the robot has the ability of rotation; b) the safety distance, which is the distance from the robot to the closest obstacles boundary, is controllable and adaptive; c) the resulting path is quasi-optimal in the sense that it is approximates the shortest path, given the safety distance constraints. The proposed boundary following algorithm is guided by the potential field at critical handoff points where the robot switches from one mode of navigation (e.g., following a wall) to another (e.g., following the potential field). The method adjusts its behavior according to the degree of clutter, i.e. the number of interacting boundaries. The proposed method was simulated extensively for different safety distances, and different starting points. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Simultaneous Adaptive Path planning system for the real world application

    Page(s): 46 - 53
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2305 KB) |  | HTML iconHTML  

    In this paper, we propose a path planning system named SAP (simultaneous adaptive path planning) which can make a plan adapt to kinematic and dynamic constraints, and dynamically changing environment simultaneously. SAP has three key issues: condition layers, a dynamic space, and a search tree. Each condition layer involves a factor which influences running of the robot such as coefficient of friction and elevation of the field. Dynamic space is an area in velocity domain where the robot could reach in the next time step. The limitation (means outer shape) of the dynamic space is defined as a function of all conditions and a robot model, velocities that can be achieved within a short time interval. Search tree that consider the dynamic space expands like tree to search a path from start to goal. By these mechanisms, SAP can generate a path that robot can achieve in real environment. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Hierarchical growing neural gas for information structured space

    Page(s): 54 - 59
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (608 KB) |  | HTML iconHTML  

    In this paper, we discuss a robot vision in order to perceive people and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). In this paper, we propose a method for sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Next, we propose a method of hierarchical neural network based on Growing neural gas to construct a 3D environmental relation. Finally, we show experimental results of the proposed method. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Intelligent ambience-robot cooperation - Door-closing tasks with various robots -

    Page(s): 60 - 65
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1238 KB) |  | HTML iconHTML  

    A large amount of information involving human beings is available on the Internet; however, only little information that involves robots is available. We believe that having ambient intelligence provides helpful information for robots under ubiquitous computing technologies. The purpose of our research is to describe common environmental information in order to enable a robotic system to execute target tasks in a variety of ambient conditions. This system can correspond to various robots and various objects when we design the task information, which does not depend on the types and structures of these robots. In this paper, we focus on the door-closing task performed by robots among various other tasks and propose a robot control method that integrates the ambient intelligence. The effectiveness of the proposed system is experimentally confirmed using a refrigerator with two types of doors; a door status sensor, which we developed; a humanoid robot; and a mobile manipulator. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Multi-objective behavior coordination based on sensory network for multiple mobile robots

    Page(s): 66 - 72
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1529 KB) |  | HTML iconHTML  

    This paper deals with multi-objective behavior coordination and sensory networks based on fuzzy control for multiple mobile robots. In multi-objective behavior coordination, weights are assigned to basic behaviors and updated gradually according to the time series of sensory inputs. A robot with our behavior coordination can take a smooth action. The sensory network is the self-update mechanism of a sensory range in order to realize flexible control with a small number of control rules. Both methods have been successfully applied to a single mobile robot. In this paper, we focus on an environment including multiple mobile robots. We examine the effects of the values for updating behavior weights and sensory ranges on the performance of multiple mobile robots. From the experimental results, we show the effectiveness of the multi-objective behavior coordination and sensory networks in the environment including multiple mobile robots. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Distributed behavior learning of multiple mobile robots based on spiking neural network and steady-state genetic algorithm

    Page(s): 73 - 78
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1734 KB) |  | HTML iconHTML  

    This paper deals with a method of distributed behavior learning of multiple mobile robots. Various types of artificial neural networks are applied for behavior learning of mobile robots in unknown and dynamic environments. In the paper, we propose a method of distributed behavioral learning based on a spiking neural network. The robot learns the forward relationship from sensory inputs to motor outputs and inverse predictive relationship from motor outputs to sensory inputs. However, the behavioral leaning capability of the robot depends strongly on the network structure. Therefore, we use a parallel steady-state genetic algorithm for acquiring the network topology suitable to the environment. Finally, we discuss the effectiveness of the proposed method through simulation results on behavioral learning. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Evaluating failure in terrain coverage by autonomous agents

    Page(s): 79 - 86
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1202 KB) |  | HTML iconHTML  

    The work on terrain coverage algorithms has been shown to be applicable to many real-world problems. Examples range from battlefield tactics to planetary exploration and from spell-checking to vacuuming. The general idea behind terrain coverage lies on exploring a defined area/environment as much as possible. Previous works have demonstrated the effectiveness of algorithms in various scenarios such as unobstructed and obstructed terrains, and terrains that contain special, hard-to-find, locations such as rooms accessible only by a small entrance. However, these evaluations fall a little short because they do not consider the fact that agents covering an area are prone to failures. For example, a robot in a planetary exploration task can break down and be permanently or intermittently unavailable. This paper attempts to close this gap by evaluating terrain coverage algorithms under three main failure models. The failure models themselves are defined here based on an empirical analysis of how agents fail in real-world applications. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Intelligent formation control based on directionality of multi-agent system

    Page(s): 87 - 92
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2443 KB)  

    Recently, multi-agent systems have been discussed to realize a large size of distributed autonomous system. This paper proposes an intelligent control method based on directionality of multiple partner robots. First of all, we discuss the current state of researches on the multi-agent systems. Next, we propose a multi-objective behavior coordination to realize formation behavior based on the integration of the intelligent control from the local viewpoint of individual intelligence and the spring model from the global viewpoint of collective intelligence. Finally, we discuss the effectiveness of the proposed method through several computer simulation results. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Study on natural head motion in waiting state with receptionist robot SAYA that has human-like appearance

    Page(s): 93 - 98
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1226 KB) |  | HTML iconHTML  

    Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. Then knowledge and techniques for generating human-like natural motions and behaviors with android robot are required. In human, head and body are moved consciously or unconsciously even while waiting. Therefore it is thought that moving SAYA's head and body in waiting state like human beings improves humanity of SAYA. Thus, in this study, we tried to realize human-like head motion in waiting state with SAYA. Firstly, we measured human head motion and time-dependent three head rotation angles were obtained in waiting state by using motion capture system. We then analyzed human head motions and we proposed random walk model based on characteristics of human head motions for SAYAs motions. Then we implemented natural head motions to SAYA. Finally, we verified that head motions in waiting state affected the humanity of SAYA, and it greatly enhanced emotional impression of human by subjective experiment View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Cooking procedure recognition and support system by intelligent environments

    Page(s): 99 - 106
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2618 KB) |  | HTML iconHTML  

    In this paper, we propose cooking support system by using ubiquitous sensors. We developed machine learning algorithm that recognizes cooking procedures by taking account of various and numerous sensor information and past human behaviors. In order to provide appropriate instructions to a user, we also developed Markov-model based human behavior prediction algorithm. By employing these algorithms, we developed cooking support system that automatically displays cooking instruction movies according to users progresses. We conducted experiments with subjects and the experimental results confirmed the feasibility of the proposed cooking support system. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Location-dependent emotional memory for natural communication of partner robots

    Page(s): 107 - 113
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2007 KB) |  | HTML iconHTML  

    This paper deals with an emotional model based on location-dependent emotional memory and location-dependent physical memory for partner robots to realize natural communication with people. First we discuss the functions of emotion in social interaction, and we propose an emotional model. Furthermore, the episode memory is related with the change of feelings. Therefore, we propose a map building method based on the emotional model. Next, we propose a behavior control method based on emotional model. Finally, we show several experimental results of the proposed method, and discuss the availability of the emotional model based on location-dependent memory. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A platform of informationally structured space for the autonomous homecare system

    Page(s): 114 - 120
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (526 KB) |  | HTML iconHTML  

    In this paper, a behavior model of home cared aging family is presented and used by our designed intelligent pervasive-care system. This system uses multiple interlaced and non-visual sensors to recognize the behavior of concerned family in independent and concurrent. It also provides a competition mechanism between those heterogeneous sensing agents for verifying the recognized behavior. Those independent agents process and classify sensed single to some known symptoms. Based on those known symptoms, the reasoning mechanism in our behavior model can infer the occurring events, actions, and purpose of the cared aging family. So the behavior model empowers the intelligent pervasive-care system to monitor the home activities of cared aging family, and assist them to inform suitable peoples when some accidents occurrence. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Perceptual system for intelligent service robot by using a three-dimensional range camera

    Page(s): 121 - 128
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2394 KB) |  | HTML iconHTML  

    This paper discusses a perceptual system for a intelligent service robot from the viewpoint of human visual perception. Recently, various sensors were equipped with an autonomous robot enable to get too much information on the environment. However, the robot must perceive the necessary information from too much information to take a flexible action like a human. In this study, we emphasize the importance of human vision for the robot to realize perception and action flexibility. Especially, we focus on the perceptual system based on perceiving-acting cycle discussed in ecological psychology. First, we propose a retinal model for a 3D-range camera based on human retinal structure, and the information extraction method using a spiking neural network based on perceiving-acting cycle. Next, we apply the proposed method for a task of clearing the table. As an experimental result, we show the proposed method can directly perceive the necessary information by the attention mechanism for the flexible perception according to spatiotemporal context based on the spiking neural network. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • An adaptive neuro-endocrine system for robotic systems

    Page(s): 129 - 136
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1476 KB) |  | HTML iconHTML  

    We present an adaptive artificial neural-endocrine (AANE) system that is capable of learning ldquoon-linerdquo and exploits environmental data to allow for adaptive behaviour to be demonstrated. Our AANE is capable of learning associations between sensor data and actions, and affords systems the ability to cope with sensor degradation and failure. We have tested our system in real robotic units and demonstrate adaptive behaviour over prolonged periods of time. This work is another step towards creating a robotic control system that affords ldquohomeostasisrdquo for prolonged autonomy. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Control strategies applied to kinesthetic haptic devices

    Page(s): 137 - 144
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (608 KB) |  | HTML iconHTML  

    In this paper, the state of the art in force feedback haptic devices is presented. The importance of the current searching for better immersion characteristics has motivated an interesting research in advanced control strategies. The passive, optimal, adaptive and robust control strategies applied in the last two years to haptic devices have improved the stability and response of contact with rigid and soft virtual objects. All this has shown that control can improve the human sensation of reality in virtual worlds. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.