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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)
2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA)
15-18 Dec. 2009
Showing 1-25 of 99
Proceedings
The proceedings of this conference will be available for purchase through Curran Associates.
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
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Grasp motion planning for box opening task by multi-fingered hands and arms
Publication Year: 2009,Page(s):1 - 7
The aim of our project is to develop a robot to manipulate an object in human environment. In this paper, as a first step, we focus on opening paper box such as tea box, and present a method to plan grasp motion by 2 arms with multi-fingered hands. we propose a task priority based scheme to plan grasping area consistent with whole steps of the given task procedure. Based on the grasping area and t...Show More
Planning of diverse complex cooperative robot actions using Multi-stage Genetic Algorithm
Publication Year: 2009,Page(s):8 - 14
Cited by: Papers (4)
This article is concerned with autonomous planning of diverse cooperative robot actions. In this work complex cooperative actions are realized based upon the intelligent composite motion control, which is a learning methodology for intelligent robots that gradually realize complex actions from fundamental motions. For efficient construction of action intelligence multi-stage genetic algorithm, MGA...Show More
As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the development of modular and scalable systems. Control ad libitum is an approach that decouples the software and hardware design of robot teams, allowing the system to adapt to changing ...Show More
Stable trajectory generator-echo state network trained by particle swarm optimization
Publication Year: 2009,Page(s):21 - 26
Cited by: Papers (3)
Recurrent neural networks (RNNs) have good modeling capability for nonlinear dynamic systems, but due to the difficulties for training this superiority is discounted. Echo state network (ESN) is a new paradigm for using RNNs with a simpler training method, where an RNN is generated randomly and only a readout is trained. ESN method has quickly become popular in robotics, such as for motor control,...Show More
Modular reservoir computing networks for imitation learning of multiple robot behaviors
Tim Waegeman;Eric Antonelo;Francis Wyffels;Benjamin Schrauwen
Publication Year: 2009,Page(s):27 - 32
Cited by: Papers (7)
Autonomous mobile robots must accomplish tasks in unknown and noisy environments. In this context, learning robot behaviors in an imitation based approach would be desirable in the perspective of service robotics as well as of learning robots. In this work, we use reservoir computing (RC) for learning robot behaviors by demonstration. In RC, a randomly generated recurrent neural network, the reser...Show More
Interactive evolutionary computation for robot design support system
Publication Year: 2009,Page(s):33 - 38
Cited by: Papers (1)
Recently, human-friendly support systems for product design have been developed as demands of individual user to products become diversified. In the previous works, interactive evolutionary computation has been applied to support product designs. An advantage of interactive evolutionary computation is that it can perform the optimization based on human preference and feeling in addition to the eva...Show More
Cerebellar Model Articulation Controller (CMAC) NN is a computational model of cerebellum introduced as an alternative to backpropagated multilayer networks to control robot arms. From then it has seen many improvements and has been applied in many other areas as a general NN. These improvements have been in the context of generalization, learning techniques, differentiability, memory size, fuzzif...Show More
Robot deception: Recognizing when a robot should deceive
Publication Year: 2009,Page(s):46 - 54
Cited by: Papers (16)
This article explores the possibility of developing robot control software capable of discerning when and if a robot should deceive. Exploration of this problem is critical for developing robots with deception capabilities and may lend valuable insight into the phenomena of deception itself. In this paper we explore deception from an interdependence/game theoretic perspective. Further, we develop ...Show More
A small world algorithm for high-dimensional function optimization
Publication Year: 2009,Page(s):55 - 59
Cited by: Papers (5)
In this paper, we describe a new small world optimization algorithm for obtaining satisfactory solution for high-dimensional function. Based on the small world phenomenon which is revealed in Milgram's sociological experiment, some operators with decimal-coding strategy are proposed, and then an ¿imitated society¿ decimal-coding small world optimization algorithm (DSWOA) is designed to solve high-...Show More
Towards social-therapeutic robots: How to strategically implement a robot for social group therapy?
Publication Year: 2009,Page(s):60 - 65
One of the most innovative applications of robotics is creating artificial social relationships between humans and robots in order to promote healthier and more active lifestyles as a means of long-term, sustainable healthcare solutions. This paper describes a theoretical framework to strategically and effectively implement a sociable robot in a healthcare or elderly care facility. Based on the in...Show More
Stochastic approach on a simplified OCC model for uncertainty and believability
Won Hwa Kim;Jeong Woo Park;Won Hyong Lee;Woo Hyun Kim;Myung Jin Chung
Publication Year: 2009,Page(s):66 - 71
As robots step into the human's daily lives, interaction and communication between human and robot is becoming essential. For this social interaction with humans, we propose an emotion generation model considering simplicity, believability and uncertainty. First, OCC model is simplified and then stochastic approach on emotion decision algorithm for believability and uncertainty is applied. The pro...Show More
Examining robotic systems with shape-adjustable manipulators under dynamic environments: From simulation to verification
Chih-Hong Cheng;Alois Knoll;Christian Buckl;Javier Esparza;Yang Chen
Publication Year: 2009,Page(s):72 - 77
In this paper, we present our preliminary report in applying formal verification to the design process of robotic systems under dynamic environments; the goal is to complement existing testing or simulation techniques by experimenting an adaptable framework, where verification models with tamable complexity are generated from the simulation model. Our targets are robotic systems with shape-adjusta...Show More
Line matching is useful in many computer vision tasks such as object recognition, image registration, and 3D reconstruction. The literature on line matching has advanced in recent years, nevertheless, compared to other features (such as point and region matching approaches) it has made little progress. Especially, very few algorithms address the problem of image scaling. In this paper, we present ...Show More
Vision-based servo control of a quadrotor air vehicle
Publication Year: 2009,Page(s):84 - 89
Cited by: Papers (11)
Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the vis...Show More
Information-based exploration strategy for mobile robot in dynamic environment
Publication Year: 2009,Page(s):90 - 95
To meet the necessity of handling environmental uncertainties of mobile robots, we proposed an efficient exploration strategy to gather information, called entropy sweeper. To do so, we utilized the entropy distribution and the utility function to determine which positions have more uncertainties. Proposed strategy is divided into two phases: the learning phase and the action phase. In general, un...Show More
A Boltzmann theory based dynamic agglomerative hierarchical clustering
Publication Year: 2009,Page(s):96 - 101
In this study, a novel dynamic agglomerative hierarchical clustering algorithm which combines Boltzmann theory of thermodynamics and a graph-theoretic representation of data objects is put forward for data with non-sphere shape clusters. The new algorithm employs neighbors searching operator and vertices spanning operator to construct the linkage paths between vertices. Additionally, in order to o...Show More
Q-learning using fuzzified states and weighted actions and its application to omni-direnctional mobile robot control
Publication Year: 2009,Page(s):102 - 107
Cited by: Papers (5)
The conventional Q-learning algorithm is described by a finite number of discretized states and discretized actions. When the system is represented in continuous domain, this may cause an abrupt transition of action as the state rapidly changes. To avoid this abrupt transition of action, the learning system requires fine-tuned states. However, the learning time significantly increases and the syst...Show More
A cognitive approach for a robotic welding system that can learn how to weld from acoustic data
Ingo Stork genannt Wersborg;Thibault Bautze;Frederik Born;Klaus Diepold
Publication Year: 2009,Page(s):108 - 113
Laser beam welding is the method of choice for the high-quality joining of materials. However, for industrial production these systems have to be set up and calibrated manually with much effort. Our objective is to apply intelligent data processing that results in a cognitive technical system that can learn how to weld, speed up the configuring process, and reduce costs. While monitoring laser wel...Show More
Use of the knowledge which is independence on reward in reinforcement learning
Publication Year: 2009,Page(s):114 - 119
Now, there are some techniques called machine learning, and reinforcement learning is one of the machine learning which often used for actual machine. In this study, we pay attention to the knowledge that does not depend on a reward in reinforcement learning, and we will improve learning efficiency by using it. Furthermore, we aim at letting agent coping with various tasks under environment where ...Show More
DEM: A discrete electromagnetism-like mechanism for solving discrete problems
Publication Year: 2009,Page(s):120 - 125
In this paper a novel model based on electromagnetism-like mechanism (EM) is proposed which is highly compatible with discrete space problems. The proposed method utilizes the EM operators to move particles towards an optimal or near optimal solutions. In fact, the proposed algorithm exploits the crossover operator to calculate forces on particles and move them according to these forces. To keep t...Show More
Autonomous behavior system combing motivation with consciousness using dopamine
Publication Year: 2009,Page(s):126 - 131
Cited by: Papers (10)
To enhance the affinity between humans and robots, we have attempted to give a robot "consciousness" and ¿emotion¿ such as that identified in humans and animals. A hierarchical structure model has been developed to connect the robot's consciousness with the robot's behavior. However, it is difficult to autonomously control the timing that changes the consciousness and behavior of the robot. Theref...Show More
Comparative study of Genetic Algorithm and Ant Colony Optimization algorithm performances for robot path planning in global static environments of different complexities
Publication Year: 2009,Page(s):132 - 137
Cited by: Papers (22)
This paper presents the application of genetic algorithm (ga) and ant colony optimization (ACO) algorithm for robot path planning (RPP) in global static environment. Both algorithms were applied within global maps that consist of different number of free space nodes. These nodes generally represent the free space extracted from the robot map. Performances between both algorithms were compared and ...Show More
Bio-insect and artificial robots interaction: A dragging mechanism and experimental results
Publication Year: 2009,Page(s):138 - 141
Cited by: Papers (2)
In this paper, we introduce the experimental test platform for bio-insect and artificial robot interaction based on distributed systems (BRIDS). The main architecture of the BRIDS was reported in and simulation results were introduced. One of the most challenging problems of BRIDS is that a bio-insect does not usually react to actuation. When we try to stimulate the bio-insect for our purpose, its...Show More
A combined skin model and feature approach for tracking of human faces
Publication Year: 2009,Page(s):142 - 147
In this paper, we propose a face detection framework that combines both feature, and skin pixel approaches, while making the framework self adaptive which is important for non controlled environmental conditions. The framework uses skin color information to reduce the search space for faces by localizing the probable skin regions using a mixture of multivariate Gaussians whose parameters are first...Show More
Adaptive sliding mode trajectory tracking control of mobile robot with parameter uncertainties
Li. Kunpeng;Wang. Xuewen;Yuan. Mingxin;Li. Xiaohu;Wang. Sunan
Publication Year: 2009,Page(s):148 - 152
Cited by: Papers (2)
The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. The kinematics and dynamical models of mobile robots are taken into account, the control rule based on the kinematics model is taken as desired virtual control, and the adaptive sliding mode controller is designed, as the controller take into account both kinematics and dynamical m...Show More
Proceedings
The proceedings of this conference will be available for purchase through Curran Associates.
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
- Print on DemandPurchase at Partner
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