You and I, robot

I address a number of issues related to building an autonomous social robot. I review different approaches to social cognition and ask how these different approaches may inform the design of social robots. I argue that regardless of which theoretical approach to social cognition one favors, instantiating that approach in a workable robot will involve designing that robot on enactive principles.     

Fault detection on robot manipulators using artificial neural networks

Nowadays, gas welding applications on vehicle’s parts with robot manipulators have increased in automobile industry. Therefore, the speed of end-effectors of robot manipulator is affected on each joint during the welding process with complex trajectory. For that reason, it is necessary to analyze the noise and vibration of robot’s joints for predicting faults. This paper presents an experimental investigation on a robot manipulator, using neural network for analyzing the vibration condition on joints. Firstly, robot manipulator’s joints are tested with prescribed of trajectory end-effectors for the different joints speeds. Furthermore, noise and vibration of each joint are measured. And then, the related parameters are tested with neural network predictor to predict servicing period. In order to find robust and adaptive neural network structure, two types of neural predictors are employed in this investigation. The results of two approaches improved that an RBNN type can be employed to predict the vibrations on industrial robots.     

Bio-insect and artificial robot interaction: learning mechanism and experiment

This paper addresses fuzzy-logic-based reinforcement learning architecture and experimental results for the interaction between an artificial robot and a living bio-insect. The main goal of this research is to drag the bio-insect towards the desired goal area without any human aid. To achieve the goal, we seek to design robot intelligence architecture such that the robot can drag the bio-insect using its own learning mechanism. The main difficulties of this research are to find an interaction mechanism between the robot and bio-insect and to design a robot intelligence architecture. In simple interaction experiment, the bio-insect does not react to stimuli such as light, vibration, or artificial robot motion. From various trials-and-error efforts, we empirically found an actuation mechanism for the interaction between the robot and bio-insect. Nevertheless, it is difficult to control the movement of the bio-insect due to its uncertain and complex behavior. For the artificial robot, we design a fuzzy-logic-based reinforcement learning architecture that helps the artificial robot learn how to control the movement of the bio-insect under uncertain and complex behavior. Here, we present the experimental results regarding the interaction between an artificial robot and a bio-insect.     

Path planning for a quadruped robot: an artificial field approach

In this paper, we consider the problem of planning a feasible path for a quadruped walking robot in an environment of obstacles. In conventional path-planning problems, the main focus is merely collision avoidance with obstacles since a wheeled robot is involved. However, in the case of a legged robot, both collision avoidance and crossing over obstacles must be taken into account in the process of path planning. Furthermore, the constraints of the gait should be considered to guarantee the feasibility of a planned path. To resolve this complicated problem in a systematic way, a new concept of an artificial thermal field is proposed. Specifically, with the assumption that a robot walks with a periodic crab gait, a robot and obstacles in a three-dimensional (3D) space are projected on a 2D plane. Next, the 2D obstacles are transformed into the configuration space of a quadruped robot. A feasible path is finally sought in an artificial thermal field which is constructed numerically on the discretized configuration space. To verify the efficacy of the proposed approach, three notable simulation results are provided.     

The swarm within the labyrinth: planar construction by a robot swarm

Artificial Life and Robotics - We propose an approach to guide simple robots through arbitrary environments while engaged in a planar construction task. The intent is to mitigate spatial...     

Applications of artificial life to developing robot and softbot

Adaptation gives rise to a kind of complexity that greatly hinders our attempts to solve some of the most important problems currently posed by our world. Recently, there has been an attempt to build a complex adaptive system which is rich in autonomy and creativity, with the ideas and methodologies of artificial life (A-life). This article presents the concepts and methodologies of A-life, and shows two typical applications based on them. These systems not only develop new functionality spontaneously, but also grow and evolve their own structure autonomously. They have been applied to controlling a mobile robot and developing adaptive agents on the world-wide web. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

基于改进人工势场法的救灾机器人路径规划

针对矿井障碍物复杂多变、救灾机器人采用传统人工势场法进行路径规划易陷入局部极小点的问题,提出一种基于改进人工势场法的救灾机器人路径规划方法。该方法通过在引力场中加入扰动场来改变引力场函数,使救灾机器人在陷入局部极小点时自主走出局部极小点;结合障碍填充法,通过对凹障碍物进行虚拟填充,形成新的障碍物并产生相应的斥力场函数,避免救灾机器人再次陷入局部极小点。仿真及测试结果验证了该方法的可行性及有效性。     

基于动态模糊人工势场法的移动机器人路径规划

传统人工势场法在路径规划中存在局部极小值问题,而且不能满足动态环境中移动机器人路径规划对实时性、安全性和可达性的要求.针对传统人工势场法存在的问题,通过引入速度矢量,改势场力函数,并与模糊控制方法相结合,实时调节斥力势场系数,克服人工势场法的缺陷.在MATLAB平台中验证了方法的有效性,实验结果表明,该方法优于人工势场法模型的路径规划.     

Individual difference of artificial emotion applied to a service robot

In order to enable personalized natural interaction in service robots, artificial emotion is needed which helps robots to appear as individuals. In the emotion modeling theory of emotional Markov chain model (eMCM) for spontaneous transfer and emotional hidden Markov model (eHMM) for stimulated transfer, there are three problems: 1) Emotion distinguishing problem: whether adjusting parameters of the model have any effects on individual emotions; 2) How much effect the change makes; 3) The problem of different initial emotional states leading to different resultant emotions from a given stimuli. To solve these problems, a research method of individual emotional difference is proposed based on metric multidimensional scaling theory. Using a dissimilarity matrix, a scalar product matrix is calculated. Subsequently, an individual attribute reconstructing matrix can be obtained by principal component factor analysis. This can display individual emotion difference with low dimension. In addition, some mathematical proofs are carried out to explain experimental results. Synthesizing the results and proofs, corresponding conclusions are obtained. This new method provides guidance for the adjustment of parameters of emotion models in artificial emotion theory.     

Trajectory tracking optimization of mobile robot using artificial immune system

In this paper, an optimization method that provides quick response using artificial immune system, is proposed and applied to a mobile robot for trajectory tracking. The study focuses on the immune theory to derive a quick optimization method that puts emphasis on immunity feedback using memory cells by the expansion and suppression of the test group rather than to derive a specific mathematical model of the artificial immune system. Various trajectories were selected in mobile environment to evaluate the performance of the proposed artificial immune system. The global inputs to the mobile robot are reference position and reference velocity, which are time variables. The global output of mobile robot is a current position. The tracking controller makes position error to be converged to zero. In order to reduce position error, compensation velocities on the track of trajectory are necessary. Input variables of fuzzy are position errors in every sampling time. The output values of fuzzy are compensation velocities. Immune algorithm is implemented to adjust the scaling factor of fuzzy automatically. The results of the computer simulation proved the system to be efficient and effective for tracing the trajectory to the final destination by the mobile robot.

     

Conceptual and linguistic constraints for the construction of a knowledge base in archaeology

This article describes a set of constraints for the construction of a knowledge base in archaeology, which satisfies explicit conceptual and linguistic assumptions. The model of organization has been specified by integrating a formalism, derived from structured inheritance networks and elements of conceptual dictionaries. Certain types of constraints have also been introduced to guarantee the coherence of the ontological modeling.     

Use of artificial redundancy for the control of robot manipulators with limited actuation

The paper describes a new method for the control of mechanical manipulators which allows the use of the Exact External Linearization (EEL) technique in cases when actuator limitations cannot be ignored. By introducing an extra degree of freedom in a system's transfer function, the method allows the actuators to work in a saturated mode during the initial gross prepositioning motions and then automatically switches to a fine positioning high-gain linear mode when the tracking (positioning) error becomes small. The technique leads to a much more efficient use of the actuators, which can allow the employment of smaller and lighter motors without an appreciable loss of the system's dynamics characteristics.     

Josef,the robot

Computers cannot be properly understood without at least an elementary exposure to programming. Many teachers would reject this proposal on the grounds that for many people programming is too difficult and uninteresting. This objection is probably correct if we imply that programming should be introduced in a general purpose programming language. Its validity becomes questionable if the vehicle is a special programming language which puts the student into a natural environment, familiar to every ordinary person.The LOGO system is a well known example of such a natural environment. This article presents a related language called Josef which is used to program a robot moving on the map of a computer terminal. The distinguishing features of Josef are: (a) Extensibility of built-in vocabulary: (b) Possibility of fully top-down approach to the solution of large problems; (c) Similarity to general purpose languages in terms of concepts available in the language and the syntax used to express them: (d) Ability to work on ordinary computer terminals.The larger part of the article attempts to present the general philosophy of the language on a few programming examples of medium complexity.     

Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields

In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. © 1994 John Wiley & Sons, Inc.     

基于模糊改进人工势场法的机器人避障方法研究

在内部密封、狭窄、多障碍的船舱环境中,障碍物的分布具有随机性和不确定性,对于移动机器人的避障方法而言,传统人工势场法存在目标不可达、局部极小值等问题.设计了一种基于模糊逻辑的改进人工势场法,在避障算法的局部极小值附近,基于模糊逻辑给予移动机器人辅助控制力,帮助机器人逃离局部极小值点,避免机器人在避障过程中陷入局部极小值点的问题,并且优化路径.仿真实验表明:在多障碍复杂环境下,该算法能实现机器人实时、安全的避障.     

Design and construction of a microcomputer-controlled light-weight robot arm

This paper describes current research on a computer-controlled light-weight mechanical arm. This mechanical arm is a self-contained, autonomous system capable of executing high-level commands from a supervisory computer. The links used in the experimental model are made of aluminium, while the actuators of the joints are permanent magnet type dc motors driven by servo-amplifiers via Pulse Width Modulation. To avoid the use of tachometers and thus reduce the link masses, a method for velocity estimation based on a position history was developed which can be implemented in digital circuitry. The design of the full-servo-loop is described, as well as the interface between the arm and an IBM-XT type microcomputer. Experimental results show that the link masses can be reduced by replacing the joint tachometers with a velocity estimator and very fast response can be achieved using light-weight structures without compromising rigidity.     

On compatibility of uncertain multiplicative linguistic preference relations based on the linguistic COWGA

The aim of this work is to develop a new compatibility for the uncertain multiplicative linguistic preference relations and utilize it to determine the optimal weights of experts in the group decision making (GDM). First, the compatibility degree and compatibility index for the two multiplicative linguistic preference relations are proposed. Then, based on the linguistic continuous ordered weighted geometric averaging (LCOWGA) operator, some concepts of the compatibility degree and compatibility index for the two uncertain multiplicative linguistic preference relations are presented. We prove the property that the synthetic uncertain linguistic preference relation is of acceptable compatibility under the condition that the uncertain multiplicative linguistic preference relations given by experts are all of acceptable compatibility with the ideal uncertain multiplicative linguistic preference relation, which provides a theoretic basis for the application of the uncertain multiplicative linguistic preference relations in GDM. Next, an optimal model is constructed to determine the weights of experts based on the criterion of minimizing the compatibility index in GDM. Moreover, an approach to GDM with uncertain multiplicative linguistic preference relations is developed, and finally, an application of the approach to supplier selection problem with uncertain multiplicative linguistic preference relations is pointed out.     

改进人工势场法的移动机器人路径规划研究

人工势场法是机器人局部路径规划常用的一种方法.分析了传统的人工势场法由于局部最小问题而导致规划失败的原因.提出了一种改进的势场函数,并对改进势场函数的规划方法进行分析,发现该方法并不能完全解决局部极小问题.通过在改进势场函数基础上采用添加附加控制力的方法,使机器人尽快跳出局部极小点.仿真结果表明,该方法是有效的.     

Topical, temporal, and spatial constraints on linguistic realization

Previous work in natural language génération has exploited discourse focus to guide the selection of propositional content and the génération of referring expressions (e.g., pronominalization, définite noun phrase génération). However, there are many other sources of contextual information which can be used to constrain linguistic realization. The realization of certain classes of temporal and spatial référents, for example, can be guided by more detailed models of time and space. Therefore, this article first identifies a number of contextual coordinates or points of référence (known as indexicals in linguistics). Next, we formalize three of these contextual coordinates – topic, time, and space – in a computational model. In doing so, the article describes the use of a Reichenbachian temporal model which is exploited to guide the realization of verb tense and aspect as well as the realization of temporal référents (e.g., temporal connectives and adverbials such as "meanwhile" and "ten minutes later"). The article then describes a spatial model which is used to guide the linguistic realization of spatial référents (e.g., "here,""there") and spatial adverbials (e.g., "two miles away"). We discuss the relation between these temporal and spatial models and illustrate their use in generating text from two different application systems. We find that the combined use of topical, temporal, and spatial contextual coordinates enhances the fluency, connectivity, and conciseness of the resulting text.