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41.
Recently, various autonomous mobile robots have been developed for practical use. To support the coexistence of robots and humans in real environments, we propose a concept named ‘Region with Velocity Constraints (RVC),’ which is set around hazardous areas. RVCs are regions where the velocities of the robot are constrained to predefined values. Inside the RVCs, the robot has to reduce its translational velocity to avoid predicted hazards such as collisions with obstacles, and to reduce its rotational velocity to prevent undesirable motions such as sharp turns. We also propose a motion planning method for navigating the mobile robot in an environment with RVCs based on the Navigation Function and Global Dynamic Window Approach. Our method generates a trajectory satisfying both translational and rotational velocity constraints to be compatible with the surroundings. Moreover, to demonstrate the validity of our method, we performed numerical simulations and experiments. 相似文献
42.
Recently, many models of reinforcement learning with hierarchical or modular structures have been proposed. They decompose
a task into simpler subtasks and solve them by using multiple agents. However, these models impose certain restrictions on
the topological relations of agents and so on. By relaxing these restrictions, we propose networked reinforcement learning,
where each agent in a network acts autonomously by regarding the other agents as a part of its environment. Although convergence
to an optimal policy is no longer assured, by means of numerical simulations, we show that our model functions appropriately,
at least in certain simple situations.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
43.
Bayesian inference explains perception of unity and ventriloquism aftereffect: identification of common sources of audiovisual stimuli 总被引:1,自引:0,他引:1
We study a computational model of audiovisual integration by setting a Bayesian observer that localizes visual and auditory stimuli without presuming the binding of audiovisual information. The observer adopts the maximum a posteriori approach to estimate the physically delivered position or timing of presented stimuli, simultaneously judging whether they are from the same source or not. Several experimental results on the perception of spatial unity and the ventriloquism effect can be explained comprehensively if the subjects in the experiments are regarded as Bayesian observers who try to accurately locate the stimulus. Moreover, by adaptively changing the inner representation of the Bayesian observer in terms of experience, we show that our model reproduces perceived spatial frame shifts due to the audiovisual adaptation known as the ventriloquism aftereffect. 相似文献
44.
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46.
Tatsuhiko Matsumoto Satoru Kubota Yuta Kubota Kenta Imabayashi Kazuyuki Kishimoto Seiichi Goshi Shigeki Imai Youichi Igarashi Shuichi Haga Takehiro Nakatsue 《Journal of the Society for Information Display》2011,19(11):813-820
Abstract— To understand actual viewing conditions at home is important for TV design. And the preferred luminance level of LCD TVs under actual viewing conditions is also important in order to obtain both good picture quality and low power consumption. The actual viewing conditions of households and the preferred luminance levels was investigated. In a field test of 83 households, the display luminance, screen illuminance, and viewing locations were measured on site. In laboratory experiments, young and elderly subjects adjusted the luminance of an LCD‐TV screen to their preferred levels under different screen illuminance levels, angular screen sizes, and average luminance levels (ALL) of the images. As a result, two equations, which represent the preferred luminance level of LCD‐TV screens corresponding to different viewing conditions for young and elderly subjects were obtained. When the ALL of the images was 25% and the screen illuminance and angular screen size were set at 100 lx and 20°, respectively, the preferred luminance was 1 60 cd/m2 for the young subjects and 248 cd/m2 for the elderly subjects. By using the setting of the preferred luminance of an LCD TV under actual viewing conditions, it is possible to conserve energy consumption. 相似文献
47.
In this study, we focus on the intelligent behavior of an octopus and describe the development of a flexible manipulator. To realize the intelligent behavior, we employ sponges, rubbers and wires instead of electrical computers. The manipulator is controlled by the dynamics of the body such as the flexibility of the sponges, resilience of the rubbers and constraint by the wires. To demonstrate the effectiveness of the proposed manipulator, we conducted experiment for grasping various objects. We confirmed that grasping behaviors similar to those of an octopus can be realized by the dynamics of the body without electrical computers. 相似文献
48.
Tae Hyon Kim Kiyohiro Goto Hiroki Igarashi Kazuyuki Kon Noritaka Sato Fumitoshi Matsuno 《Artificial Life and Robotics》2012,16(4):514-518
Recently, many research projects and competitions have attempted to find an autonomous mobile robot that can drive in the
real world. In this article, we consider a path-planning method for an autonomous mobile robot that would be safe in a real
environment. In such a case, it is very important for the robot to be able to identify its own position and orientation in
real time. Therefore, we applied a localization method based on a particle filter. Moreover, in order to improve the safety
of such autonomous locomotion, we improved the path-planning algorithm and the generation of the trajectory so that it can
consider a region with a limited maximum velocity. In order to demonstrate the validity of the proposed method, we participated
in the Real World Robot Challenge 2010. The experimental results are given. 相似文献
49.
Phase synchronization is a mechanism that plays a crucial role in information processing in the brain, and coherence is one of the factors used to evaluate the pairwise degree of phase synchronization. Coherence is also an important measure for examining brain functions because it implies communication and cooperation among neurons. In this work, we study the coherence patterns of spontaneous activity in a neural field model at criticality where a second-order phase transition occurs with special properties that differentiate it from other regions. The results are summarized as follows. First, in high-frequency bands, the system outside the critical region is unable to communicate efficiently via phase synchronization. Second, the dynamical coherence patterns at the criticality show switching between high and low coherence states. Finally, we found that in a very brief period, there is high broadband coherence between some pairs of spatial points. This phenomenon can be observed only in the critical region. 相似文献
50.
Among passerines, Bengali finches are known to sing extremely complex courtship songs with three hierarchical structures:
namely, the element, the chunk, and the syntax. In this work, we theoretically studied the mechanism of the song of Bengali
finches in aides to provide a dynamic view of the development of birdsong learning. We first constructed a model of the Elman
network with chaotic neurons that successfully learned the supervisor signal defined by a simple finite-state syntax. Second,
we focused on the process of individual-specific increases in the complexity of song syntax. We propose a new learning algorithm
to produce the intrinsic diversification of song syntax without a supervisor on the basis of the itinerant dynamics of chaotic
neural networks and the Hebbian learning rule. The emergence of novel syntax modifying the acquired syntax is demonstrated.
This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January
23–25, 2006 相似文献