Intelligent robotic tracker

Science.gov (United States)

Otaguro, W. S.; Kesler, L. O.; Land, K. C.; Rhoades, D. E.

1987-01-01

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Learning for intelligent mobile robots

Science.gov (United States)

Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

2003-10-01

Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

Basic research on intelligent robotic systems operating in hostile environments: New developments at ORNL

International Nuclear Information System (INIS)

Barhen, J.; Babcock, S.M.; Hamel, W.R.; Oblow, E.M.; Saridis, G.N.; deSaussure, G.; Solomon, A.D.; Weisbin, C.R.

1984-01-01

Robotics and artificial intelligence research carried out within the Center for Engineering Systems Advanced Research (CESAR) is presented. Activities focus on the development and demonstration of a comprehensive methodological framework for intelligent machines operating in unstructured hostile environments. Areas currently being addressed include mathematical modeling of robot dynamics, real-time control, ''world'' modeling, machine perception and strategy planning

Special Issue on Intelligent Robots

Directory of Open Access Journals (Sweden)

Genci Capi

2013-08-01

Full Text Available The research on intelligent robots will produce robots that are able to operate in everyday life environments, to adapt their program according to environment changes, and to cooperate with other team members and humans. Operating in human environments, robots need to process, in real time, a large amount of sensory data—such as vision, laser, microphone—in order to determine the best action. Intelligent algorithms have been successfully applied to link complex sensory data to robot action. This editorial briefly summarizes recent findings in the field of intelligent robots as described in the articles published in this special issue.

Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

Directory of Open Access Journals (Sweden)

Luis Pallarés Puerto

2011-05-01

Full Text Available The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.

Advances in soft computing, intelligent robotics and control

CERN Document Server

Fullér, Robert

2014-01-01

Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability, and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control. The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design. The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule ...

2nd International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Matson, Eric; Myung, Hyun; Xu, Peter; Karray, Fakhri

2014-01-01

We are facing a new technological challenge on how to store and retrieve knowledge and manipulate intelligence for autonomous services by intelligent systems which should be capable of carrying out real world tasks autonomously. To address this issue, robot researchers have been developing intelligence technology (InT) for “robots that think” which is in the focus of this book. The book covers all aspects of intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving resear...

An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

Directory of Open Access Journals (Sweden)

Cabbar Veysel Baysal

2010-11-01

Full Text Available This paper presents a novel Intelligent Inference System (IIS for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

Intelligent computational control of multi-fingered dexterous robotic hand

OpenAIRE

Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

2015-01-01

We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

Directory of Open Access Journals (Sweden)

Tao Liu

2017-02-01

Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

3D vision system for intelligent milking robot automation

Science.gov (United States)

Akhloufi, M. A.

2013-12-01

In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

A Multidisciplinary Artificial Intelligence Model of an Affective Robot

Directory of Open Access Journals (Sweden)

Hooman Aghaebrahimi Samani

2012-03-01

Full Text Available A multidisciplinary approach to a novel artificial intelligence system for an affective robot is presented in this paper. The general objective of the system is to develop a robotic system which strives to achieve a high level of emotional bond between humans and robot by exploring human love. Such a relationship is a contingent process of attraction, affection and attachment from humans towards robots, and the belief of the vice versa from robots to humans. The advanced artificial intelligence of the system includes three modules, namely Probabilistic Love Assembly (PLA, based on the psychology of love, Artificial Endocrine System (AES, based on the physiology of love, and Affective State Transition (AST, based on emotions. The PLA module employs a Bayesian network to incorporate psychological parameters of affection in the robot. The AES module employs artificial emotional and biological hormones via a Dynamic Bayesian Network (DBN. The AST module uses a novel transition method for handling affective states of the robot. These three modules work together to manage emotional behaviours of the robot.

Molecular robots with sensors and intelligence.

Science.gov (United States)

Hagiya, Masami; Konagaya, Akihiko; Kobayashi, Satoshi; Saito, Hirohide; Murata, Satoshi

2014-06-17

CONSPECTUS: What we can call a molecular robot is a set of molecular devices such as sensors, logic gates, and actuators integrated into a consistent system. The molecular robot is supposed to react autonomously to its environment by receiving molecular signals and making decisions by molecular computation. Building such a system has long been a dream of scientists; however, despite extensive efforts, systems having all three functions (sensing, computation, and actuation) have not been realized yet. This Account introduces an ongoing research project that focuses on the development of molecular robotics funded by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). This 5 year project started in July 2012 and is titled "Development of Molecular Robots Equipped with Sensors and Intelligence". The major issues in the field of molecular robotics all correspond to a feedback (i.e., plan-do-see) cycle of a robotic system. More specifically, these issues are (1) developing molecular sensors capable of handling a wide array of signals, (2) developing amplification methods of signals to drive molecular computing devices, (3) accelerating molecular computing, (4) developing actuators that are controllable by molecular computers, and (5) providing bodies of molecular robots encapsulating the above molecular devices, which implement the conformational changes and locomotion of the robots. In this Account, the latest contributions to the project are reported. There are four research teams in the project that specialize on sensing, intelligence, amoeba-like actuation, and slime-like actuation, respectively. The molecular sensor team is focusing on the development of molecular sensors that can handle a variety of signals. This team is also investigating methods to amplify signals from the molecular sensors. The molecular intelligence team is developing molecular computers and is currently focusing on a new photochemical technology for accelerating DNA

Intelligent robot trends for 1998

Science.gov (United States)

Hall, Ernest L.

1998-10-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

Intelligence for Human-Assistant Planetary Surface Robots

Science.gov (United States)

Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.

2006-01-01

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

1st International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Matson, Eric; Myung, Hyun; Xu, Peter

2013-01-01

In recent years, robots have been built based on cognitive architecture which has been developed to model human cognitive ability. The cognitive architecture can be a basis for intelligence technology to generate robot intelligence. In this edited book the robot intelligence is classified into six categories: cognitive intelligence, social intelligence, behavioral intelligence, ambient intelligence, collective intelligence and genetic intelligence. This classification categorizes the intelligence of robots based on the different aspects of awareness and the ability to act deliberately as a result of such awareness. This book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 1st International Conference on Robot Intelligence Technology and Applications (RiTA), held in Gwangju, Korea, December 16-18, 2012. For a better readability, this edition has the total 101 ...

Intelligent robots for nuclear power plant inspection and surveillance

International Nuclear Information System (INIS)

Miyazawa, Tatsuo; Suzuki, Kazumi; Fujie, Hideo; Fujii, Masaaki; Asai, Takashi; Sugimoto, Hiroshi.

1986-01-01

Recently, the research and development of robotizing the patrol and works in nuclear power plants have been actively carried out since the TMI-2 accident in March, 1979. In this paper, among these robots, six examples of the movable robots, of which the working and movement were intellectualized by using information processing techniques and others, are reported, and their intellectualization is concretely discussed. In Japan, the development of the supporting system for nuclear power generation was carried out for five years from fiscal year 1980 as the project subsidized by the Ministry of International Trade and Industry, and during this period, the inspection robots for LWR plants were developed. The development of the robots for ultimate working as the large scale project of the Agency of Industrial Science and Technology aiming at further heightening the function is in progress as the eight-year project from fiscal year 1983. Monorail type automatic surveillance robots, system maintenance robots 'AMOOTY', variable crawler type intelligent movable robots, hybrid running type intelligent movable robots, monorail running type small checkup robots, and floor running type checkup and light work robots are reported. Sense information processing control and a robot language processor for expanding the function of autonomous control are outlined. (Kako, I.)

Artefact: the division of artificial intelligence, robotics and expert systems

Energy Technology Data Exchange (ETDEWEB)

Ferber, J

1983-06-01

The history of artificial intelligence is traced from its beginnings in 1956 to its current coverage of the areas of problem-solving, expert systems and games, natural-language processing, robotics, picture and speech recognition, automatic programming, and computer-aided design and instruction. Each area is reviewed in turn, programming languages and techniques are discussed, and both apocalyptic forecasts and underestimates of future developments are criticised.

The development of advanced robotic technology. A study on the tele-existence and intelligent control of a robot system for nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Chung, Myung Jin; Byun, Jueng Nam; Kim, Jong Hwan; Lee, Ju Jang; Bang, Seok Won; Chu, Gil Hwan; Park, Jong Cheol; Choi, Jong Seok; Yang, Jung Min; Hong, Sun Ki [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

1995-07-01

To increase the efficiency of human intelligence it is required to develop an intelligent monitoring and system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in tele-operation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop of the tele-existence and intelligent control system for a robot used in the nuclear power plants. (author). 20 refs.

Artificial Intelligence for Controlling Robotic Aircraft

Science.gov (United States)

Krishnakumar, Kalmanje

2005-01-01

A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

The Oak Ridge National Laboratory's Robotics and Intelligent Systems Program

International Nuclear Information System (INIS)

Meacham, S.A.

1987-01-01

The goals of the newly formed Robotics and Intelligent Systems Program are discussed. The application of the remote systems technology developed by the Consolidated Fuel Reprocessing Program for the Department of Energy is presented. The activities (satellite refueling and space station truss assembly) with the National Aeronautics and Space Administration are presented in a videotape format with narration by the presenter. The goals of technology transfer to the private sector and the potential positive impact on the community conclude the oral presentation

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

Science.gov (United States)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate “the problem of loosening a connection and the distribution of the work” as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

Recent Advances on Hybrid Intelligent Systems

CERN Document Server

Melin, Patricia; Kacprzyk, Janusz

2013-01-01

This book presents recent advances on hybrid intelligent systems using soft computing techniques for intelligent control and robotics, pattern recognition, time series prediction and optimization of complex problems. Soft Computing (SC) consists of several intelligent computing paradigms, including fuzzy logic, neural networks, and bio-inspired optimization algorithms, which can be used to produce powerful hybrid intelligent systems. The book is organized in five main parts, which contain groups of papers around a similar subject. The first part consists of papers with the main theme of hybrid intelligent systems for control and robotics, which are basically state of the art papers that propose new models and concepts, which can be the basis for achieving intelligent control and mobile robotics. The second part contains papers with the main theme of hybrid intelligent systems for pattern recognition and time series prediction, which are basically papers using nature-inspired techniques, like evolutionary algo...

Intelligent control system for nuclear power plant mobile robot

International Nuclear Information System (INIS)

Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

1991-01-01

In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

Intelligent automated control of robotic systems for environmental restoration

International Nuclear Information System (INIS)

Harrigan, R.W.

1992-01-01

The US Department of Energy's Office of Technology Development (OTD) has sponsored the development of the Generic Intelligent System Controller (GISC) for application to remote system control. Of primary interest to the OTD is the development of technologies which result in faster, safer, and cheaper cleanup of hazardous waste sites than possible using conventional approaches. The objective of the GISC development project is to support these goals by developing a modular robotics control approach which reduces the time and cost of development by allowing reuse of control system software and uses computer models to improve the safety of remote site cleanup while reducing the time and life cycle costs

4th International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Karray, Fakhri; Jo, Jun; Sincak, Peter; Myung, Hyun

2017-01-01

This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 4th International Conference on Robot Intelligence Technology and Applications (RiTA), held in Bucheon, Korea, December 14 - 16, 2015. For better readability, this edition has the total of 49 article...

3rd International Conference on Robot Intelligence Technology and Applications

CERN Document Server

Yang, Weimin; Jo, Jun; Sincak, Peter; Myung, Hyun

2015-01-01

This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 3rd International Conference on Robot Intelligence Technology and Applications (RiTA), held in Beijing, China, November 6 - 8, 2014. For better readability, this edition has the total 74 papers group...

Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

Science.gov (United States)

Parker, Lynne E.; Pin, Francois G.

1988-10-01

The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

An Intention-Driven Semi-autonomous Intelligent Robotic System for Drinking

Directory of Open Access Journals (Sweden)

Zhijun Zhang

2017-09-01

Full Text Available In this study, an intention-driven semi-autonomous intelligent robotic (ID-SIR system is designed and developed to assist the severely disabled patients to live independently. The system mainly consists of a non-invasive brain–machine interface (BMI subsystem, a robot manipulator and a visual detection and localization subsystem. Different from most of the existing systems remotely controlled by joystick, head- or eye tracking, the proposed ID-SIR system directly acquires the intention from users’ brain. Compared with the state-of-art system only working for a specific object in a fixed place, the designed ID-SIR system can grasp any desired object in a random place chosen by a user and deliver it to his/her mouth automatically. As one of the main advantages of the ID-SIR system, the patient is only required to send one intention command for one drinking task and the autonomous robot would finish the rest of specific controlling tasks, which greatly eases the burden on patients. Eight healthy subjects attended our experiment, which contained 10 tasks for each subject. In each task, the proposed ID-SIR system delivered the desired beverage container to the mouth of the subject and then put it back to the original position. The mean accuracy of the eight subjects was 97.5%, which demonstrated the effectiveness of the ID-SIR system.

Intelligent autonomous systems 12. Vol. 2. Proceedings

Energy Technology Data Exchange (ETDEWEB)

Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

2013-02-01

Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

Intelligent robots: Do we need them and can they be built?

International Nuclear Information System (INIS)

Mann, R.C.

1993-01-01

For avid watchers of science fiction movies, the mention of robotics and artificial intelligence conjures up images of humanlike machines. Often, news reports of scientific advances that enable machines to behave in a flexible manner for a limited set of tests draw parallels to science fiction robots. The effect of this unfortunate kind of publicity is that the scientific disciplines of robotics and artificial intelligence are sometimes regarded as a playground for slightly crazed scientists trying to create artificial humans. In reality, the fields of robotics and artificial intelligence can best be described by answering a few commonly asked questions: What is an intelligent robot, anyway? Why would we need things like that? Could we build them and make them reliable for certain uses? An example of an intelligent machine, or robot is presented and the question of whether intelligent robots are needed is addressed. The impact of ORNL research on uses for intelligent machines is described

A Contest-Oriented Project for Learning Intelligent Mobile Robots

Science.gov (United States)

Huang, Hsin-Hsiung; Su, Juing-Huei; Lee, Chyi-Shyong

2013-01-01

A contest-oriented project for undergraduate students to learn implementation skills and theories related to intelligent mobile robots is presented in this paper. The project, related to Micromouse, Robotrace (Robotrace is the title of Taiwanese and Japanese robot races), and line-maze contests was developed by the embedded control system research…

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Science.gov (United States)

Marzwell, Neville I.; Chen, Alexander Y. K.

1991-01-01

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two

Architecture for robot intelligence

Science.gov (United States)

Peters, II, Richard Alan (Inventor)

2004-01-01

An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

The Effects O Artificial Intelligence And Robotic Systems On Librarianship

Directory of Open Access Journals (Sweden)

Müslüm Yıldız

2018-03-01

Full Text Available With Industry 4.0, smart robots will be involved in all areas of our lives, and systems using technology control instead of work force will dominate. In this way, there will be a more qualified workforce with a high level of education, rather than workers with low-skilled jobs. According to recent studies, librarianship has been identified as one of the professions that could disappear in the near future due to this rapidly advancing technology. In this study, the possible effects of artificial intelligence and robotic systems on the profession of librarianship/information and document management were evaluated considering the findings of research conducted at Oxford University in 2017 and it was emphasized that in the near future, the only way to continue in this profession would be to keep the professional knowledge up to date as well as to follow the technological developments in areas such as computers, communication, and the internet.

AIonAI: a humanitarian law of artificial intelligence and robotics.

Science.gov (United States)

Ashrafian, Hutan

2015-02-01

The enduring progression of artificial intelligence and cybernetics offers an ever-closer possibility of rational and sentient robots. The ethics and morals deriving from this technological prospect have been considered in the philosophy of artificial intelligence, the design of automatons with roboethics and the contemplation of machine ethics through the concept of artificial moral agents. Across these categories, the robotics laws first proposed by Isaac Asimov in the twentieth century remain well-recognised and esteemed due to their specification of preventing human harm, stipulating obedience to humans and incorporating robotic self-protection. However the overwhelming predominance in the study of this field has focussed on human-robot interactions without fully considering the ethical inevitability of future artificial intelligences communicating together and has not addressed the moral nature of robot-robot interactions. A new robotic law is proposed and termed AIonAI or artificial intelligence-on-artificial intelligence. This law tackles the overlooked area where future artificial intelligences will likely interact amongst themselves, potentially leading to exploitation. As such, they would benefit from adopting a universal law of rights to recognise inherent dignity and the inalienable rights of artificial intelligences. Such a consideration can help prevent exploitation and abuse of rational and sentient beings, but would also importantly reflect on our moral code of ethics and the humanity of our civilisation.

Advanced intelligent systems

CERN Document Server

Ryoo, Young; Jang, Moon-soo; Bae, Young-Chul

2014-01-01

Intelligent systems have been initiated with the attempt to imitate the human brain. People wish to let machines perform intelligent works. Many techniques of intelligent systems are based on artificial intelligence. According to changing and novel requirements, the advanced intelligent systems cover a wide spectrum: big data processing, intelligent control, advanced robotics, artificial intelligence and machine learning. This book focuses on coordinating intelligent systems with highly integrated and foundationally functional components. The book consists of 19 contributions that features social network-based recommender systems, application of fuzzy enforcement, energy visualization, ultrasonic muscular thickness measurement, regional analysis and predictive modeling, analysis of 3D polygon data, blood pressure estimation system, fuzzy human model, fuzzy ultrasonic imaging method, ultrasonic mobile smart technology, pseudo-normal image synthesis, subspace classifier, mobile object tracking, standing-up moti...

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

Science.gov (United States)

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

CESAR robotics and intelligent systems research for nuclear environments

International Nuclear Information System (INIS)

Mann, R.C.

1992-01-01

The Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) encompasses expertise and facilities to perform basic and applied research in robotics and intelligent systems in order to address a broad spectrum of problems related to nuclear and other environments. For nuclear environments, research focus is derived from applications in advanced nuclear power stations, and in environmental restoration and waste management. Several programs at CESAR emphasize the cross-cutting technology issues, and are executed in appropriate cooperation with projects that address specific problem areas. Although the main thrust of the CESAR long-term research is on developing highly automated systems that can cooperate and function reliably in complex environments, the development of advanced human-machine interfaces represents a significant part of our research. 11 refs

Space station automation: the role of robotics and artificial intelligence (Invited Paper)

Science.gov (United States)

Park, W. T.; Firschein, O.

1985-12-01

Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

2015 Chinese Intelligent Systems Conference

CERN Document Server

Du, Junping; Li, Hongbo; Zhang, Weicun; CISC’15

2016-01-01

This book presents selected research papers from the 2015 Chinese Intelligent Systems Conference (CISC’15), held in Yangzhou, China. The topics covered include multi-agent systems, evolutionary computation, artificial intelligence, complex systems, computation intelligence and soft computing, intelligent control, advanced control technology, robotics and applications, intelligent information processing, iterative learning control, and machine learning. Engineers and researchers from academia, industry and the government can gain valuable insights into solutions combining ideas from multiple disciplines in the field of intelligent systems.

State-of-the-Art Mobile Intelligence: Enabling Robots to Move Like Humans by Estimating Mobility with Artificial Intelligence

Directory of Open Access Journals (Sweden)

Xue-Bo Jin

2018-03-01

Full Text Available Mobility is a significant robotic task. It is the most important function when robotics is applied to domains such as autonomous cars, home service robots, and autonomous underwater vehicles. Despite extensive research on this topic, robots still suffer from difficulties when moving in complex environments, especially in practical applications. Therefore, the ability to have enough intelligence while moving is a key issue for the success of robots. Researchers have proposed a variety of methods and algorithms, including navigation and tracking. To help readers swiftly understand the recent advances in methodology and algorithms for robot movement, we present this survey, which provides a detailed review of the existing methods of navigation and tracking. In particular, this survey features a relation-based architecture that enables readers to easily grasp the key points of mobile intelligence. We first outline the key problems in robot systems and point out the relationship among robotics, navigation, and tracking. We then illustrate navigation using different sensors and the fusion methods and detail the state estimation and tracking models for target maneuvering. Finally, we address several issues of deep learning as well as the mobile intelligence of robots as suggested future research topics. The contributions of this survey are threefold. First, we review the literature of navigation according to the applied sensors and fusion method. Second, we detail the models for target maneuvering and the existing tracking based on estimation, such as the Kalman filter and its series developed form, according to their model-construction mechanisms: linear, nonlinear, and non-Gaussian white noise. Third, we illustrate the artificial intelligence approach—especially deep learning methods—and discuss its combination with the estimation method.

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

Science.gov (United States)

Erickson, Jon D. (Editor)

1994-01-01

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

Fuzzy Logic Controller Design for Intelligent Robots

Directory of Open Access Journals (Sweden)

Ching-Han Chen

2017-01-01

Full Text Available This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA- based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.

Socially Impaired Robots: Human Social Disorders and Robots' Socio-Emotional Intelligence

OpenAIRE

Vitale, Jonathan; Williams, Mary-Anne; Johnston, Benjamin

2016-01-01

Social robots need intelligence in order to safely coexist and interact with humans. Robots without functional abilities in understanding others and unable to empathise might be a societal risk and they may lead to a society of socially impaired robots. In this work we provide a survey of three relevant human social disorders, namely autism, psychopathy and schizophrenia, as a means to gain a better understanding of social robots' future capability requirements. We provide evidence supporting...

Soft computing in advanced robotics

CERN Document Server

Kobayashi, Ichiro; Kim, Euntai

2014-01-01

Intelligent system and robotics are inevitably bound up; intelligent robots makes embodiment of system integration by using the intelligent systems. We can figure out that intelligent systems are to cell units, while intelligent robots are to body components. The two technologies have been synchronized in progress. Making leverage of the robotics and intelligent systems, applications cover boundlessly the range from our daily life to space station; manufacturing, healthcare, environment, energy, education, personal assistance, logistics. This book aims at presenting the research results in relevance with intelligent robotics technology. We propose to researchers and practitioners some methods to advance the intelligent systems and apply them to advanced robotics technology. This book consists of 10 contributions that feature mobile robots, robot emotion, electric power steering, multi-agent, fuzzy visual navigation, adaptive network-based fuzzy inference system, swarm EKF localization and inspection robot. Th...

International Conference on Intelligent Unmanned Systems (ICIUS)

CERN Document Server

Kartidjo, Muljowidodo; Yoon, Kwang-Joon; Budiyono, Agus; Autonomous Control Systems and Vehicles : Intelligent Unmanned Systems

2013-01-01

The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers ...

12th International Conference on Intelligent Autonomous Systems

CERN Document Server

Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

2013-01-01

Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security ...

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

2nd International Conference on Advanced Intelligent Systems and Informatics

CERN Document Server

Shaalan, Khaled; Gaber, Tarek; Azar, Ahmad; Tolba, M

2017-01-01

This book gathers the proceedings of the 2nd International Conference on Advanced Intelligent Systems and Informatics (AISI2016), which took place in Cairo, Egypt during October 24–26, 2016. This international interdisciplinary conference, which highlighted essential research and developments in the field of informatics and intelligent systems, was organized by the Scientific Research Group in Egypt (SRGE) and sponsored by the IEEE Computational Intelligence Society (Egypt chapter) and the IEEE Robotics and Automation Society (Egypt Chapter). The book’s content is divided into four main sections: Intelligent Language Processing, Intelligent Systems, Intelligent Robotics Systems, and Informatics.

A Novel Robot System Integrating Biological and Mechanical Intelligence Based on Dissociated Neural Network-Controlled Closed-Loop Environment.

Science.gov (United States)

Li, Yongcheng; Sun, Rong; Wang, Yuechao; Li, Hongyi; Zheng, Xiongfei

2016-01-01

We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning). Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle) to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot's performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks.

A Novel Robot System Integrating Biological and Mechanical Intelligence Based on Dissociated Neural Network-Controlled Closed-Loop Environment.

Directory of Open Access Journals (Sweden)

Yongcheng Li

Full Text Available We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning. Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot's performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks.

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

Science.gov (United States)

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X.

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research. PMID:26819582

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey.

Science.gov (United States)

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

Directory of Open Access Journals (Sweden)

Jianjun Ni

2016-01-01

Full Text Available Bioinspired intelligent algorithm (BIA is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

Wearable computer for mobile augmented-reality-based controlling of an intelligent robot

Science.gov (United States)

Turunen, Tuukka; Roening, Juha; Ahola, Sami; Pyssysalo, Tino

2000-10-01

An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal- the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

Intelligent Interaction for Human-Friendly Service Robot in Smart House Environment

Directory of Open Access Journals (Sweden)

Z. Zenn Bien

2008-01-01

Full Text Available The smart house under consideration is a service-integrated complex system to assist older persons and/or people with disabilities. The primary goal of the system is to achieve independent living by various robotic devices and systems. Such a system is treated as a human-in-the loop system in which human- robot interaction takes place intensely and frequently. Based on our experiences of having designed and implemented a smart house environment, called Intelligent Sweet Home (ISH, we present a framework of realizing human-friendly HRI (human-robot interaction module with various effective techniques of computational intelligence. More specifically, we partition the robotic tasks of HRI module into three groups in consideration of the level of specificity, fuzziness or uncertainty of the context of the system, and present effective interaction method for each case. We first show a task planning algorithm and its architecture to deal with well-structured tasks autonomously by a simplified set of commands of the user instead of inconvenient manual operations. To provide with capability of interacting in a human-friendly way in a fuzzy context, it is proposed that the robot should make use of human bio-signals as input of the HRI module as shown in a hand gesture recognition system, called a soft remote control system. Finally we discuss a probabilistic fuzzy rule-based life-long learning system, equipped with intention reading capability by learning human behavioral patterns, which is introduced as a solution in uncertain and time-varying situations.

Computer Vision for Artificially Intelligent Robotic Systems

Science.gov (United States)

Ma, Chialo; Ma, Yung-Lung

1987-04-01

In this paper An Acoustic Imaging Recognition System (AIRS) will be introduced which is installed on an Intelligent Robotic System and can recognize different type of Hand tools' by Dynamic pattern recognition. The dynamic pattern recognition is approached by look up table method in this case, the method can save a lot of calculation time and it is practicable. The Acoustic Imaging Recognition System (AIRS) is consist of four parts -- position control unit, pulse-echo signal processing unit, pattern recognition unit and main control unit. The position control of AIRS can rotate an angle of ±5 degree Horizental and Vertical seperately, the purpose of rotation is to find the maximum reflection intensity area, from the distance, angles and intensity of the target we can decide the characteristic of this target, of course all the decision is target, of course all the decision is processed bye the main control unit. In Pulse-Echo Signal Process Unit, we ultilize the correlation method, to overcome the limitation of short burst of ultrasonic, because the Correlation system can transmit large time bandwidth signals and obtain their resolution and increased intensity through pulse compression in the correlation receiver. The output of correlator is sampled and transfer into digital data by u law coding method, and this data together with delay time T, angle information OH, eV will be sent into main control unit for further analysis. The recognition process in this paper, we use dynamic look up table method, in this method at first we shall set up serval recognition pattern table and then the new pattern scanned by Transducer array will be devided into serval stages and compare with the sampling table. The comparison is implemented by dynamic programing and Markovian process. All the hardware control signals, such as optimum delay time for correlator receiver, horizental and vertical rotation angle for transducer plate, are controlled by the Main Control Unit, the Main

Robotics and remote systems applications

International Nuclear Information System (INIS)

Rabold, D.E.

1996-01-01

This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

Artificial intelligence and robot responsibilities: innovating beyond rights.

Science.gov (United States)

Ashrafian, Hutan

2015-04-01

The enduring innovations in artificial intelligence and robotics offer the promised capacity of computer consciousness, sentience and rationality. The development of these advanced technologies have been considered to merit rights, however these can only be ascribed in the context of commensurate responsibilities and duties. This represents the discernable next-step for evolution in this field. Addressing these needs requires attention to the philosophical perspectives of moral responsibility for artificial intelligence and robotics. A contrast to the moral status of animals may be considered. At a practical level, the attainment of responsibilities by artificial intelligence and robots can benefit from the established responsibilities and duties of human society, as their subsistence exists within this domain. These responsibilities can be further interpreted and crystalized through legal principles, many of which have been conserved from ancient Roman law. The ultimate and unified goal of stipulating these responsibilities resides through the advancement of mankind and the enduring preservation of the core tenets of humanity.

Intelligent robot trends and predictions for the first year of the new millennium

Science.gov (United States)

Hall, Ernest L.

2000-10-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

Intelligent robot trends and predictions for the new millennium

Science.gov (United States)

Hall, Ernest L.; Mundhenk, Terrell N.

1999-08-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor but little funding. In factory automation such robotics machines can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. In honor of the new millennium, this paper will present a discussion of futuristic trends and predictions. However, in keeping with technical tradition, a new technique for 'Follow the Leader' will also be presented in the hope of it becoming a new, useful and non-obvious technique.

13th International Conference Intelligent Autonomous Systems

CERN Document Server

Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

2016-01-01

This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

Novel robotic systems and future directions

Directory of Open Access Journals (Sweden)

Ki Don Chang

2018-01-01

Full Text Available Robot-assistance is increasingly used in surgical practice. We performed a nonsystematic literature review using PubMed/MEDLINE and Google for robotic surgical systems and compiled information on their current status. We also used this information to predict future about the direction of robotic systems based on various robotic systems currently being developed. Currently, various modifications are being made in the consoles, robotic arms, cameras, handles and instruments, and other specific functions (haptic feedback and eye tracking that make up the robotic surgery system. In addition, research for automated surgery is actively being carried out. The development of future robots will be directed to decrease the number of incisions and improve precision. With the advent of artificial intelligence, a more practical form of robotic surgery system can be introduced and will ultimately lead to the development of automated robotic surgery system.

Architecture for Multiple Interacting Robot Intelligences

Science.gov (United States)

Peters, Richard Alan, II (Inventor)

2008-01-01

An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a database associative memory (DBAM) that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS (PAIR

Directory of Open Access Journals (Sweden)

Editorial, Foreword

2016-11-01

Full Text Available September 18th, 2016Deggendorf, Germanyhttp://robotics.fel.cvut.cz/pair16/Organized by: Artificial Intelligence Center Department of Computer Science Faculty of Electrical Engineering Czech Technical University in PragueTechnicka 2, Prague 6, 166 27, Czech RepublicGuest editors:Jan Faigl (Artificial Intelligence Center, Department of Computer Science, Faculty of Electrical Engineering, Czech Technical University in PragueJiří Vokřínek (Artificial Intelligence Center, Department of Computer Science, Faculty of Electrical Engineering, Czech Technical University in PragueScientific comittee:D. Belter (Poznań University of Technology, PolandW. Dorner (Technische Hochschule Deggendorf, GermanyJ. Faigl (Czech Technical University in PragueT. Krajník (University of Lincoln, United KingdomA. Komenda (Czech Technical University in PragueG. Kupris (Technische Hochschule Deggendorf, GermanyM. Rollo (Czech Technical University in PragueM. Saska (Czech Technical University in PragueJ. Vokřínek (Czech Technical University in PragueV. Vonásek (Czech Technical University in PragueK. Walas (Poznań University of Technology, Poland Foreword:The third year of the student conference on “Planning in Artificial Intelligence and Robotics” (PAIR continues in joining young researchers and students interested in robotics and artificial intelligence. In 2016, we follow the schema of the last year as a joint event with the RoboTour competition in Deggendorf, Germany. Thanks to the great collaboration with Gerald Kupris and Wolfgang Donner from Technische Hochschule Deggendorf and support from Czech Technical University under project No. SVK 26/16/F3 and Bayerisches Staatsministerium der Finanzen, für Landesentwicklung und Heimat, we have been able to provide accommodations and travel support to participants and an invited speaker. Fourteen papers have accepted and listed in the conference program. The papers have been authored by students from Central Europe

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 2: Space projects overview

Science.gov (United States)

Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

1982-01-01

Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and their related ground support functions are studied so that informed decisions can be made on which aspects of ARAMIS to develop. The space project breakdowns, which are used to identify tasks ('functional elements'), are described. The study method concentrates on the production of a matrix relating space project tasks to pieces of ARAMIS.

Robotic Services at Home: An Initialization System Based on Robots' Information and User Preferences in Unknown Environments

Directory of Open Access Journals (Sweden)

Nor Nur Safwati Mohd

2014-07-01

Full Text Available One important issue in robotic services is the construction of the robotic system in the actual environment. In other words, robots must perform environment sensing or have information on real objects, such as location and 3D dimensions, in order to live together with humans. It is crucial to have a mechanism to create an actual robotic system (intelligent space such that there is no initialization framework for the objects in the environment, or we have to perform SLAM and object recognition as well as mapping to generate a useful environmental database. In intelligent space research, normally the objects are attached to various sensors in order to extract the necessary information. However, that approach will highly depend on sensor accuracy and the robotic system will be burdened if there are too many sensors in an environment. Therefore, in this paper we present a system in which a robot can obtain information about an object and even create the furniture layout map for an unknown environment. Our approach is intended to improve home-based robotic services by taking into account the user or individual preferences for the Intelligent Space (IS. With this information, we can create an informational map of the home-based environment for the realization of robot assistance of humans in their daily activities at home, especially for disabled people. The result shows the system design and development in our approach by using model-based system engineering.

Human Brain inspired Artificial Intelligence & Developmental Robotics: A Review

Directory of Open Access Journals (Sweden)

Suresh Kumar

2017-06-01

Full Text Available Along with the developments in the field of the robotics, fascinating contributions and developments can be seen in the field of Artificial intelligence (AI. In this paper we will discuss about the developments is the field of artificial intelligence focusing learning algorithms inspired from the field of Biology, particularly large scale brain simulations, and developmental Psychology. We will focus on the emergence of the Developmental robotics and its significance in the field of AI.

Development of a robot system for converter relining; Tenro chikuro robot system no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Ito, Y; Kurahashi, M [Nissan Motor Co. Ltd., Tokyo (Japan)

1995-09-12

In steelmaking plants, the relining work of converters requires plenty of manpower and time. Recently, the number of expert brick workers has decreased, and it has been difficult to get together the necessary number of workers for the converter relining. To solve these problems, a robot system has been developed and realized for the converter relining. The system consists of two intelligent robots and an automatic brick conveying machine. With visual function and flexibly controlled hands, the robot enables to heap up bricks in the same manner as expert workers do. The automatic brick conveying machine consists of roller conveyers and a cage lifter that convey bricks on palettes to the suitable position for the robot to easily handle. This robot system has enabled to save much labor for the converter relining. 8 figs.

Virtual tutor systems for robot-assisted instruction

Science.gov (United States)

Zhao, Zhijing; Zhao, Deyu; Zhang, Zizhen; Wei, Yongji; Qi, Bingchen; Okawa, Yoshikuni

2004-03-01

Virtual Reality technology belongs to advanced computer technology, it has been applied in instruction field and gains obvious effect. At the same time, robot assisted instruction comes true with the continuous development of Robot technology and artificial intelligence technology. This paper introduces a virtual tutor system for robot assisted instruction.

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

Science.gov (United States)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

Artificial intelligence - NASA. [robotics for Space Station

Science.gov (United States)

Erickson, J. D.

1985-01-01

Artificial Intelligence (AI) represents a vital common space support element needed to enable the civil space program and commercial space program to perform their missions successfully. It is pointed out that advances in AI stimulated by the Space Station Program could benefit the U.S. in many ways. A fundamental challenge for the civil space program is to meet the needs of the customers and users of space with facilities enabling maximum productivity and having low start-up costs, and low annual operating costs. An effective way to meet this challenge may involve a man-machine system in which artificial intelligence, robotics, and advanced automation are integrated into high reliability organizations. Attention is given to the benefits, NASA strategy for AI, candidate space station systems, the Space Station as a stepping stone, and the commercialization of space.

Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

Directory of Open Access Journals (Sweden)

Widodo Budiharto

2015-01-01

Full Text Available For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system.

EAP artificial muscle actuators for bio-inspired intelligent social robotics (Conference Presentation)

Science.gov (United States)

Hanson, David F.

2017-04-01

Bio-inspired intelligent robots are coming of age in both research and industry, propelling market growth for robots and A.I. However, conventional motors limit bio-inspired robotics. EAP actuators and sensors could improve the simplicity, compliance, physical scaling, and offer bio-inspired advantages in robotic locomotion, grasping and manipulation, and social expressions. For EAP actuators to realize their transformative potential, further innovations are needed: the actuators must be robust, fast, powerful, manufacturable, and affordable. This presentation surveys progress, opportunities, and challenges in the author's latest work in social robots and EAP actuators, and proposes a roadmap for EAP actuators in bio-inspired intelligent robotics.

Fiscal 2000 achievement report on the venture business assisting type regional consortium - Core industry creation type. Research and development of polisher robot system using intelligent force control; 2000 nendo chiiki consortium kenkyu kaihatsu jigyo seika hokokusho. Intelligent ryoku seigyo wo mochiita kenma robot system no kenkyu kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

2001-03-01

The effort aims to automatize the manufacture of wooden furniture by robotizing the polishing work in the field of wooden furniture manufacturing, making use of the seeds provided by intelligent force control technologies. The intelligent force control technologies ('Delicate control of force for the open architecture type industrial robot' and 'Method for target orbit generation not requiring joystick teaching') of Saga University and the interior laboratory of Fukuoka Prefectural Industrial Research Institute are evolved and applied, and are integrated with the 3-dimensional object modelling technology developed by the mechanical and electronic laboratory, Fukuoka Prefectural Industrial Research Institute, and the CAD (computer aided design) data conversion technology developed by ASA Systems Inc. The result was a polisher robot system experimentally fabricated to satisfy the need of an automated polishing process in the wooden furniture manufacturing industry. The robot was tested, and achieved a surface coarseness level of 5{mu}m or less. As for the manufacturing rate, it attained a rate of approximately 100mm/s which was two times higher than the rate to be expected from a skilled worker. (NEDO)

Simulation and off-line programming at Sandia`s Intelligent Systems and Robotics Center

Energy Technology Data Exchange (ETDEWEB)

Xavier, P.G.; Fahrenholtz, J.C.; McDonald, M. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center] [and others

1997-11-01

One role of the Intelligent Robotics and System Center (ISRC) at Sandia National Laboratories is to address certain aspects of Sandia`s mission to design, manufacture, maintain, and dismantle nuclear weapon components. Hazardous materials, devices, and environments are often involved. Because of shrinking resources, these tasks must be accomplished with a minimum of prototyping, while maintaining high reliability. In this paper, the authors describe simulation, off-line programming/planning, and related tools which are in use, under development, and being researched to solve these problems at the ISRC.

Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

Maximizing Function through Intelligent Robot Actuator Control

Data.gov (United States)

National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

14th International Conference on Intelligent Autonomous Systems

CERN Document Server

Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng

2017-01-01

This book describes the latest research advances, innovations, and visions in the field of robotics as presented by leading researchers, engineers, and practitioners from around the world at the 14th International Conference on Intelligent Autonomous Systems (IAS-14), held in Shanghai, China in July 2016. The contributions amply demonstrate that robots, machines and systems are rapidly achieving intelligence and autonomy, attaining more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision-making. They cover a wide range of research results and applications, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions were selected by means of a rigorous peer-review process and highlight many exciting and visionary ideas that will further galvanize the research community and spur novel research directions. The series of biennial IAS ...

Cognitive logical systems with artificial intelligence

Energy Technology Data Exchange (ETDEWEB)

Liss, E

1983-09-01

The simulation of cognitive processes for the purpose of the technical development of learning systems with intelligent behavior is a basic object of the young interdisciplinary cognition science which is based upon artificial intelligence, cognitive psychology, computer science, linguistics and pedagogics. Cognitive systems may be described as knowledge-based logical systems. Based on structural and functional principles of intelligent automata and elementary information processing systems with structural learning capability the future process, machine and robot controls, advising units and fifth generation computers may be developed.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

Science.gov (United States)

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

Intelligent agents such as robots can form ad hoc networks and replace human being in many dangerous scenarios such as a complicated disaster relief site. This project prototypes and builds a computer simulator to simulate robot kinetics, unsupervised learning using Kohonen networks, as well as group intelligence when an ad hoc network is formed. Each robot is modeled using an object with a simple set of attributes and methods that define its internal states and possible actions it may take under certain circumstances. As the result, simple, reliable, and affordable robots can be deployed to form the network. The simulator simulates a group of robots as an unsupervised learning unit and tests the learning results under scenarios with different complexities. The simulation results show that a group of robots could demonstrate highly collaborative behavior on a complex terrain. This study could potentially provide a software simulation platform for testing individual and group capability of robots before the design process and manufacturing of robots. Therefore, results of the project have the potential to reduce the cost and improve the efficiency of robot design and building.

Mobile Intelligent Autonomous Systems

OpenAIRE

Jitendra R. Raol; Ajith Gopal

2010-01-01

Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

Amooty, a stair climbing intelligent maintenance robot

Energy Technology Data Exchange (ETDEWEB)

1985-04-01

Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants.

Amooty, a stair climbing intelligent maintenance robot

International Nuclear Information System (INIS)

Anon.

1985-01-01

Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants. (author)

Intelligent viewing control for robotic and automation systems

Science.gov (United States)

Schenker, Paul S.; Peters, Stephen F.; Paljug, Eric D.; Kim, Won S.

1994-10-01

We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

Human-directed local autonomy for motion guidance and coordination in an intelligent manufacturing system

Science.gov (United States)

Alford, W. A.; Kawamura, Kazuhiko; Wilkes, Don M.

1997-12-01

This paper discusses the problem of integrating human intelligence and skills into an intelligent manufacturing system. Our center has jointed the Holonic Manufacturing Systems (HMS) Project, an international consortium dedicated to developing holonic systems technologies. One of our contributions to this effort is in Work Package 6: flexible human integration. This paper focuses on one activity, namely, human integration into motion guidance and coordination. Much research on intelligent systems focuses on creating totally autonomous agents. At the Center for Intelligent Systems (CIS), we design robots that interact directly with a human user. We focus on using the natural intelligence of the user to simplify the design of a robotic system. The problem is finding ways for the user to interact with the robot that are efficient and comfortable for the user. Manufacturing applications impose the additional constraint that the manufacturing process should not be disturbed; that is, frequent interacting with the user could degrade real-time performance. Our research in human-robot interaction is based on a concept called human directed local autonomy (HuDL). Under this paradigm, the intelligent agent selects and executes a behavior or skill, based upon directions from a human user. The user interacts with the robot via speech, gestures, or other media. Our control software is based on the intelligent machine architecture (IMA), an object-oriented architecture which facilitates cooperation and communication among intelligent agents. In this paper we describe our research testbed, a dual-arm humanoid robot and human user, and the use of this testbed for a human directed sorting task. We also discuss some proposed experiments for evaluating the integration of the human into the robot system. At the time of this writing, the experiments have not been completed.

Robotics and remote systems for hazardous environments

International Nuclear Information System (INIS)

Jamshidi, M.; Eicker, P.

1993-01-01

This is the first volume in a series of books to be published by Prentice Hall on Environmental and Intelligent Manufacturing Systems. The editors have assembled an interdisciplinary collection of authors from industry, government, and academia, that provide a broad range of expertise on robotics and remote systems. Readily accessible to practicing engineers, the book provides case studies and introduces new technology applicable to remote operations in unstructured and/or hazardous environments. Chapter 1 gives an overview of the US Environmental Protection Agency's efforts to apply robotic technology to assist in the operations at hazardous waste sites. The next chapter focuses on the theory and implementation of robust impedance control for robotic manipulators. Chapter 3 presents a discussion on the integration of failure tolerance into robotic systems. The next two chapters address the issue of sensory feedback and its indispensable role in remote and/or hazardous environments. Chapter 6 presents numerous examples of robots and telemanipulators that have been applied for various tasks at the DOE's Savannah River Site. The following chapter picks up on this theme and discusses the fundamental paradigm shifts that are required in artificial intelligence for robots to deal with hazardous, unstructured, and dynamic environments. Chapter 8 returns to the issue of impedance control first raised in Chapter 2. While the majority of the applications discussed in this book are related to the nuclear industry, chapter 9 considers applying telerobotics for the control of traditional heavy machinery that is widely used in forestry, mining, and construction. The final chapter of the book returns to the topic of artificial intelligence's role in producing increased autonomy for robotic systems and provides an interesting counterpoint to the philosophy of reactive control discussed earlier

The conceptual design of the sensing system for patrolling and inspecting a nuclear facility by the intelligent robot

International Nuclear Information System (INIS)

Ebihara, Ken-ichi

1993-11-01

Supposing that an intelligent robot, instead of a human worker, patrols and inspects nuclear facilities, it is indispensable for such robot to be capable of moving with avoiding obstacles and recognizing various abnormal conditions, carrying out some ordered works based on information from sensors mounted on the robot. The present robots being practically used in nuclear facilities, however, have the limited capability such as identifying a few specific abnormal conditions using data detected by specific sensors on them. Hence, a conceptual design of a sensor-fusion-based system, which is named 'sensing system', has been performed to collect various kinds of information required for patrol and inspection. This sensing system combines a visual sensor, which consists of a monocular camera and a range finder by the active stereopsis method, an olfactory, acoustic and dose sensors. This report describes the hardware configuration and the software function for processing sensed data. An idea of sensor fusion and the preliminary consideration in respect of applying the neural network to image data processing are also described. (author)

System for intelligent teleoperation research

International Nuclear Information System (INIS)

Orlando, N.E.

1983-01-01

The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system, termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned

From responsible robotics towards a human rights regime oriented to the challenges of robotics and artificial intelligence

DEFF Research Database (Denmark)

Liu, Hin-Yan; Zawieska, Karolina

2017-01-01

impulse by proposing a complementary set of human rights directed specifically against the harms arising from robotic and artificial intelligence (AI) technologies. The relationship between responsibilities of the agent and the rights of the patient suggest that a rights regime is the other side...... to act responsibly. This subsists within a larger phenomenon where the difference between humans and non-humans, be it animals or artificial systems, appears to be increasingly blurred, thereby disrupting orthodox understandings of responsibility. This paper seeks to supplement the responsible robotics...

Intelligent Robot-assisted Humanitarian Search and Rescue System

Directory of Open Access Journals (Sweden)

Henry Y. K. Lau

2009-11-01

Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

Intelligent Robot-Assisted Humanitarian Search and Rescue System

Directory of Open Access Journals (Sweden)

Albert W. Y. Ko

2009-06-01

Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

The perception of animacy and intelligence based on a robot's embodiment

NARCIS (Netherlands)

Bartneck, C.; Kanda, T.; Mubin, O.; Al Mahmud, A.

2007-01-01

Robots exhibit life-like behavior by performing intelligent actions. To enhance human-robot interaction it is necessary to investigate and understand how end-users perceive such animate behavior. In this paper, we report an experiment to investigate how people perceived different robot embodiments

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

Science.gov (United States)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Intelligent automated control of robotic systems for environmental restoration

International Nuclear Information System (INIS)

Harrigan, R.W.

1992-01-01

Remote systems are needed to accomplish many tasks, such as the cleanup of waste sites in which the exposure of personnel to radiation, chemical, explosive, and other hazardous constituents is unacceptable. In addition, hazardous operations, which in the past have been completed by technicians, are under scrutiny because of the high costs and low productivity associated with providing protective clothing and environments. Traditional remote operations have, unfortunately, proven to also have very low productivity when compared with unencumbered human operators. However, recent advances in the integration of sensors and computing into the control of remotely operated equipment has shown great promise for reducing the cost of remote systems by providing faster and safer remote systems. The US Department of Energy's Office of Technology Development (OTD) has sponsored the development of the generic intelligent system controller (GISC) for application to remote system control. The GISC employs a highly modular architecture employing distributed real-time computing resources for speed and efficiency of computation. Currently, the graphics interface of GISC has been implemented on a Unix-based Silicon Graphics computer using commercial animation graphics software modified for real-time updating from sensory systems. A first implementation of GISC has been completed and is currently in use at Hanford, Washington, as part of the underground storage tank robotics technology development program

Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

Directory of Open Access Journals (Sweden)

Yi Zuo

2008-01-01

Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

Science.gov (United States)

Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

2017-10-14

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

Intelligent Vision System for Door Sensing Mobile Robot

Directory of Open Access Journals (Sweden)

Jharna Majumdar

2012-08-01

Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

Intelligent mechatronics; Intelligent mechatronics

Energy Technology Data Exchange (ETDEWEB)

Hashimoto, H. [The University of Tokyo, Tokyo (Japan). Institute of Industrial Science

1995-10-01

Intelligent mechatronics (IM) was explained as follows: a study of IM essentially targets realization of a robot namely, but in the present stage the target is a creation of new values by intellectualization of machine, that is, a combination of the information infrastructure and the intelligent machine system. IM is also thought to be constituted of computers positively used and micromechatronics. The paper next introduces examples of IM study, mainly those the author is concerned with as shown below: sensor gloves, robot hands, robot eyes, tele operation, three-dimensional object recognition, mobile robot, magnetic bearing, construction of remote controlled unmanned dam, robot network, sensitivity communication using neuro baby, etc. 27 figs.

Robotic and artificial intelligence for keyhole neurosurgery: the ROBOCAST project, a multi-modal autonomous path planner.

Science.gov (United States)

De Momi, E; Ferrigno, G

2010-01-01

The robot and sensors integration for computer-assisted surgery and therapy (ROBOCAST) project (FP7-ICT-2007-215190) is co-funded by the European Union within the Seventh Framework Programme in the field of information and communication technologies. The ROBOCAST project focuses on robot- and artificial-intelligence-assisted keyhole neurosurgery (tumour biopsy and local drug delivery along straight or turning paths). The goal of this project is to assist surgeons with a robotic system controlled by an intelligent high-level controller (HLC) able to gather and integrate information from the surgeon, from diagnostic images, and from an array of on-field sensors. The HLC integrates pre-operative and intra-operative diagnostics data and measurements, intelligence augmentation, multiple-robot dexterity, and multiple sensory inputs in a closed-loop cooperating scheme including a smart interface for improved haptic immersion and integration. This paper, after the overall architecture description, focuses on the intelligent trajectory planner based on risk estimation and human criticism. The current status of development is reported, and first tests on the planner are shown by using a real image stack and risk descriptor phantom. The advantages of using a fuzzy risk description are given by the possibility of upgrading the knowledge on-field without the intervention of a knowledge engineer.

Trends in ambient intelligent systems the role of computational intelligence

CERN Document Server

Khan, Mohammad; Abraham, Ajith

2016-01-01

This book demonstrates the success of Ambient Intelligence in providing possible solutions for the daily needs of humans. The book addresses implications of ambient intelligence in areas of domestic living, elderly care, robotics, communication, philosophy and others. The objective of this edited volume is to show that Ambient Intelligence is a boon to humanity with conceptual, philosophical, methodical and applicative understanding. The book also aims to schematically demonstrate developments in the direction of augmented sensors, embedded systems and behavioral intelligence towards Ambient Intelligent Networks or Smart Living Technology. It contains chapters in the field of Ambient Intelligent Networks, which received highly positive feedback during the review process. The book contains research work, with in-depth state of the art from augmented sensors, embedded technology and artificial intelligence along with cutting-edge research and development of technologies and applications of Ambient Intelligent N...

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

Science.gov (United States)

1994-01-01

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

Design and research of intelligent mobile robot environment detection system based on multi-sensor technology

International Nuclear Information System (INIS)

Chen Yu; Wen Xinling

2007-01-01

The intelligent mobile robot environment detection system is researched based on SCM MC68HC908GP3 as core of control system. The four groups of detection systems constituted by ultrasonic sensors and infrared sensors gather information of forward, behind, left and right different directions, solve the problem of blind spot, and make up each other shortage. The distance measurement precision is improved rapidly and the detection precision is less than ±1% through using the way of the pulse shooting, the signal chooses circuit, and the temperature compensation. The system design method and the hardware circuit are introduced in detail. Simultaneity, the system adopts the single chip control technology, it makes the system possess favorable expansibility and gains the practicability in engineering field. (authors)

Does the design of a robot influence its animacy and perceived intelligence?

NARCIS (Netherlands)

Bartneck, C.; Kanda, T.; Mubin, O.; Al Mahmud, A.

2009-01-01

Robots exhibit life-like behavior by performing intelligent actions. To enhance human-robot interaction it is necessary to investigate and understand how end-users perceive such animate behavior. In this paper, we report an experiment to investigate how people perceived different designs of robot

A study on intelligent nuclear systems (HASP: Human Acts Simulation Program)

International Nuclear Information System (INIS)

Asai, Kiyoshi; Fujii, Minoru; Higuchi, Kenji; Kume, Etsuo; Ohtani, Takayuki; Far, B.H.; Kambayashi, Shaw; Akimoto, Masayuki

1991-06-01

The fourth year progress of the Human Acts Simulation Program HASP in short, has been presented in this report. The HASP started in 1987 at JAERI as a ten-year research and development program of underlying technologies for intelligent robots, intelligent nuclear plants and so on. It consists of the research and development of technologies of a knowledge-base system, robot vision, robot kinematics/kinetics, plant geometry database, dose evaluation and high speed Monte Carlo machine. (author)

Research on wheelchair robot control system based on EOG

Science.gov (United States)

Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

2018-04-01

The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

Robotic system for glovebox size reduction

International Nuclear Information System (INIS)

KWOK, KWAN S.; MCDONALD, MICHAEL J.

2000-01-01

The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction

Robot-aided electrospinning toward intelligent biomedical engineering.

Science.gov (United States)

Tan, Rong; Yang, Xiong; Shen, Yajing

2017-01-01

The rapid development of robotics offers new opportunities for the traditional biofabrication in higher accuracy and controllability, which provides great potentials for the intelligent biomedical engineering. This paper reviews the state of the art of robotics in a widely used biomaterial fabrication process, i.e., electrospinning, including its working principle, main applications, challenges, and prospects. First, the principle and technique of electrospinning are introduced by categorizing it to melt electrospinning, solution electrospinning, and near-field electrospinning. Then, the applications of electrospinning in biomedical engineering are introduced briefly from the aspects of drug delivery, tissue engineering, and wound dressing. After that, we conclude the existing problems in traditional electrospinning such as low production, rough nanofibers, and uncontrolled morphology, and then discuss how those problems are addressed by robotics via four case studies. Lastly, the challenges and outlooks of robotics in electrospinning are discussed and prospected.

CAD-based intelligent robot system integrated with 3D scanning for shoe roughing and cementing

Directory of Open Access Journals (Sweden)

Chiu Cheng-Chang

2017-01-01

Full Text Available Roughing and cementing are very essential to the process of bonding shoe uppers and the corresponding soles; however, for shoes with complicated design, such as sport shoes, roughing and cementing greatly relied on manual operation. Recently, shoe industry is progressing to 3D design, thus 3D model of the shoe upper and sole will be created before launching into mass production. Taking advantage of the 3D model, this study developed a plug-in program on Rhino 3D CAD platform, which realized the complicated roughing and cementing route planning to be performed by the plug-in program, integrated with real-time 3D scanning information to compensate the planned route, and then converted to working trajectory of robot arm to implement roughing and cementing. The proposed 3D CAD-based intelligent robot arm system integrated with 3D scanning for shoe roughing and cementing is realized and proved to be feasible.

Intelligent, self-contained robotic hand

Science.gov (United States)

Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

2007-01-30

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Open source hardware and software platform for robotics and artificial intelligence applications

Science.gov (United States)

Liang, S. Ng; Tan, K. O.; Lai Clement, T. H.; Ng, S. K.; Mohammed, A. H. Ali; Mailah, Musa; Azhar Yussof, Wan; Hamedon, Zamzuri; Yussof, Zulkifli

2016-02-01

Recent developments in open source hardware and software platforms (Android, Arduino, Linux, OpenCV etc.) have enabled rapid development of previously expensive and sophisticated system within a lower budget and flatter learning curves for developers. Using these platform, we designed and developed a Java-based 3D robotic simulation system, with graph database, which is integrated in online and offline modes with an Android-Arduino based rubbish picking remote control car. The combination of the open source hardware and software system created a flexible and expandable platform for further developments in the future, both in the software and hardware areas, in particular in combination with graph database for artificial intelligence, as well as more sophisticated hardware, such as legged or humanoid robots.

Open source hardware and software platform for robotics and artificial intelligence applications

International Nuclear Information System (INIS)

Liang, S Ng; Tan, K O; Clement, T H Lai; Ng, S K; Mohammed, A H Ali; Mailah, Musa; Yussof, Wan Azhar; Hamedon, Zamzuri; Yussof, Zulkifli

2016-01-01

Recent developments in open source hardware and software platforms (Android, Arduino, Linux, OpenCV etc.) have enabled rapid development of previously expensive and sophisticated system within a lower budget and flatter learning curves for developers. Using these platform, we designed and developed a Java-based 3D robotic simulation system, with graph database, which is integrated in online and offline modes with an Android-Arduino based rubbish picking remote control car. The combination of the open source hardware and software system created a flexible and expandable platform for further developments in the future, both in the software and hardware areas, in particular in combination with graph database for artificial intelligence, as well as more sophisticated hardware, such as legged or humanoid robots. (paper)

Combining metric episodes with semantic event concepts within the Symbolic and Sub-Symbolic Robotics Intelligence Control System (SS-RICS)

Science.gov (United States)

Kelley, Troy D.; McGhee, S.

2013-05-01

This paper describes the ongoing development of a robotic control architecture that inspired by computational cognitive architectures from the discipline of cognitive psychology. The Symbolic and Sub-Symbolic Robotics Intelligence Control System (SS-RICS) combines symbolic and sub-symbolic representations of knowledge into a unified control architecture. The new architecture leverages previous work in cognitive architectures, specifically the development of the Adaptive Character of Thought-Rational (ACT-R) and Soar. This paper details current work on learning from episodes or events. The use of episodic memory as a learning mechanism has, until recently, been largely ignored by computational cognitive architectures. This paper details work on metric level episodic memory streams and methods for translating episodes into abstract schemas. The presentation will include research on learning through novelty and self generated feedback mechanisms for autonomous systems.

Artificial intelligence in conceptual design of intelligent manufacturing systems: A state of the art review

OpenAIRE

Petrović, Milica M.; Miljković, Zoran Đ.; Babić, Bojan R.

2013-01-01

Intelligent manufacturing systems (IMS), as the highest class of flexible manufacturing systems, are able to adapt to market changes applying methods of artificial intelligence. This paper presents a detailed review of the following IMS functions: (i) process planning optimization, (ii) scheduling optimization, (iii) integrated process planning and scheduling, and (iv) mobile robot scheduling for internal material transport tasks. The research presented in this paper shows that improved perfo...

Survey of the state of art in robotics and artificial intelligence, Volume 2

Energy Technology Data Exchange (ETDEWEB)

Thieme, G; Lux, P; Knappmann, R J; Schmidt, U

1981-07-01

This survey presents the state of the art in robotics and AI with emphasis on control and intelligence. It gives an introduction and summary description of robots and AI, identifies main application areas in space and benefits of the new technologies. Basic methods and concepts are illustrated. The state of the art, evolution trends and problem areas are described for industrial robots and space systems. Two reference missions are used to identify space opportunities. The potential application of existing know-how to space usage is identified. Recommendations for future research and development are given to overcome the problem areas. The survey comprises inventories of relevant publications, firms and institutions and know-how.

Intelligent assistive robots recent advances in assistive robotics for everyday activities

CERN Document Server

Moreno, Juan; Kong, Kyoungchul; Amirat, Yacine

2015-01-01

This book deals with the growing challenges of using assistive robots in our everyday activities along with providing intelligent assistive services. The presented applications concern mainly healthcare and wellness such as helping elderly people, assisting dependent persons, habitat monitoring in smart environments, well-being, security, etc. These applications reveal also new challenges regarding control theory, mechanical design, mechatronics, portability, acceptability, scalability, security, etc.  

Biologically Inspired Object Localization for a Modular Mobile Robotic System

Directory of Open Access Journals (Sweden)

Zlatogor Minchev

2005-12-01

Full Text Available The paper considers a general model of real biological creatures' antennae, which is practically implemented and tested, over a real element of a mobile modular robotic system - the robot MR1. The last could be utilized in solving of the most classical problem in Robotics - Object Localization. The functionality of the represented sensor system is described in a new and original manner by utilizing the tool of Generalized Nets - a new likelihood for description, modelling and simulation of different objects from the Artificial Intelligence area including Robotics.

The 17th Annual Intelligent Ground Vehicle Competition: Intelligent Robots Built by Intelligent Students

Science.gov (United States)

2009-11-23

intelligent mobile robots. The competition has been highly praised by faculty advisors as an excellent multidisciplinary design experience for...States Naval Academy Robo -Goat 60 0:54 21 Oakland University Moonwalker 54 0:22 22 Tennessee Technological University Andros 53 1:06 23 California...Naval Academy Robo -Goat 622.00 20 University of Michigan – Dearborn Rhino 568.50 21 Georgia Institute of Technology Candiii 533.00 22 Rose-Hulman

Engineering Evaluation and Assessment (EE and A) Report for the Symbolic and Sub-symbolic Robotics Intelligence Control System (SS-RICS)

Science.gov (United States)

2018-04-01

ARL-TR-8352 ● APR 2018 US Army Research Laboratory Engineering Evaluation and Assessment (EE&A) Report for the Symbolic and Sub...APR 2018 US Army Research Laboratory Engineering Evaluation and Assessment (EE&A) Report for the Symbolic and Sub-symbolic Robotics...Intelligence Control System (SS-RICS) by Troy Dale Kelley and Eric Avery Human Research and Engineering Directorate, ARL Sean McGhee STG Inc

Truss Assembly and Welding by Intelligent Precision Jigging Robots

Science.gov (United States)

Komendera, Erik; Dorsey, John T.; Doggett, William R.; Correll, Nikolaus

2014-01-01

This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with micron accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss from stock titanium components. The calibration of the IPJR, and the difference between the predicted and the truss dimensions as-built, identified additional sources of error that should be addressed in the next generation of IPJRs in 2D and 3D.

A systematic approach to the application of Automation, Robotics, and Machine Intelligence Systems /ARAMIS/ to future space projects

Science.gov (United States)

Smith, D. B. S.

1982-01-01

The potential applications of Automation, Robotics, and Machine Intelligence Systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are

Intelligent control and cooperation for mobile robots

Science.gov (United States)

Stingu, Petru Emanuel

The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

12th International Conference on Intelligent Autonomous Systems (IAS-12)

CERN Document Server

Yoon, Kwang-Joon; Lee, Jangmyung; Frontiers of Intelligent Autonomous Systems

2013-01-01

This carefully edited volume aims at providing readers with the most recent progress on intelligent autonomous systems, with its particular emphasis on intelligent autonomous ground, aerial and underwater vehicles as well as service robots for home and healthcare under the context of the aforementioned convergence. “Frontiers of Intelligent Autonomous Systems” includes thoroughly revised and extended papers selected from the 12th International Conference on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26-29, 2012. The editors chose 35 papers out of the 202 papers presented at IAS-12 which are organized into three chapters: Chapter 1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to unmanned aerial and underwater vehicles and Chapter 3 to service robots for home and healthcare. To help the readers to easily access this volume, each chapter starts with a chapter summary introduced by one of the editors: Chapter 1 by Sukhan Lee, Chapter 2 by Kwang Joon Yoon and...

Application of hierarchical dissociated neural network in closed-loop hybrid system integrating biological and mechanical intelligence.

Directory of Open Access Journals (Sweden)

Yongcheng Li

Full Text Available Neural networks are considered the origin of intelligence in organisms. In this paper, a new design of an intelligent system merging biological intelligence with artificial intelligence was created. It was based on a neural controller bidirectionally connected to an actual mobile robot to implement a novel vehicle. Two types of experimental preparations were utilized as the neural controller including 'random' and '4Q' (cultured neurons artificially divided into four interconnected parts neural network. Compared to the random cultures, the '4Q' cultures presented absolutely different activities, and the robot controlled by the '4Q' network presented better capabilities in search tasks. Our results showed that neural cultures could be successfully employed to control an artificial agent; the robot performed better and better with the stimulus because of the short-term plasticity. A new framework is provided to investigate the bidirectional biological-artificial interface and develop new strategies for a future intelligent system using these simplified model systems.

Application of Hierarchical Dissociated Neural Network in Closed-Loop Hybrid System Integrating Biological and Mechanical Intelligence

Science.gov (United States)

Zhang, Bin; Wang, Yuechao; Li, Hongyi

2015-01-01

Neural networks are considered the origin of intelligence in organisms. In this paper, a new design of an intelligent system merging biological intelligence with artificial intelligence was created. It was based on a neural controller bidirectionally connected to an actual mobile robot to implement a novel vehicle. Two types of experimental preparations were utilized as the neural controller including ‘random’ and ‘4Q’ (cultured neurons artificially divided into four interconnected parts) neural network. Compared to the random cultures, the ‘4Q’ cultures presented absolutely different activities, and the robot controlled by the ‘4Q’ network presented better capabilities in search tasks. Our results showed that neural cultures could be successfully employed to control an artificial agent; the robot performed better and better with the stimulus because of the short-term plasticity. A new framework is provided to investigate the bidirectional biological-artificial interface and develop new strategies for a future intelligent system using these simplified model systems. PMID:25992579

Application of hierarchical dissociated neural network in closed-loop hybrid system integrating biological and mechanical intelligence.

Science.gov (United States)

Li, Yongcheng; Sun, Rong; Zhang, Bin; Wang, Yuechao; Li, Hongyi

2015-01-01

Neural networks are considered the origin of intelligence in organisms. In this paper, a new design of an intelligent system merging biological intelligence with artificial intelligence was created. It was based on a neural controller bidirectionally connected to an actual mobile robot to implement a novel vehicle. Two types of experimental preparations were utilized as the neural controller including 'random' and '4Q' (cultured neurons artificially divided into four interconnected parts) neural network. Compared to the random cultures, the '4Q' cultures presented absolutely different activities, and the robot controlled by the '4Q' network presented better capabilities in search tasks. Our results showed that neural cultures could be successfully employed to control an artificial agent; the robot performed better and better with the stimulus because of the short-term plasticity. A new framework is provided to investigate the bidirectional biological-artificial interface and develop new strategies for a future intelligent system using these simplified model systems.

Optimization of Power Utilization in Multimobile Robot Foraging Behavior Inspired by Honeybees System

Science.gov (United States)

Ahmad, Faisul Arif; Ramli, Abd Rahman; Samsudin, Khairulmizam; Hashim, Shaiful Jahari

2014-01-01

Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are cooperating with each other for foraging process. The optimizing of foraging behavior would result in the mobile robots spending more time to do real work. PMID:24949491

Implementation and Validation of Artificial Intelligence Techniques for Robotic Surgery

OpenAIRE

Aarshay Jain; Deepansh Jagotra; Vijayant Agarwal

2014-01-01

The primary focus of this study is implementation of Artificial Intelligence (AI) technique for developing an inverse kinematics solution for the Raven-IITM surgical research robot [1]. First, the kinematic model of the Raven-IITM robot was analysed along with the proposed analytical solution [2] for inverse kinematics problem. Next, The Artificial Neural Network (ANN) techniques was implemented. The training data for the same was careful selected by keeping manipulability constraints in mind...

BellBot - A Hotel Assistant System Using Mobile Robots

Directory of Open Access Journals (Sweden)

Joaquín López

2013-01-01

Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

Science.gov (United States)

Hanford, Scott D.

Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the

New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

Directory of Open Access Journals (Sweden)

Nazim Mir-Nasiri

2008-11-01

Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

Directory of Open Access Journals (Sweden)

Nazim Mir-Nasiri

2005-09-01

Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

Intelligent material systems - The dawn of a new materials age

International Nuclear Information System (INIS)

Rogers, C.A.

1993-01-01

The intelligent material system solution to such engineering problems as the design of a robotic arm borrows directly from biological analogs; materials that behave much as muscles do during contraction can be employed as induced strain actuators which work against the intrinsic structural impedance of the component. Unlike actual human arms, which are jointed, the intelligent structure may be a continuum. The adaptation of structural impedance may be regarded as the most fundamental and consequential concept in the field of intelligent material systems

Systematic approach to the application of automation, robotics, and machine intelligence systems (aramis) to future space projects

Energy Technology Data Exchange (ETDEWEB)

Smith, D B.S.

1983-01-01

The potential applications of automation, robotics and machine intelligence systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are identified for space project tasks. General conclusions and recommendations for further study are also presented. 6 references.

A real time tracking vision system and its application to robotics

International Nuclear Information System (INIS)

Inoue, Hirochika

1994-01-01

Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

A novel modification of the Turing test for artificial intelligence and robotics in healthcare.

Science.gov (United States)

Ashrafian, Hutan; Darzi, Ara; Athanasiou, Thanos

2015-03-01

The increasing demands of delivering higher quality global healthcare has resulted in a corresponding expansion in the development of computer-based and robotic healthcare tools that rely on artificially intelligent technologies. The Turing test was designed to assess artificial intelligence (AI) in computer technology. It remains an important qualitative tool for testing the next generation of medical diagnostics and medical robotics. Development of quantifiable diagnostic accuracy meta-analytical evaluative techniques for the Turing test paradigm. Modification of the Turing test to offer quantifiable diagnostic precision and statistical effect-size robustness in the assessment of AI for computer-based and robotic healthcare technologies. Modification of the Turing test to offer robust diagnostic scores for AI can contribute to enhancing and refining the next generation of digital diagnostic technologies and healthcare robotics. Copyright © 2014 John Wiley & Sons, Ltd.

Development of a remote tank inspection robotic system

International Nuclear Information System (INIS)

Knape, B.P.; Bares, L.C.

1990-01-01

RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

Associative learning for a robot intelligence

CERN Document Server

Andreae, John H

1998-01-01

The explanation of brain functioning in terms of the association of ideas has been popular since the 17th century. Recently, however, the process of association has been dismissed as computationally inadequate by prominent cognitive scientists. In this book, a sharper definition of the term "association" is used to revive the process by showing that associative learning can indeed be computationally powerful. Within an appropriate organization, associative learning can be embodied in a robot to realize a human-like intelligence, which sets its own goals, exhibits unique unformalizable behaviou

Based on Intelligent Robot of E-business Distribution Center Operation Mode Research

Directory of Open Access Journals (Sweden)

Li Juntao

2016-01-01

Full Text Available According to E-business distribution center operation mode in domestic and advanced experience drawing lessons at home and abroad, this paper based on intelligent robot researches E-business distribution center operation mode. And it proposes the innovation logistics storage in E-business and sorting integration system, and elaborates its principle, characteristics, as well as studies its business mode and logistics process, and its parameters and working mode of AGV equipment.

A Characterization of the Utility of Using Artificial Intelligence to Test Two Artificial Intelligence Systems

OpenAIRE

Straub, Jeremy; Huber, Justin

2013-01-01

An artificial intelligence system, designed for operations in a real-world environment faces a nearly infinite set of possible performance scenarios. Designers and developers, thus, face the challenge of validating proper performance across both foreseen and unforeseen conditions, particularly when the artificial intelligence is controlling a robot that will be operating in close proximity, or may represent a danger, to humans. While the manual creation of test cases allows limited testing (p...

SAI Intelligent Systems Conference (IntelliSys) 2015

CERN Document Server

Kapoor, Supriya; Bhatia, Rahul

2016-01-01

This book is a remarkable collection of chapters covering a wider range of topics, including unsupervised text mining, anomaly and Intrusion Detection, Self-reconfiguring Robotics, application of Fuzzy Logic to development aid, Design and Optimization, Context-Aware Reasoning, DNA Sequence Assembly and Multilayer Perceptron Networks. The twenty-one chapters present extended results from the SAI Intelligent Systems Conference (IntelliSys) 2015 and have been selected based on high recommendations during IntelliSys 2015 review process. This book presents innovative research and development carried out presently in fields of knowledge representation and reasoning, machine learning, and particularly in intelligent systems in a more broad sense. It provides state - of - the - art intelligent methods and techniques for solving real world problems along with a vision of the future research.

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

International Nuclear Information System (INIS)

Chen, H J; Gao, B T; Zhang, X H; Deng, Z Q

2006-01-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

Energy Technology Data Exchange (ETDEWEB)

Chen, H J [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Gao, B T [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Zhang, X H [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Deng, Z Q [School of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China)

2006-10-15

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

Using generic tool kits to build intelligent systems

Science.gov (United States)

Miller, David J.

1994-01-01

The Intelligent Systems and Robots Center at Sandia National Laboratories is developing technologies for the automation of processes associated with environmental remediation and information-driven manufacturing. These technologies, which focus on automated planning and programming and sensor-based and model-based control, are used to build intelligent systems which are able to generate plans of action, program the necessary devices, and use sensors to react to changes in the environment. By automating tasks through the use of programmable devices tied to computer models which are augmented by sensing, requirements for faster, safer, and cheaper systems are being satisfied. However, because of the need for rapid cost-effect prototyping and multi-laboratory teaming, it is also necessary to define a consistent approach to the construction of controllers for such systems. As a result, the Generic Intelligent System Controller (GISC) concept has been developed. This concept promotes the philosophy of producing generic tool kits which can be used and reused to build intelligent control systems.

Full autonomous microline trace robot

Science.gov (United States)

Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

2000-10-01

Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

Micro intelligence robot

International Nuclear Information System (INIS)

Jeon, Yon Ho

1991-07-01

This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

Intelligent computational systems for space applications

Science.gov (United States)

Lum, Henry; Lau, Sonie

Intelligent computational systems can be described as an adaptive computational system integrating both traditional computational approaches and artificial intelligence (AI) methodologies to meet the science and engineering data processing requirements imposed by specific mission objectives. These systems will be capable of integrating, interpreting, and understanding sensor input information; correlating that information to the "world model" stored within its data base and understanding the differences, if any; defining, verifying, and validating a command sequence to merge the "external world" with the "internal world model"; and, controlling the vehicle and/or platform to meet the scientific and engineering mission objectives. Performance and simulation data obtained to date indicate that the current flight processors baselined for many missions such as Space Station Freedom do not have the computational power to meet the challenges of advanced automation and robotics systems envisioned for the year 2000 era. Research issues which must be addressed to achieve greater than giga-flop performance for on-board intelligent computational systems have been identified, and a technology development program has been initiated to achieve the desired long-term system performance objectives.

Robotics, Artificial Intelligence, Computer Simulation: Future Applications in Special Education.

Science.gov (United States)

Moore, Gwendolyn B.; And Others

The report describes three advanced technologies--robotics, artificial intelligence, and computer simulation--and identifies the ways in which they might contribute to special education. A hybrid methodology was employed to identify existing technology and forecast future needs. Following this framework, each of the technologies is defined,…

Social Intelligence for a Robot Engaging People in Cognitive Training Activities

Directory of Open Access Journals (Sweden)

Jeanie Chan

2012-10-01

Full Text Available Current research supports the use of cognitive training interventions to improve the brain functioning of both adults and children. Our work focuses on exploring the potential use of robot assistants to allow for these interventions to become more accessible. Namely, we aim to develop an intelligent, socially assistive robot that can engage individuals in person-centred cognitively stimulating activities. In this paper, we present the design of a novel control architecture for the robot Brian 2.0, which enables the robot to be a social motivator by providing assistance, encouragement and celebration during an activity. A hierarchical reinforcement learning approach is used in the architecture to allow the robot to: 1 learn appropriate assistive behaviours based on the structure of the activity, and 2 personalize an interaction based on user states. Experiments show that the control architecture is effective in determining the robot's optimal assistive behaviours during a memory game interaction.

A cognitive operating system (COGNOSYS) for JPL's robot, phase 1 report

Science.gov (United States)

Mathur, F. P.

1972-01-01

The most important software requirement for any robot development is the COGNitive Operating SYStem (COGNOSYS). This report describes the Stanford University Artificial Intelligence Laboratory's hand eye software system from the point of view of developing a cognitive operating system for JPL's robot. In this, the Phase 1 of the JPL robot COGNOSYS task the installation of a SAIL compiler and a FAIL assembler on Caltech's PDP-10 have been accomplished and guidelines have been prepared for the implementation of a Stanford University type hand eye software system on JPL-Caltech's computing facility. The alternatives offered by using RAND-USC's PDP-10 Tenex operating sytem are also considered.

Fuzzy Behaviors for Control of Mobile Robots

Directory of Open Access Journals (Sweden)

Saleh Zein-Sabatto

2003-02-01

Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

An introduction to artificial intelligence and its potential use in space systems.

OpenAIRE

McDonald, Gary Wayne

1986-01-01

Approved for public release; distribution is unlimited This thesis provides an introduction to Artificial Intelligence and Space Systems, with comments regarding their integration. The survey of Artificial Intelligence (AI) is based upon a review of its history, its philosophical development, and subcategories of its current technologies. These subcategories are Expert Systems (ES), Natural Language Processing (NLP), Computer Vision and Pattern Recognition, and Robotic...

Designing, developing, and deploying systems to support human-robot teams in disaster response

NARCIS (Netherlands)

Kruijff, G.J.M.; Kruijff-Korbayová, I.; Keshavdas, S.; Larochelle, B.; Janíček, M.; Colas, F.; Liu, M.; Pomerleau, F.; Siegwart, R.; Neerincx, M.A.; Looije, R.; Smets, N.J.J.M.; Mioch, T.; Diggelen, J. van; Pirri, F.; Gianni, M.; Ferri, F.; Menna, M.; Worst, R.; Linder, T.; Tretyakov, V.; Surmann, H.; Svoboda, T.; Reinštein, M.; Zimmermann, K.; Petříček, T.; Hlaváč, V.

2014-01-01

This paper describes our experience in designing, developing and deploying systems for supporting human-robot teams during disaster response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in

Application of robotics to distribution systems

Energy Technology Data Exchange (ETDEWEB)

Ramsbottom, W

1986-06-01

Robotic technology has been recognized as having potential application in lifeline maintenance and repair. A study was conducted to investigate the feasibility of utilizing robotics for this purpose, and to prepare a general design of appropriate equipment. Four lifeline tasks were selected as representative of the majority of work. Based on a detailed task decomposition, subtasks were rated on amenability to robot completion. All tasks are feasible, but in some cases special tooling is required. Based on today's robotics, it is concluded that a force reflecting master/slave telemanipulator, augmented by automatic robot tasks under a supervisory control system, provides the optimal approach. No commercially available products are currently adequate for lifeline work. A general design of the telemanipulator, which has been named the SKYARM has been developed, addressing all subsystems such as the manipulator, video, control power and insulation. The baseline system is attainable using today's technology. Improved performance and lower cost will be achieved through developments in artificial intelligence, machine vision, supervisory control and dielectrics. Immediate benefits to utilities include increased safety, better service and savings on a subset of maintenance tasks. In 3-5 years, the SKYARM will prove cost effective as a general purpose lifeline tool. 7 refs., 26 figs., 3 tabs.

Intelligent Control of Welding Gun Pose for Pipeline Welding Robot Based on Improved Radial Basis Function Network and Expert System

Directory of Open Access Journals (Sweden)

Jingwen Tian

2013-02-01

Full Text Available Since the control system of the welding gun pose in whole-position welding is complicated and nonlinear, an intelligent control system of welding gun pose for a pipeline welding robot based on an improved radial basis function neural network (IRBFNN and expert system (ES is presented in this paper. The structure of the IRBFNN is constructed and the improved genetic algorithm is adopted to optimize the network structure. This control system makes full use of the characteristics of the IRBFNN and the ES. The ADXRS300 micro-mechanical gyro is used as the welding gun position sensor in this system. When the welding gun position is obtained, an appropriate pitch angle can be obtained through expert knowledge and the numeric reasoning capacity of the IRBFNN. ARM is used as the controller to drive the welding gun pitch angle step motor in order to adjust the pitch angle of the welding gun in real-time. The experiment results show that the intelligent control system of the welding gun pose using the IRBFNN and expert system is feasible and it enhances the welding quality. This system has wide prospects for application.

Interacting with Multi-Robot Systems Using BML

Science.gov (United States)

2013-06-01

presented to the operator. 1. Introduction There are many operations in which a multi-robot system (MRS) can be deployed to support the human forces...within the MRS easily. © Fraunhofer FKIE Communication Architecture ~ ~ Fraunhofer FKIE © Fraunhofer FKIE Battle Mangement Language BML...Fraunhofer FKIE Battle Mangement Language Orders Orders move patrol observe distribute guard recce imagery intelligence gathering

Artificial Intelligence techniques for mission planning for mobile robots

International Nuclear Information System (INIS)

Martinez, J.M.; Nomine, J.P.

1990-01-01

This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)

System design for safe robotic handling of nuclear materials

International Nuclear Information System (INIS)

Drotning, W.; Wapman, W.; Fahrenholtz, J.; Kimberly, H.; Kuhlmann, J.

1996-01-01

Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance; assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability

Mobile robotics research at Sandia National Laboratories

Energy Technology Data Exchange (ETDEWEB)

Morse, W.D.

1998-09-01

Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

A Fast Vision System for Soccer Robot

Directory of Open Access Journals (Sweden)

Tianwu Yang

2012-01-01

Full Text Available This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.

Creating robots with personality : the effect of personality on social intelligence

NARCIS (Netherlands)

Mileounis, A.; Cuijpers, R.H.; Barakova, E.I.

2015-01-01

This study investigates the effect of two personality traits, dominance and extroversion, on social intelligence. To test these traits, a NAO robot was used, which was teleoperated through a computer using a Wizard of Oz technique. A within-subject design was conducted with extroversion as

One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor

Directory of Open Access Journals (Sweden)

Nikita Pashenkov

2008-11-01

Full Text Available This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which has enabled a streamlined implementation of our project. We argue that this processor offers a unique set of hardware and software features, making it a practical development platform for robotics in general and for subsumption-based control architectures in particular. Next, we summarize original ideas on subsumption architecture implementation for a six-legged robot, as presented by its inventor Rodney Brooks in 1980's. A comparison is then made to a more recent example of a hexapod control architecture based on subsumption. The merits of both systems are analyzed and a new subsumption architecture layout is formulated as a response. We conclude with some remarks regarding the development of this project as a hint at new potentials for intelligent robot design, opened up by a recent development in embedded controller market.

Fiscal 1997 report on the results of the international standardization R and D. Robot control system; 1997 nendo seika hokokusho kokusai hyojun soseigata kenkyu kaihatsu. Robot seigyo system

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-03-01

R and D of the robot control system was conducted in the following items: 1) integrated open control system, 2) remote control robot manipulation language, 3) human factor robot use built-in LAN system, 4) built-in actuator driver. In 1), there were some problems to be pointed out around the system, but the effectiveness was confirmed as system architecture of each verification item. In 2), development/design were made of RCML(R-Cube Manipulation Language) as a remote robot manipulation language, telecommunication protocol, and the experimental system, and the international standardization was targeted. In 3), the R and D was conducted of the realtime telecommunication protocol which clears the standards for the distributed control required for construction of human factor robot and the advanced realtime micro-controller, ULSI, which is the one that the protocol was made IC. In 4), an intelligent connector for built-in actuator was developed which enables saving of wiring in robot system and plug-in connection. 13 refs., 186 figs., 53 tabs.

JPRS Report, Science & Technology, Japan, 4th Intelligent Robots Symposium, Volume 1

Science.gov (United States)

1989-03-16

Robots 43064062 Tokyo 4TH INTELLIGENT ROBOTS SYMPOSIUM PAPERS in Japanese 13/14 Jun 88 No 106 pp 39-44 [Article by H. Kimura , I. Shimoyama, and H. Miura...pp 237-239. 3. K. Kondo and F. Kimura , "High-Speed Orbit Planning Based on Labyrinthine Method," Ibid., pp 261-262. 4. T. Hasegawa, "Planning of...Satoshi Okada, Kazuhiro Tsumura, Hisashi Hozeki, Katsumi Kubo, and Akira Abe, Toshiba Corporation] [Text] 1. Introduction In recent years, the

An intelligent inspection and survey robot

International Nuclear Information System (INIS)

Byrd, J.; Holland, J.M.

1994-01-01

ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low-level nuclear waste. This article describes the technology and how it could be used. 3 refs., 3 figs

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

International Nuclear Information System (INIS)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

2013-01-01

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

Energy Technology Data Exchange (ETDEWEB)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-10-15

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

Marine Robot Autonomy

CERN Document Server

2013-01-01

Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

A study on intelligent nuclear systems, (HASP: human acts simulation program)

International Nuclear Information System (INIS)

Asai, Kiyoshi; Uenaka, Junji; Kambayashi, Shaw; Higuchi, Kenji; Kume, Etsuo; Fujisaki, Masahide; Fujii, Minoru; Yokokawa, Mitsuo

1989-03-01

In 1987 Japan Atomic Energy Research Institute has started a ten-years program named HASP, i.e., Human Acts Simulation Program, for artificial intelligence and robotics research. In the HASP, a human-shaped robot reads and understands orders written in natural language, planning and producing a required sequence of actions, accesses to a device or an instrument recognizing its entity and dose the ordered work for plant maintenance. All of these processes including calculation of the radiation exposure of the robot are simulated by logical and numerical computations. The simulated actions of the robot in three-dimensional environments are displayed using a high speed computer for graphics. The aim of the HASP project is threefold, i.e., (1) to develop fundamental technologies for design of intelligent robots, (2) to develop technologies for automated and/or intelligent plants, (3) to provide researchers and engineers in nuclear field with basic and systematized artificial intelligence techniques. The research items are natural language understanding, goal planning by LISP calculus, pattern recognitions by neural network methods, plant modelling by solid modeller, biped robot simulations, graphic display of the robot motion, and a study of design concept of a Monte Carlo vector processor for high speed calculation of the radiation exposure. In this report research results attained in the second year of the HASP project are described. (author)

The DelFly design, aerodynamics, and artificial intelligence of a flapping wing robot

CERN Document Server

de Croon, G C H E; Remes, B D W; Ruijsink, R; De Wagter, C

2016-01-01

This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Expl...

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

Science.gov (United States)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

2015-01-01

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

Autonomous construction using scarce resources in unknown environments - Ingredients for an intelligent robotic interaction with the physical world

OpenAIRE

Magnenat, Stéphane; Philippsen, Roland; Mondada, Francesco

2012-01-01

The goal of creating machines that autonomously perform useful work in a safe, robust and intelligent manner continues to motivate robotics research. Achieving this autonomy requires capabilities for understanding the environment, physically interacting with it, predicting the outcomes of actions and reasoning with this knowledge. Such intelligent physical interaction was at the centre of early robotic investigations and remains an open topic. In this paper, we build on the fruit of decades ...

Multiprocessor development for robot control

International Nuclear Information System (INIS)

Lee, Jong Min; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Sohn, Surg Won; Yoon, Tae Seob; Lee, Yong Bum; Kim, Woong Ki

1988-02-01

A mutiprocessor system that is essential to A.I. (Artificial Intelligence) robot control was developed. A.I. robot control needs very complex real time control. The multiprocessor system interconnecting many SBC's (Single Board Computer) is much faster and accurater than using only one SBC. Various multiprocessor systems and their applications were compared and discussed. The multiprocessor architecture system is specially designed to be used in nuclear environments. The main functions are job distribution, multitasking, and intelligent remote control by SDLC protocol using optical fiber. The system can be applied to position control for locomotion and manipulation, data fusion system, and image processing. (Author)

Computational intelligence for decision support in cyber-physical systems

CERN Document Server

Ali, A; Riaz, Zahid

2014-01-01

This book is dedicated to applied computational intelligence and soft computing techniques with special reference to decision support in Cyber Physical Systems (CPS), where the physical as well as the communication segment of the networked entities interact with each other. The joint dynamics of such systems result in a complex combination of computers, software, networks and physical processes all combined to establish a process flow at system level. This volume provides the audience with an in-depth vision about how to ensure dependability, safety, security and efficiency in real time by making use of computational intelligence in various CPS applications ranging from the nano-world to large scale wide area systems of systems. Key application areas include healthcare, transportation, energy, process control and robotics where intelligent decision support has key significance in establishing dynamic, ever-changing and high confidence future technologies. A recommended text for graduate students and researche...

Safety issues in robotic handling of nuclear weapon parts

International Nuclear Information System (INIS)

Drotning, W.; Wapman, W.; Fahrenholtz, J.

1993-01-01

Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive weapon parts. These systems will reduce the occupational radiation exposure to workers by automating operations that are currently performed manually. The robotic systems at Sandia incorporate several levels of mechanical, electrical, and software safety for handling hazardous materials. For example, tooling used by the robot to handle radioactive parts has been designed with mechanical features that allow the robot to release its payload only at designated locations in the robotic workspace. In addition, software processes check for expected and unexpected situations throughout the operations. Incorporation of features such as these provides multiple levels of safety for handling hazardous or valuable payloads with automated intelligent systems

Visual Detection and Tracking System for a Spherical Amphibious Robot.

Science.gov (United States)

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-04-15

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

Visual Detection and Tracking System for a Spherical Amphibious Robot

Science.gov (United States)

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-01-01

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

NASA Intelligent Systems Project: Results, Accomplishments and Impact on Science Missions

Science.gov (United States)

Coughlan, Joseph C.

2005-01-01

The Intelligent Systems Project was responsible for much of NASA's programmatic investment in artificial intelligence and advanced information technologies. IS has completed three major project milestones which demonstrated increased capabilities in autonomy, human centered computing, and intelligent data understanding. Autonomy involves the ability of a robot to place an instrument on a remote surface with a single command cycle. Human centered computing supported a collaborative, mission centric data and planning system for the Mars Exploration Rovers and data understanding has produced key components of a terrestrial satellite observation system with automated modeling and data analysis capabilities. This paper summarizes the technology demonstrations and metrics which quantify and summarize these new technologies which are now available for future Nasa missions.

Design of multifunction anti-terrorism robotic system based on police dog

Science.gov (United States)

You, Bo; Liu, Suju; Xu, Jun; Li, Dongjie

2007-11-01

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs' biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots' mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

International Nuclear Information System (INIS)

Mann, R.C.; Fujimura, K.; Unseren, M.A.

1991-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs

25th Conference on Robotics in Alpe-Adria-Danube Region

CERN Document Server

Borangiu, Theodor

2017-01-01

This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource f...

Intelligent control system Cellular Robotics Approach to Nuclear Plant control and maintenance

International Nuclear Information System (INIS)

Fukuda, Toshio; Sekiyama, Kousuke; Xue Guoqing; Ueyama, Tsuyoshi.

1994-01-01

This paper presents the concept of Cellular Robotic System (CEBOT) and describe the strategy of a distributed sensing, control and planning as a Cellular Robotics Approach to the Nuclear Plant control and maintenance. Decentralized System is effective in large plant and The CEBOT possesses desirable features for realization of Nuclear Plant control and maintenance because of its flexibility and adaptability. Also, as related on going research work, self-organizing manipulator and communication issues are mentioned. (author)

Advances in Reasoning-Based Image Processing Intelligent Systems Conventional and Intelligent Paradigms

CERN Document Server

Nakamatsu, Kazumi

2012-01-01

The book puts special stress on the contemporary techniques for reasoning-based image processing and analysis: learning based image representation and advanced video coding; intelligent image processing and analysis in medical vision systems; similarity learning models for image reconstruction; visual perception for mobile robot motion control, simulation of human brain activity in the analysis of video sequences; shape-based invariant features extraction; essential of paraconsistent neural networks, creativity and intelligent representation in computational systems. The book comprises 14 chapters. Each chapter is a small monograph, representing resent investigations of authors in the area. The topics of the chapters cover wide scientific and application areas and complement each-other very well. The chapters’ content is based on fundamental theoretical presentations, followed by experimental results and comparison with similar techniques. The size of the chapters is well-ballanced which permits a thorough ...

Selective Snapshot of State-of-the-Art Artificial Intelligence & Robotics with Reference to the Icarus Starship

Science.gov (United States)

Ellery, A.

Since the remarkable British Interplanetary Society starship study of the late 1970s - Daedalus - there have been significant developments in the areas of artificial intelligence and robotics. These will be critical technologies for any starship as indeed they are for the current generation of exploratory spacecraft and in-situ planetary robotic explorers. Although early visions of truly intelligent robots have yet to materialize (reasons for which will be outlined), there are nonetheless revolutionary developments which have attempted to address at least some of these earlier unperceived deficiencies. The current state of the art comprises a number of separate strands of research which provide components of robotic intelligence though no over- arching approach has been forthcoming. The first question to be considered is the level of intelligent functionality required to support a long-duration starship mission. This will, at a minimum, need to be extensive imposed by the requirement for complex reconfigurability and repair. The second question concerns the tools that we have at our disposal to implement the required intelligent functions of the starship. These are based on two very different approaches - good old-fashioned artificial intelligence (GOFAI) based on logical theorem-proving and knowledge-encoding recently augmented by modal, temporal, circumscriptive and fuzzy logics to address the well-known “frame problem”; and the more recent soft computing approaches based on artificial neural networks, evolutionary algorithms and immunity models and their variants to implement learning. The former has some flight heritage through the Remote Agent architecture whilst the latter has yet to be deployed on any space mission. However, the notion of reconfigurable hardware of recent interest in the space community warrants the use of evolutionary algorithms and neural networks implemented on field programmable gate array technology, blurring the distinction between

A Characterization of the Utility of Using Artificial Intelligence to Test Two Artificial Intelligence Systems

Directory of Open Access Journals (Sweden)

Jeremy Straub

2013-05-01

Full Text Available An artificial intelligence system, designed for operations in a real-world environment faces a nearly infinite set of possible performance scenarios. Designers and developers, thus, face the challenge of validating proper performance across both foreseen and unforeseen conditions, particularly when the artificial intelligence is controlling a robot that will be operating in close proximity, or may represent a danger, to humans. While the manual creation of test cases allows limited testing (perhaps ensuring that a set of foreseeable conditions trigger an appropriate response, this may be insufficient to fully characterize and validate safe system performance. An approach to validating the performance of an artificial intelligence system using a simple artificial intelligence test case producer (AITCP is presented. The AITCP allows the creation and simulation of prospective operating scenarios at a rate far exceeding that possible by human testers. Four scenarios for testing an autonomous navigation control system are presented: single actor in two-dimensional space, multiple actors in two-dimensional space, single actor in three-dimensional space, and multiple actors in three-dimensional space. The utility of using the AITCP is compared to that of human testers in each of these scenarios.

Dynamic electronic institutions in agent oriented cloud robotic systems.

Science.gov (United States)

Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

2015-01-01

The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology.

A study on an autonomous pipeline maintenance robot, 8

International Nuclear Information System (INIS)

Fukuda, Toshio; Hosokai, Hidemi; Niitsu, Shunichi; Kaneshige, Masanori; Iwasaki, Shinnosuke.

1990-01-01

This paper deals with the path planning and sensing planning expert system with learning functions for the pipeline inspection and maintenance robot, Mark IV. The robot can carry out inspection tasks to autonomously detect malfunctions in a plant pipeline system. Furthermore, the robot becomes more intelligent by adding the following functions: (1) the robot, Mark IV, is capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces; (2) in path planning, the robot has a learning function using information generated in the past such as a moving path, task level and control commands of the robot; (3) in inspecting a pipeline system with plant equipment such as valves, franges, T- and L-joints, the robot is capable of inspecting continuous surfaces in pipeline. Thus, together with the improved path planning expert system (PPES) and the sensing planning expert system (SPES), the Mark IV robot becomes intelligent enough to automatically carry out given inspection tasks. (author)

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

Science.gov (United States)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

1st International Conference on Advanced Intelligent System and Informatics

CERN Document Server

Hassanien, Aboul; El-Bendary, Nashwa; Dey, Nilanjan

2016-01-01

The conference topics address different theoretical and practical aspects, and implementing solutions for intelligent systems and informatics disciplines including bioinformatics, computer science, medical informatics, biology, social studies, as well as robotics research. The conference also discuss and present solutions to the cloud computing and big data mining which are considered hot research topics. The conference papers discussed different topics – techniques, models, methods, architectures, as well as multi aspect, domain-specific, and new solutions for the above disciplines. The accepted papers have been grouped into five parts: Part I—Intelligent Systems and Informatics, addressing topics including, but not limited to, medical application, predicting student performance, action classification, and detection of dead stained microscopic cells, optical character recognition, plant identification, rehabilitation of disabled people. Part II—Hybrid Intelligent Systems, addressing topics including, b...

7th International Symposium on Intelligent Distributed Computing

CERN Document Server

Jung, Jason; Badica, Costin

2014-01-01

This book represents the combined peer-reviewed proceedings of the Seventh International Symposium on Intelligent Distributed Computing - IDC-2013, of the Second Workshop on Agents for Clouds - A4C-2013, of the Fifth International Workshop on Multi-Agent Systems Technology and Semantics - MASTS-2013, and of the International Workshop on Intelligent Robots - iR-2013. All the events were held in Prague, Czech Republic during September 4-6, 2013. The 41 contributions published in this book address many topics related to theory and applications of intelligent distributed computing and multi-agent systems, including: agent-based data processing, ambient intelligence, bio-informatics, collaborative systems, cryptography and security, distributed algorithms, grid and cloud computing, information extraction, intelligent robotics, knowledge management, linked data, mobile agents, ontologies, pervasive computing, self-organizing systems, peer-to-peer computing, social networks and trust, and swarm intelligence.  .

Artificial Intelligence Research at the Artificial Intelligence Laboratory, Massachusetts Institute of Technology

OpenAIRE

Winston, Patrick H.

1983-01-01

The primary goal of the Artificial Intelligence Laboratory is to understand how computers can be made to exhibit intelligence. Two corollary goals are to make computers more useful and to understand certain aspects of human intelligence. Current research includes work on computer robotics and vision, expert systems, learning and commonsense reasoning, natural language understanding, and computer architecture.

Tank-automotive robotics

Science.gov (United States)

Lane, Gerald R.

1999-07-01

To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

Beyond adaptive-critic creative learning for intelligent mobile robots

Science.gov (United States)

Liao, Xiaoqun; Cao, Ming; Hall, Ernest L.

2001-10-01

Intelligent industrial and mobile robots may be considered proven technology in structured environments. Teach programming and supervised learning methods permit solutions to a variety of applications. However, we believe that to extend the operation of these machines to more unstructured environments requires a new learning method. Both unsupervised learning and reinforcement learning are potential candidates for these new tasks. The adaptive critic method has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning methods that goes beyond the adaptive critic method for unstructured environments. The adaptive critic is a form of reinforcement learning. A critic element provides only high level grading corrections to a cognition module that controls the action module. In the proposed system the critic's grades are modeled and forecasted, so that an anticipated set of sub-grades are available to the cognition model. The forecasting grades are interpolated and are available on the time scale needed by the action model. The success of the system is highly dependent on the accuracy of the forecasted grades and adaptability of the action module. Examples from the guidance of a mobile robot are provided to illustrate the method for simple line following and for the more complex navigation and control in an unstructured environment. The theory presented that is beyond the adaptive critic may be called creative theory. Creative theory is a form of learning that models the highest level of human learning - imagination. The application of the creative theory appears to not only be to mobile robots but also to many other forms of human endeavor such as educational learning and business forecasting. Reinforcement learning such as the adaptive critic may be applied to known problems to aid in the discovery of their solutions. The significance of creative theory is that it

Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

Directory of Open Access Journals (Sweden)

Troy Dale Kelley

2006-09-01

Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

Directory of Open Access Journals (Sweden)

Troy Dale Kelley

2008-11-01

Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

The Design of Artificial Intelligence Robot Based on Fuzzy Logic Controller Algorithm

Science.gov (United States)

Zuhrie, M. S.; Munoto; Hariadi, E.; Muslim, S.

2018-04-01

Artificial Intelligence Robot is a wheeled robot driven by a DC motor that moves along the wall using an ultrasonic sensor as a detector of obstacles. This study uses ultrasonic sensors HC-SR04 to measure the distance between the robot with the wall based ultrasonic wave. This robot uses Fuzzy Logic Controller to adjust the speed of DC motor. When the ultrasonic sensor detects a certain distance, sensor data is processed on ATmega8 then the data goes to ATmega16. From ATmega16, sensor data is calculated based on Fuzzy rules to drive DC motor speed. The program used to adjust the speed of a DC motor is CVAVR program (Code Vision AVR). The readable distance of ultrasonic sensor is 3 cm to 250 cm with response time 0.5 s. Testing of robots on walls with a setpoint value of 9 cm to 10 cm produce an average error value of -12% on the wall of L, -8% on T walls, -8% on U wall, and -1% in square wall.

Vision-based obstacle recognition system for automated lawn mower robot development

Science.gov (United States)

Mohd Zin, Zalhan; Ibrahim, Ratnawati

2011-06-01

Digital image processing techniques (DIP) have been widely used in various types of application recently. Classification and recognition of a specific object using vision system require some challenging tasks in the field of image processing and artificial intelligence. The ability and efficiency of vision system to capture and process the images is very important for any intelligent system such as autonomous robot. This paper gives attention to the development of a vision system that could contribute to the development of an automated vision based lawn mower robot. The works involve on the implementation of DIP techniques to detect and recognize three different types of obstacles that usually exist on a football field. The focus was given on the study on different types and sizes of obstacles, the development of vision based obstacle recognition system and the evaluation of the system's performance. Image processing techniques such as image filtering, segmentation, enhancement and edge detection have been applied in the system. The results have shown that the developed system is able to detect and recognize various types of obstacles on a football field with recognition rate of more 80%.

Intelligent systems and soft computing for nuclear science and industry

International Nuclear Information System (INIS)

Ruan, D.; D'hondt, P.; Govaerts, P.; Kerre, E.E.

1996-01-01

The second international workshop on Fuzzy Logic and Intelligent Technologies in Nuclear Science (FLINS) addresses topics related to intelligent systems and soft computing for nuclear science and industry. The proceedings contain 52 papers in different fields such as radiation protection, nuclear safety (human factors and reliability), safeguards, nuclear reactor control, production processes in the fuel cycle, dismantling, waste and disposal, decision making, and nuclear reactor control. A clear link is made between theory and applications of fuzzy logic such as neural networks, expert systems, robotics, man-machine interfaces, and decision-support techniques by using modern and advanced technologies and tools. The papers are grouped in three sections. The first section (Soft computing techniques) deals with basic tools to treat fuzzy logic, neural networks, genetic algorithms, decision-making, and software used for general soft-computing aspects. The second section (Intelligent engineering systems) includes contributions on engineering problems such as knowledge-based engineering, expert systems, process control integration, diagnosis, measurements, and interpretation by soft computing. The third section (Nuclear applications) focusses on the application of soft computing and intelligent systems in nuclear science and industry

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Directory of Open Access Journals (Sweden)

Malik Loudini

2013-01-01

Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.

Conference on Space and Military Applications of Automation and Robotics

Science.gov (United States)

1988-01-01

Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.

9th IEEE International Symposium on Intelligent Systems and Informatics

CERN Document Server

2013-01-01

The theory and applications of  intelligent systems is today an important field of research. This  book is an up-to-date collection of seventeen chapters, written by recognized experts in the field. In an introductory mathematical foundations part an overview of generalizations of the integral inequalities for nonadditive integrals  and a construction of the General Prioritized Fuzzy Satisfaction Problem is given. Then different aspects of robotics are presented, such as the differences between human beings and robots, the  motion of bipedal humanoid robots, and an evaluation of  different autonomous quadrotor flight controllers. Also Fuzzy Systems are presented by a model of basic planar imprecise geometric objects  allowing  various applications in image analysis , GIS, and robotics, as well as a  type-2 fuzzy logic in  a software library for developing perceptual computers, and a two--degree--of--freedom  speed control solutions for a brushless Direct Current motor.  The book also presents recen...

Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Directory of Open Access Journals (Sweden)

Chika Yinka-Banjo

2014-01-01

Full Text Available Underground mining operations are carried out in hazardous environments. To prevent disasters from occurring, as often as they do in underground mines, and to prevent safety routine checkers from disasters during safety inspection checks, multirobots are suggested to do the job of safety inspection rather than human beings and single robots. Multirobots are preferred because the inspection task will be done in the minimum amount of time. This paper proposes a cooperative behaviour for a multirobot system (MRS to achieve a preentry safety inspection in underground terrains. A hybrid QLACS swarm intelligent model based on Q-Learning (QL and the Ant Colony System (ACS was proposed to achieve this cooperative behaviour in MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS optimizes the routes used for each robot while the QL algorithm enhances the cooperation between the autonomous robots. A description of a communicating variation within the QLACS model for cooperative behavioural purposes is presented. The performance of the algorithms in terms of without communication, with communication, computation time, path costs, and the number of robots used was evaluated by using a simulation approach. Simulation results show achieved cooperative behaviour between robots.

PAIR'14 / PAIR'15 STUDENT CONFERENCES ON PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS

Directory of Open Access Journals (Sweden)

Editorial Foreword

2015-12-01

Full Text Available Dear Readerthe original idea of the student conference on “Planning in Artificial Intelligence and Robotics” (PAIR is to join young researchers from particular laboratories in Czech Republic, where planning problems are investigated from artificial intelligence (AI or robotics points of view. The first year of PAIR has been organized at the Dept. of Computer Science, Faculty Electrical Engineering, Czech Technical University in 2014.At PAIR 2014, laboratories from Prague and Brno were presented. In particular, students and researchers from Charles University, Czech Technical University in Prague, Brno University of Technology, and Central European Institute of Technology participated at the event. Beside an introduction of the particular research groups and their topics, students presented contributions on their current research results. Ten papers were presented on topics ranging from domain–independent planning, trajectory planning to applications for unmanned aerial and legged robots. This first event provides us an initial experience with the community of young researchers in Czech Republic that are working planning in robotic or AI. Based on the success of PAIR 2014, we decided to continue with our effort to establish a suitable fora for students that are geographically very close, but usually do not meet, because of participation on different Robotics and AI events.The second student conference on Planning in Artificial Intelligence and Robotics (PAIR 2015 successfully continues the tradition of the first year of the conference organized in Prague. This year, the conference was collocated with 10th anniversary of RoboTour contest in Písek. This format enable us to extend the impact of the PAIR conference and improve the visibility of the growing student community. The conference reached a good amount of interesting papers focused on image processing for mobile robots, swarm control, driving simulation, robot control, or domain�

Robotics and artificial intelligence: Jewish ethical perspectives.

Science.gov (United States)

Rappaport, Z H

2006-01-01

In 16th Century Prague, Rabbi Loew created a Golem, a humanoid made of clay, to protect his community. When the Golem became too dangerous to his surroundings, he was dismantled. This Jewish theme illustrates some of the guiding principles in its approach to the moral dilemmas inherent in future technologies, such as artificial intelligence and robotics. Man is viewed as having received the power to improve upon creation and develop technologies to achieve them, with the proviso that appropriate safeguards are taken. Ethically, not-harming is viewed as taking precedence over promoting good. Jewish ethical thinking approaches these novel technological possibilities with a cautious optimism that mankind will derive their benefits without coming to harm.

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Science.gov (United States)

Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

1990-01-01

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

LARA: Expert system for acoustic localization of robot in a LMFBR

International Nuclear Information System (INIS)

Lhuillier, C.; Malvache, P.

1986-12-01

The expert system LARA (Acoustic Localization of Autonomic Robot) has been developed to show the interest of introducing artificial intelligency for fine automatic positioning of refuelling machine in a LMFBR reactor. LARA which is equipped with an acoustic detector gives rapidly a good positioning on the fuel [fr

National project : advanced robot for nuclear power plant

International Nuclear Information System (INIS)

Tsunemi, T.; Takehara, K.; Hayashi, T.; Okano, H.; Sugiyama, S.

1993-01-01

The national project 'Advanced Robot' has been promoted by the Agency of Industrial science and Technology, MITI for eight years since 1983. The robot for a nuclear plant is one of the projects, and is a prototype intelligent one that also has a three dimensional vision system to generate an environmental model, a quadrupedal walking mechanism to work on stairs and four fingered manipulators to disassemble a valve with a hand tool. Many basic technologies such as an actuator, a tactile sensor, autonomous control and so on progress to high level. The prototype robot succeeded functionally in official demonstration in 1990. More refining such as downsizing and higher intelligence is necessary to realize a commercial robot, while basic technologies are useful to improve conventional robots and systems. This paper presents application studies on the advanced robot technologies. (author)

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

International Nuclear Information System (INIS)

Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

2014-01-01

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

2014-10-15

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Seventh Scandinavian Conference on Artificial Intelligence

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Mayoh, Brian Henry; Perram, John

2001-01-01

The book covers the seventh Scandinavian Conference on Artificial Intelligence, held at the Maersk Mc-Kinney Moller Institute for Production Technology at the University of Southern Denmark during the period 20-21 February, 2001. It continues the tradition established by SCAI of being one...... of the most important regional AI conferences in Europe, attracting high quality submissions from Scandinavia and the rest of the world, including the Baltic countries. The contents include robotics, sensor/motor intelligence, evolutionary robotics, behaviour-based systems, multi-agent systems, applications...

Robotics

Science.gov (United States)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

Directory of Open Access Journals (Sweden)

Donato Di Paola

2010-02-01

Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

Directory of Open Access Journals (Sweden)

Donato Di Paola

2010-03-01

Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

Science.gov (United States)

Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

1982-01-01

Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

Research and development of service robot platform based on artificial psychology

Science.gov (United States)

Zhang, Xueyuan; Wang, Zhiliang; Wang, Fenhua; Nagai, Masatake

2007-12-01

Some related works about the control architecture of robot system are briefly summarized. According to the discussions above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture, the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application layer and system inspection and control layer. This paper shows how to achieve system integration from hardware modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs. The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.

Intelligent control and automation technology for nuclear applications

International Nuclear Information System (INIS)

Kim, Jae Hee; Kim, Ko Ryeo; Lee, Jae Cheol; Eom, Heung Seop; Lee, Jang Soo

1994-01-01

Using recently established intelligent mobile robot theory and high technologies in computer science, we have designed an inspection automation system for welded parts of the reactor vessel, and we intend to establish basic technologies. The recent status of those technologies is surveyed for various application areas, and the characteristics and availability of those techniques such as intelligent mobile robot, digital computer control, intelligent user interface, realtime data processing, ultrasonic signal processing, intelligent user interface, intelligent defect recognition, are studied and examined at first. The high performance and compact size inspection system is designed, and if implemented, it is expected to be very efficient in economic point of view. In addition, the use of integrated SW system leads to the reduction of human errors. Through the analysis results and experiences, we investigated the further feasibility of basic technology applications to the various similar operation systems in NPP. (Author)

Optimizing a mobile robot control system using GPU acceleration

Science.gov (United States)

Tuck, Nat; McGuinness, Michael; Martin, Fred

2012-01-01

This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

Nature-inspired design of hybrid intelligent systems

CERN Document Server

Castillo, Oscar; Kacprzyk, Janusz

2017-01-01

This book highlights recent advances in the design of hybrid intelligent systems based on nature-inspired optimization and their application in areas such as intelligent control and robotics, pattern recognition, time series prediction, and optimization of complex problems. The book is divided into seven main parts, the first of which addresses theoretical aspects of and new concepts and algorithms based on type-2 and intuitionistic fuzzy logic systems. The second part focuses on neural network theory, and explores the applications of neural networks in diverse areas, such as time series prediction and pattern recognition. The book’s third part presents enhancements to meta-heuristics based on fuzzy logic techniques and describes new nature-inspired optimization algorithms that employ fuzzy dynamic adaptation of parameters, while the fourth part presents diverse applications of nature-inspired optimization algorithms. In turn, the fifth part investigates applications of fuzzy logic in diverse areas, such as...

Artificial intelligence in medicine.

Science.gov (United States)

Hamet, Pavel; Tremblay, Johanne

2017-04-01

Artificial Intelligence (AI) is a general term that implies the use of a computer to model intelligent behavior with minimal human intervention. AI is generally accepted as having started with the invention of robots. The term derives from the Czech word robota, meaning biosynthetic machines used as forced labor. In this field, Leonardo Da Vinci's lasting heritage is today's burgeoning use of robotic-assisted surgery, named after him, for complex urologic and gynecologic procedures. Da Vinci's sketchbooks of robots helped set the stage for this innovation. AI, described as the science and engineering of making intelligent machines, was officially born in 1956. The term is applicable to a broad range of items in medicine such as robotics, medical diagnosis, medical statistics, and human biology-up to and including today's "omics". AI in medicine, which is the focus of this review, has two main branches: virtual and physical. The virtual branch includes informatics approaches from deep learning information management to control of health management systems, including electronic health records, and active guidance of physicians in their treatment decisions. The physical branch is best represented by robots used to assist the elderly patient or the attending surgeon. Also embodied in this branch are targeted nanorobots, a unique new drug delivery system. The societal and ethical complexities of these applications require further reflection, proof of their medical utility, economic value, and development of interdisciplinary strategies for their wider application. Copyright © 2017. Published by Elsevier Inc.

Multiple-Robot Systems for USAR: Key Design Attributes and Deployment Issues

Directory of Open Access Journals (Sweden)

Choon Yue Wong

2011-03-01

Full Text Available The interaction between humans and robots is undergoing an evolution. Progress in this evolution means that humans are close to robustly deploying multiple robots. Urban search and rescue (USAR can benefit greatly from such capability. The review shows that with state of the art artificial intelligence, robots can work autonomously but still require human supervision. It also shows that multiple robot deployment (MRD is more economical, shortens mission durations, adds reliability as well as addresses missions impossible with one robot and payload constraints. By combining robot autonomy and human supervision, the benefits of MRD can be applied to USAR while at the same time minimizing human exposure to danger. This is achieved with a single-human multiple-robot system (SHMRS. However, designers of the SHMRS must consider key attributes such as the size, composition and organizational structure of the robot collective. Variations in these attributes also induce fluctuations in issues within SHMRS deployment such as robot communication and computational load as well as human cognitive workload and situation awareness (SA. Research is essential to determine how the attributes can be manipulated to mitigate these issues while meeting the requirements of the USAR mission.

Multiple-Robot Systems for USAR: Key Design Attributes and Deployment Issues

Directory of Open Access Journals (Sweden)

Choon Yue Wong

2011-03-01

Full Text Available The interaction between humans and robots is undergoing an evolution. Progress in this evolution means that humans are close to robustly deploying multiple robots. Urban search and rescue (USAR can benefit greatly from such capability. The review shows that with state of the art artificial intelligence, robots can work autonomously but still require human supervision. It also shows that multiple robot deployment (MRD is more economical, shortens mission durations, adds reliability as well as addresses missions impossible with one robot and payload constraints. By combining robot autonomy and human supervision, the benefits of MRD can be applied to USAR while at the same time minimizing human exposure to danger. This is achieved with a single-human multiple-robot system (SHMRS. However, designers of the SHMRS must consider key attributes such as the size, composition and organizational structure of the robot collective. Variations in these attributes also induce fluctuations in issues within SHMRS deployment such as robot communication and computational load as well as human cognitive workload and situation awareness (SA.Research is essential to determine how the attributes can be manipulated to mitigate these issues while meeting the requirements of the USAR mission.

Intelligent systems for urban search and rescue: challenges and lessons learned

Science.gov (United States)

Jacoff, Adam; Messina, Elena; Weiss, Brian A.

2003-09-01

Urban search and rescue (USAR) is one of the most dangerous and time-critical non-wartime activities. Researchers have been developing hardware and software to enable robots to perform some search and rescue functions so as to minimize the exposure of human rescue personnel to danger and maximize the survival of victims. Significant progress has been achieved, but much work remains. USAR demands a blending of numerous specialized technologies. An effective USAR robot must be endowed with key competencies, such as being able to negotiate collapsed structures, find victims and assess their condition, identify potential hazards, generate maps of the structure and victim locations, and communicate with rescue personnel. These competencies bring to bear work in numerous sub-disciplines of intelligent systems (or artificial intelligence) such as sensory processing, world modeling, behavior generation, path planning, and human-robot interaction, in addition to work in communications, mechanism design and advanced sensors. In an attempt to stimulate progress in the field, reference USAR challenges are being developed and propagated worldwide. In order to make efficient use of finite research resources, the robotic USAR community must share a common understanding of what is required, technologically, to attain each competency, and have a rigorous measure of the current level of effectiveness of various technologies. NIST is working with partner organizations to measure the performance of robotic USAR competencies and technologies. In this paper, we describe the reference test arenas for USAR robots, assess the current challenges within the field, and discuss experiences thus far in the testing effort.

Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

DEFF Research Database (Denmark)

Conrad, Finn; Sørensen, Torben

2003-01-01

The paper presents an approach and concept to mechatronic system design and intelligent motion control. The Information Technology (IT) offers software and hardware for improvement of R&D Mechatronic Teams to create products and solutions for industrial applications. The latest progress in IT makes...... integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...

The role of automation and artificial intelligence

Science.gov (United States)

Schappell, R. T.

1983-07-01

Consideration is given to emerging technologies that are not currently in common use, yet will be mature enough for implementation in a space station. Artificial intelligence (AI) will permit more autonomous operation and improve the man-machine interfaces. Technology goals include the development of expert systems, a natural language query system, automated planning systems, and AI image understanding systems. Intelligent robots and teleoperators will be needed, together with improved sensory systems for the robotics, housekeeping, vehicle control, and spacecraft housekeeping systems. Finally, NASA is developing the ROBSIM computer program to evaluate level of automation, perform parametric studies and error analyses, optimize trajectories and control systems, and assess AI technology.

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Science.gov (United States)

Mclauchlan, Robert A.

1987-01-01

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

Keeping Pace with New Technology: An Introduction to Robotics, FORTH, and Artificial Intelligence.

Science.gov (United States)

Reck, Gene

A course was developed to introduce students at a community college to four major areas of emphasis in emerging technologies: FORTH programming language, elementary electronic theory, robotics, and artificial intelligence. After a needs assessment indicated the importance of such a course, a pretest focusing on the four areas was given to students…

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

Designing and implementing transparency for real time inspection of autonomous robots

Science.gov (United States)

Theodorou, Andreas; Wortham, Robert H.; Bryson, Joanna J.

2017-07-01

The EPSRC's Principles of Robotics advises the implementation of transparency in robotic systems, however research related to AI transparency is in its infancy. This paper introduces the reader of the importance of having transparent inspection of intelligent agents and provides guidance for good practice when developing such agents. By considering and expanding upon other prominent definitions found in literature, we provide a robust definition of transparency as a mechanism to expose the decision-making of a robot. The paper continues by addressing potential design decisions developers need to consider when designing and developing transparent systems. Finally, we describe our new interactive intelligence editor, designed to visualise, develop and debug real-time intelligence.

Skill Learning for Intelligent Robot by Perception-Action Integration: A View from Hierarchical Temporal Memory

Directory of Open Access Journals (Sweden)

Xinzheng Zhang

2017-01-01

Full Text Available Skill learning autonomously through interactions with the environment is a crucial ability for intelligent robot. A perception-action integration or sensorimotor cycle, as an important issue in imitation learning, is a natural mechanism without the complex program process. Recently, neurocomputing model and developmental intelligence method are considered as a new trend for implementing the robot skill learning. In this paper, based on research of the human brain neocortex model, we present a skill learning method by perception-action integration strategy from the perspective of hierarchical temporal memory (HTM theory. The sequential sensor data representing a certain skill from a RGB-D camera are received and then encoded as a sequence of Sparse Distributed Representation (SDR vectors. The sequential SDR vectors are treated as the inputs of the perception-action HTM. The HTM learns sequences of SDRs and makes predictions of what the next input SDR will be. It stores the transitions of the current perceived sensor data and next predicted actions. We evaluated the performance of this proposed framework for learning the shaking hands skill on a humanoid NAO robot. The experimental results manifest that the skill learning method designed in this paper is promising.

Development of a Cognitive Robotic System for Simple Surgical Tasks

Directory of Open Access Journals (Sweden)

Riccardo Muradore

2015-04-01

Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

Intelligent Decision Technologies : Proceedings of the 4th International Conference on Intelligent Decision Technologies

CERN Document Server

Watanabe, Toyohide; Phillips-Wren, Gloria; Howlett, Robert; Jain, Lakhmi

2012-01-01

The Intelligent Decision Technologies (IDT) International Conference encourages an interchange of research on intelligent systems and intelligent technologies that enhance or improve decision making. The focus of IDT is interdisciplinary and includes research on all aspects of intelligent decision technologies, from fundamental development to real applications. IDT has the potential to expand their support of decision making in such areas as finance, accounting, marketing, healthcare, medical and diagnostic systems, military decisions, production and operation, networks, traffic management, crisis response, human-machine interfaces, financial and stock market monitoring and prediction, and robotics. Intelligent decision systems implement advances in intelligent agents, fuzzy logic, multi-agent systems, artificial neural networks, and genetic algorithms, among others.  Emerging areas of active research include virtual decision environments, social networking, 3D human-machine interfaces, cognitive interfaces,...

Robotic aortic surgery.

Science.gov (United States)

Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

2011-01-01

Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

Intelligent Mining Engineering Systems in the Structure of Industry 4.0

Directory of Open Access Journals (Sweden)

Rylnikova Marina

2017-01-01

Full Text Available The solution of the problem of improving the human environment and working conditions at mines is based on the provision of the rationale of parameters and conditions for the implementation of an environmentally balanced cycle of comprehensive development of mineral deposits on the basis of the design of mining engineering systems characterized by the minimization of the human factor effect in danger zones of mining operations. In this area, robotized technologies are being developed, machinery and mechanisms with the elements of artificial intelligence, and mining and transport system automatic controls are being put into service throughout the world. In the upcoming decades, mining machines and mechanisms will be virtually industrial robots. The article presents the results of zoning of open-pit and underground mine production areas, as well as mining engineering system of combined development depending on the fact and periodicity of human presence in zones of mining processes. As a surface geotechnology case study, the software structure based on a modular concept is described. The performance philosophy of mining and transport equipment with the elements of artificial intelligence is shown when it is put into service in an open pit.

Intelligent Mining Engineering Systems in the Structure of Industry 4.0

Science.gov (United States)

Rylnikova, Marina; Radchenko, Dmitriy; Klebanov, Dmitriy

2017-11-01

The solution of the problem of improving the human environment and working conditions at mines is based on the provision of the rationale of parameters and conditions for the implementation of an environmentally balanced cycle of comprehensive development of mineral deposits on the basis of the design of mining engineering systems characterized by the minimization of the human factor effect in danger zones of mining operations. In this area, robotized technologies are being developed, machinery and mechanisms with the elements of artificial intelligence, and mining and transport system automatic controls are being put into service throughout the world. In the upcoming decades, mining machines and mechanisms will be virtually industrial robots. The article presents the results of zoning of open-pit and underground mine production areas, as well as mining engineering system of combined development depending on the fact and periodicity of human presence in zones of mining processes. As a surface geotechnology case study, the software structure based on a modular concept is described. The performance philosophy of mining and transport equipment with the elements of artificial intelligence is shown when it is put into service in an open pit.

5th International Conference on Automation, Robotics and Applications (ICARA 2011)

CERN Document Server

Bailey, Donald; Demidenko, Serge; Carnegie, Dale; Recent Advances in Robotics and Automation

2013-01-01

There isn’t a facet of human life that has not been touched and influenced by robots and automation. What makes robots and machines versatile is their computational intelligence. While modern intelligent sensors and powerful hardware capabilities have given a huge fillip to the growth of intelligent machines, the progress in the development of algorithms for smart interaction, collaboration and pro-activeness will result in the next quantum jump. This book deals with the recent advancements in design methodologies, algorithms and implementation techniques to incorporate intelligence in robots and automation systems. Several articles deal with navigation, localization and mapping of mobile robots, a problem that engineers and researchers are grappling with all the time. Fuzzy logic, neural networks and neuro-fuzzy based techniques for real world applications have been detailed in a few articles. This edited volume is targeted to present the latest state-of-the-art computational intelligence techniques in Rob...

Robotics and artificial intelligence for hazardous environments

International Nuclear Information System (INIS)

Spelt, P.F.

1993-01-01

In our technological society, hazardous materials including toxic chemicals, flammable, explosive, and radioactive substances, and biological agents, are used and handled routinely. Each year, many workers who handle these substances are accidently contaminated, in some cases resulting in injury, death, or chronic disabilities. If these hazardous materials could be handled remotely, either with a teleoperated robot (operated by a worker in a safe location) or by an autonomous robot, then human suffering and economic costs of accidental exposures could be dramatically reduced. At present, it is still difficult for commercial robotic technology to completely replace humans involved in performing complex work tasks in hazardous environments. The robotics efforts at the Center for Engineering Systems Advanced Research represent a significant effort at contributing to the advancement of robotics for use in hazardous environments. While this effort is very broad-based, ranging from dextrous manipulation to mobility and integrated sensing, the technical portion of this paper will focus on machine learning and the high-level decision making needed for autonomous robotics

Artificial intelligence: the future in nuclear plant maintenance

International Nuclear Information System (INIS)

Norgate, G.

1984-01-01

The role of robotics and remote handling equipment in future nuclear power plant maintenance activities is discussed in the context of artificial intelligence applications. Special requirements manipulators, control systems, and man-machine interfaces for nuclear applications are noted. Tasks might include inspection with cameras, eddy current probes, and leak detectors; the collection of material samples; radiation monitoring; and the disassembly, repair and reassembly of a variety of system components. A robot with vision and force sensing and an intelligent control system that can access a knowledge base is schematically described. Recent advances in image interpretation systems are also discussed

EUROPEAN UNION POLICY-MAKING ON ROBOTICS AND ARTIFICIAL INTELLIGENCE: SELECTED ISSUES

OpenAIRE

Kirchberger, Thomas

2017-01-01

Summary: This article uses the recently issued report on civil law rules on robotics by the European Parliament’s Committee on Legal Affairs as an anchoring point. After a brief overview of the topic’s socio-economical background, it contains an attempt to define and explain artificial intelligence. By examining the role of autonomous machines in the workforce, it gives an overview of the most pressing questions the future of labour might bring. One closely connected issue is the ...

Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

National Research Council Canada - National Science Library

Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

2005-01-01

High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

Applications of artificial intelligence in engineering problems

Energy Technology Data Exchange (ETDEWEB)

Sriram, D; Adey, R

1986-01-01

This book presents the papers given at a conference on the use of artificial intelligence in engineering. Topics considered at the conference included Prolog logic, expert systems, knowledge representation and acquisition, knowledge bases, machine learning, robotics, least-square algorithms, vision systems for robots, natural language, probability, mechanical engineering, civil engineering, and electrical engineering.

The Remotely Controlled Robot System for Nuclear Power Plants

International Nuclear Information System (INIS)

Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

1993-01-01

The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

Mobile Robots in Human Environments

DEFF Research Database (Denmark)

Svenstrup, Mikael

intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... as being able to navigate safely around one person, the robots must also be able to navigate in environments with more people. This can be environments such as pedestrian streets, hospital corridors, train stations or airports. The developed human-aware navigation strategy is enhanced to formulate...

Research and development of advanced robots for nuclear power plants

International Nuclear Information System (INIS)

Tsukune, Hideo; Hirukawa, Hirohisa; Kitagaki, Kosei; Liu, Yunhui; Onda, Hiromu; Nakamura, Akira

1994-01-01

Social and economic demands have been pressing for automation of inspection tasks, maintenance and repair jobs of nuclear power plants, which are carried out by human workers under circumstances with high radiation level. Since the plants are not always designed for introduction of automatic machinery, sophisticated robots shall play a crucial role to free workers from hostile environments. We have been studying intelligent robot systems and regarded nuclear industries as one of the important application fields where we can validate the feasibility of the methods and systems we have developed. In this paper we firstly discuss on the tasks required in nuclear power plants. Secondly we introduce current status of R and D on special purpose robots, versatile robots and intelligent robots for automatizing the tasks. Then we focus our discussions on three major functions in realizing robotized assembly tasks under such unstructured environments as in nuclear power plants; planning, vision and manipulation. Finally we depict an image of a prototype robot system for nuclear power plants based on the advanced functions. (author) 64 refs

FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.

Present and Future of Nuclear Robotics

International Nuclear Information System (INIS)

Bielza Ciaz-Caneja, M.; Carmena Servet, P.; Gomez Santamaria, J.; Gonzalez Fernandez, J.; Izquierdo Mendoza, J.A.; Linares Pintos, F.; Martinez Gonzalez; Muntion Ruesgas, A.; Serna Oliveira, M.A.

1997-01-01

New technologies have increased the use of robotic systems in fields other than Industry. As a result, research and developers are focusing their interest in concepts like Intelligent Robotics and Robotics in Services. This paper describes the use of Robotics in Nuclear facilities, where robots can be used to protect workers in high radiation areas, to reduce total worker exposure and to minimise downtime. First, the structure of robot systems is introduced and the benefits of nuclear robots is presented. Next, the paper describes some specific nuclear applications and the families of nuclear robots present in the market. After that, a section is devoted to Nuclear Robotics in Spain, with emphasis in some of the developments being carried out at present. Finally, some reflections about the future of robots in Nuclear Industry are offered. (Author) 18 refs

Humanoid Robot Head Design Based on Uncanny Valley and FACS

Directory of Open Access Journals (Sweden)

Jizheng Yan

2014-01-01

Full Text Available Emotional robots are always the focus of artificial intelligence (AI, and intelligent control of robot facial expression is a hot research topic. This paper focuses on the design of humanoid robot head, which is divided into three steps to achieve. The first step is to solve the uncanny valley about humanoid robot, to find and avoid the relationship between human being and robot; the second step is to solve the association between human face and robot head; compared with human being and robots, we analyze the similarities and differences and explore the same basis and mechanisms between robot and human analyzing the Facial Action Coding System (FACS, which guides us to achieve humanoid expressions. On the basis of the previous two steps, the third step is to construct a robot head; through a series of experiments we test the robot head, which could show some humanoid expressions; through human-robot interaction, we find people are surprised by the robot head expression and feel happy.

Instruction understanding for intelligent robots in nuclear facilities

International Nuclear Information System (INIS)

Kambayashi, Shaw; Abe, Yasuaki

1993-01-01

As a first step to realize an autonomous mobile robot for plant maintenance, where the robot is capable to understand instructions written in natural languages, we have developed a prototype of instruction understanding system which makes the robot construct its motion sequences to approach instrumentations and inspect them from input sentences written in Japanese. In the prototype system, the instruction understanding and planning capabilities are integrated by an inference engine which consists of a cyclic operation of three processings, i.e., sensing, decision, and execution. Based on environmental data and current states of the robot, a proper process such as natural language processing is triggered by the decision part of the inference engine to accomplish the input instructions. The multiple- and dynamic-planning capabilities, which are necessary to cope with dynamic changes of environments surrounding the robot, are achieved by utilizing the cyclic inference engine together with a set of the inference packets which keep intermediate results of natural language processing and planning for respective input instructions. (orig.)

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata

Energy Technology Data Exchange (ETDEWEB)

Cameron, S.M.; Robinett, R.; Stantz, K.M.; Trahan, M.W.; Wagner, J.S.

1999-03-11

Recent attention has been given to the deployment of an adaptable sensor array realized by multi-robotic systems. Our group has been studying the collective behavior of autonomous, multi-agent systems and their applications in the area of remote-sensing and emerging threats. To accomplish such tasks, an interdisciplinary research effort at Sandia National Laboratories are conducting tests in the fields of sensor technology, robotics, and multi-robotic and multi-agents architectures. Our goal is to coordinate a constellation of point sensors that optimizes spatial coverage and multivariate signal analysis using unmanned robotic vehicles (e.g., RATLERs, Robotic All-ten-sin Lunar Exploration Rover-class vehicles). Overall design methodology is to evolve complex collective behaviors realized through simple interaction (kinetic) physics and artificial intelligence to enable real-time operational responses to emerging threats. This paper focuses on our recent work understanding the dynamics of many-body systems using the physics-based hydrodynamic model of lattice gas automata. Three design features are investigated. One, for single-speed robots, a hexagonal nearest-neighbor interaction topology is necessary to preserve standard hydrodynamic flow. Two, adaptability, defined by the swarm's deformation rate, can be controlled through the hydrodynamic viscosity term, which, in turn, is defined by the local robotic interaction rules. Three, due to the inherent non-linearity of the dynamical equations describing large ensembles, development of stability criteria ensuring convergence to equilibrium states is developed by scaling information flow rates relative to a swarm's hydrodynamic flow rate. An initial test case simulates a swarm of twenty-five robots that maneuvers past an obstacle while following a moving target. A genetic algorithm optimizes applied nearest-neighbor forces in each of five spatial regions distributed over the simulation domain. Armed with

Who Are Afraid of Losing Their Jobs to Artificial Intelligence and Robots? Evidence from a Survey

OpenAIRE

Morikawa, Masayuki

2017-01-01

This study, using original survey data of 10,000 individuals, analyzes the possible impacts of artificial intelligence (AI) and robotics on employment. The first interest of this study is to ascertain, from the viewpoint of workers, what types of worker characteristics are associated with the perception of risk of jobs being replaced by the development of AI and robotics. The second interest is to identify, from the viewpoint of consumers, what types of services are likely to be replaced by A...

Integration of Robotic Resources into FORCEnet

National Research Council Canada - National Science Library

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-01-01

The Networked Intelligence Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances...

Intelligent systems for remote decommissioning in hazardous environments

International Nuclear Information System (INIS)

Drotning, W.D.; Bennett, P.C.

1991-01-01

Investigation of advanced technologies utilizing intelligent machines is being supported jointly by the US Department of Energy Offices of Civilian Radioactive Waste Management (DOE/RW) and Environmental Restoration and Waste Management (DOE/EM) for automation of transportation package handling operations at nuclear facilities and of nuclear waste site remediation efforts. Handling operation requirements include identification, location, and health physics operation, followed by bolting/unbolting operations and package disassembly. To accommodate these operations and the diversity of packages, fast model-based automated programming and force feedback control of a robotic cask handling system were developed. In addition, sensor-directed model-based robotic control has been demonstrated for application to hazardous material cleanup. In this application, a graphical interface is used to simulate and evaluate operator-controlled motions and provide telerobotic control of the system. Remote automated handling technologies developed through these programs have the potential to decrease worker exposure and increase efficiency during decommissioning activities in hazardous environments. 8 refs., 4 figs

Design of Intelligent Robot as A Tool for Teaching Media Based on Computer Interactive Learning and Computer Assisted Learning to Improve the Skill of University Student

Science.gov (United States)

Zuhrie, M. S.; Basuki, I.; Asto B, I. G. P.; Anifah, L.

2018-01-01

The focus of the research is the teaching module which incorporates manufacturing, planning mechanical designing, controlling system through microprocessor technology and maneuverability of the robot. Computer interactive and computer-assisted learning is strategies that emphasize the use of computers and learning aids (computer assisted learning) in teaching and learning activity. This research applied the 4-D model research and development. The model is suggested by Thiagarajan, et.al (1974). 4-D Model consists of four stages: Define Stage, Design Stage, Develop Stage, and Disseminate Stage. This research was conducted by applying the research design development with an objective to produce a tool of learning in the form of intelligent robot modules and kit based on Computer Interactive Learning and Computer Assisted Learning. From the data of the Indonesia Robot Contest during the period of 2009-2015, it can be seen that the modules that have been developed confirm the fourth stage of the research methods of development; disseminate method. The modules which have been developed for students guide students to produce Intelligent Robot Tool for Teaching Based on Computer Interactive Learning and Computer Assisted Learning. Results of students’ responses also showed a positive feedback to relate to the module of robotics and computer-based interactive learning.

DEVS representation of dynamical systems - Event-based intelligent control. [Discrete Event System Specification

Science.gov (United States)

Zeigler, Bernard P.

1989-01-01

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Planetary rovers robotic exploration of the solar system

CERN Document Server

Ellery, Alex

2016-01-01

The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

Applications of artificial intelligence in safe human-robot interactions.

Science.gov (United States)

Najmaei, Nima; Kermani, Mehrdad R

2011-04-01

The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also presented. To this end, a special class of artificial neural networks, namely, self-organizing maps (SOMs), is employed for obtaining a superquadric-based model of the human. The SOM network receives information of the human's footprints from the sensory system and infers necessary data for rendering the human model. The model is then used in order to assess the danger of the robot operations based on the measured as well as predicted human motions. This is followed by the introduction of a new reactive control scheme that results in the least interferences between the human and robot operations. The approach enables the robot to foresee an upcoming danger and take preventive actions before the danger becomes imminent. Simulation and experimental results are presented in order to validate the effectiveness of the proposed method.

A Multi-Agent Framework for Coordination of Intelligent Assistive Technologies

DEFF Research Database (Denmark)

Valente, Pedro Ricardo da Nova; Hossain, S.; Groenbaek, B.

2010-01-01

Intelligent care for the future is the IntelliCare project's main priority. This paper describes the design of a generic multi-agent framework for coordination of intelligent assistive technologies. The paper overviews technologies and software systems suitable for context awareness...... and housekeeping tasks, especially for performing a multi-robot cleaning-task activity. It also describes conducted work in the design of a multi-agent platform for coordination of intelligent assistive technologies. Instead of using traditional robot odometry estimation methods, we have tested an independent...

Affect in Human-Robot Interaction

Science.gov (United States)

2014-01-01

Werry, I., Rae, J., Dickerson, P., Stribling, P., & Ogden, B. (2002). Robotic Playmates: Analysing Interactive Competencies of Children with Autism ...WE-4RII. IEEE International Conference on Intelligent Robots and Systems, Edmonton, Canada. 35. Moravec, H. (1988). Mind Children : The Future of...and if so when and where? • What approaches, theories , representations, and experimental methods inform affective HRI research? Report Documentation

Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system

Directory of Open Access Journals (Sweden)

Kandathil Jom J.

2018-01-01

Full Text Available One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

2007-01-01

The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose

3rd International Conference on Intelligent Technologies and Engineering Systems

CERN Document Server

2016-01-01

This book includes the original, peer reviewed research from the 3rd International Conference on Intelligent Technologies and Engineering Systems (ICITES2014), held in December, 2014 at Cheng Shiu University in Kaohsiung, Taiwan. Topics covered include: Automation and robotics, fiber optics and laser technologies, network and communication systems, micro and nano technologies, and solar and power systems. This book also Explores emerging technologies and their application in a broad range of engineering disciplines Examines fiber optics and laser technologies Covers biomedical, electrical, industrial, and mechanical systems Discusses multimedia systems and applications, computer vision and image & video signal processing.

Expert robots in nuclear plants

International Nuclear Information System (INIS)

Byrd, J.S.; Fisher, J.J.; DeVries, K.R.; Martin, T.P.

1987-01-01

Expert robots enhance a safety and operations in nuclear plants. E.I. du Pont de Nemours and Company, Savannah River Laboratory, is developing expert mobile robots for deployment in nuclear applications at the Savannah River Plant. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation and manipulation functions, and to analyze sensory information. Development work using two research vehicles is underway to demonstrate semiautonomous, intelligence, expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being used to allow mobile robots to autonomously navigate and perform tasks in known environments without the need for large computer systems

Expert robots in nuclear plants

International Nuclear Information System (INIS)

Byrd, J.S.; Fisher, J.J.; DeVries, K.R.; Martin, T.P.

1987-01-01

Expert robots will enhance safety and operations in nuclear plants. E. I. du Pont de Nemours and Company, Savannah River Laboratory, is developing expert mobile robots for deployment in nuclear applications at the Savannah River Plant. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation and manipulation functions, and to analyze sensory information. Development work using two research vehicles is underway to demonstrate semiautonomous, intelligent, expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being used to allow mobile robots to autonomously navigate and perform tasks in known environments without the need for large computer systems

The Effects O Artificial Intelligence And Robotic Systems On Librarianship

OpenAIRE

Müslüm Yıldız; Banu Fulya Yıldırım

2018-01-01

With Industry 4.0, smart robots will be involved in all areas of our lives, and systems using technology control instead of work force will dominate. In this way, there will be a more qualified workforce with a high level of education, rather than workers with low-skilled jobs. According to recent studies, librarianship has been identified as one of the professions that could disappear in the near future due to this rapidly advancing technology. In this study, the possible effects of artifici...

A Profound Survey on Swarm Intelligence

OpenAIRE

Manish Mahant; Bharat Choudhary; Abhishek Kesharwani; Kalyani Singh Rathore

2012-01-01

Swarm Intelligence (SI) is the collective behavior of decentralized, self-organized systems, natural or artificial. The concept is employed in work on artificial intelligence. The inspiration often comes from nature, especially biological systems. The expression was introduced by Gerardo Beni and Jing Wang in 1989, in the context of cellular robotic systems. SI systems are typically made up of a population of simple agents or boids interacting locally with one another and their environment. T...

Robotic systems in spine surgery.

Science.gov (United States)

Onen, Mehmet Resid; Naderi, Sait

2014-01-01

Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

Robotics research at Electrotechnical Laboratory-R and D program for advanced robot technology

Energy Technology Data Exchange (ETDEWEB)

Wakamatsu, S; Akahori, H; Shirai, Y; Kakikura, M

1983-01-01

The purposes of this paper are both to introduce the outline of robotics researches at Electrotechnical Laboratory and to describe the relation between those researches and the national project so called robotics for critical work. The authors first describe the robotics researches and related topics historically which have been continued from the latter half of 1960s as a part of researches on artificial intelligence at Electrotechnical Laboratory. Secondly, they mention the present aspects of our researches, its relation with past results, and changes of basic concepts on robotics systems. Finally, as an extension of our researches, they propose some approaches to establish the following techniques which make very important roles for the success of the national project; (1) manipulation techniques, (2) sensor techniques, (3) autonomous robot control techniques, (4) advanced tele-operation techniques and, (5) system totalizing techniques. 15 references.

Development of dog-like retrieving capability in a ground robot

Science.gov (United States)

MacKenzie, Douglas C.; Ashok, Rahul; Rehg, James M.; Witus, Gary

2013-01-01

This paper presents the Mobile Intelligence Team's approach to addressing the CANINE outdoor ground robot competition. The competition required developing a robot that provided retrieving capabilities similar to a dog, while operating fully autonomously in unstructured environments. The vision team consisted of Mobile Intelligence, the Georgia Institute of Technology, and Wayne State University. Important computer vision aspects of the project were the ability to quickly learn the distinguishing characteristics of novel objects, searching images for the object as the robot drove a search pattern, identifying people near the robot for safe operations, correctly identify the object among distractors, and localizing the object for retrieval. The classifier used to identify the objects will be discussed, including an analysis of its performance, and an overview of the entire system architecture presented. A discussion of the robot's performance in the competition will demonstrate the system's successes in real-world testing.

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

Science.gov (United States)

Erikson, Jon D.

1994-01-01

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

An Intelligent Actuator Fault Reconstruction Scheme for Robotic Manipulators.

Science.gov (United States)

Xiao, Bing; Yin, Shen

2018-02-01

This paper investigates a difficult problem of reconstructing actuator faults for robotic manipulators. An intelligent approach with fast reconstruction property is developed. This is achieved by using observer technique. This scheme is capable of precisely reconstructing the actual actuator fault. It is shown by Lyapunov stability analysis that the reconstruction error can converge to zero after finite time. A perfect reconstruction performance including precise and fast properties can be provided for actuator fault. The most important feature of the scheme is that, it does not depend on control law, dynamic model of actuator, faults' type, and also their time-profile. This super reconstruction performance and capability of the proposed approach are further validated by simulation and experimental results.

A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

Science.gov (United States)

Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

Simulation tools for robotics research and assessment

Science.gov (United States)

Fields, MaryAnne; Brewer, Ralph; Edge, Harris L.; Pusey, Jason L.; Weller, Ed; Patel, Dilip G.; DiBerardino, Charles A.

2016-05-01

The Robotics Collaborative Technology Alliance (RCTA) program focuses on four overlapping technology areas: Perception, Intelligence, Human-Robot Interaction (HRI), and Dexterous Manipulation and Unique Mobility (DMUM). In addition, the RCTA program has a requirement to assess progress of this research in standalone as well as integrated form. Since the research is evolving and the robotic platforms with unique mobility and dexterous manipulation are in the early development stage and very expensive, an alternate approach is needed for efficient assessment. Simulation of robotic systems, platforms, sensors, and algorithms, is an attractive alternative to expensive field-based testing. Simulation can provide insight during development and debugging unavailable by many other means. This paper explores the maturity of robotic simulation systems for applications to real-world problems in robotic systems research. Open source (such as Gazebo and Moby), commercial (Simulink, Actin, LMS), government (ANVEL/VANE), and the RCTA-developed RIVET simulation environments are examined with respect to their application in the robotic research domains of Perception, Intelligence, HRI, and DMUM. Tradeoffs for applications to representative problems from each domain are presented, along with known deficiencies and disadvantages. In particular, no single robotic simulation environment adequately covers the needs of the robotic researcher in all of the domains. Simulation for DMUM poses unique constraints on the development of physics-based computational models of the robot, the environment and objects within the environment, and the interactions between them. Most current robot simulations focus on quasi-static systems, but dynamic robotic motion places an increased emphasis on the accuracy of the computational models. In order to understand the interaction of dynamic multi-body systems, such as limbed robots, with the environment, it may be necessary to build component

Blind speech separation system for humanoid robot with FastICA for audio filtering and separation

Science.gov (United States)

Budiharto, Widodo; Santoso Gunawan, Alexander Agung

2016-07-01

Nowadays, there are many developments in building intelligent humanoid robot, mainly in order to handle voice and image. In this research, we propose blind speech separation system using FastICA for audio filtering and separation that can be used in education or entertainment. Our main problem is to separate the multi speech sources and also to filter irrelevant noises. After speech separation step, the results will be integrated with our previous speech and face recognition system which is based on Bioloid GP robot and Raspberry Pi 2 as controller. The experimental results show the accuracy of our blind speech separation system is about 88% in command and query recognition cases.

Artificial Intelligence Applications for Education: Promise, ...Promises.

Science.gov (United States)

Adams, Dennis M.; Hamm, Mary

1988-01-01

Surveys the current status of artificial intelligence (AI) technology. Discusses intelligent tutoring systems, robotics, and applications for educators. Likens the status of AI at present to that of aviation in the very early 1900s. States that educators need to be involved in future debates concerning AI. (CW)

Intelligence Level Performance Standards Research for Autonomous Vehicles.

Science.gov (United States)

Bostelman, Roger B; Hong, Tsai H; Messina, Elena

2015-01-01

United States and European safety standards have evolved to protect workers near Automatic Guided Vehicles (AGV's). However, performance standards for AGV's and mobile robots have only recently begun development. Lessons can be learned from research and standards efforts for mobile robots applied to emergency response and military applications. Research challenges, tests and evaluations, and programs to develop higher intelligence levels for vehicles can also used to guide industrial AGV developments towards more adaptable and intelligent systems. These other efforts also provide useful standards development criteria for AGV performance test methods. Current standards areas being considered for AGVs are for docking, navigation, obstacle avoidance, and the ground truth systems that measure performance. This paper provides a look to the future with standards developments in both the performance of vehicles and the dynamic perception systems that measure intelligent vehicle performance.

Robotics for nuclear facilities

International Nuclear Information System (INIS)

Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

1988-01-01

It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

Directory of Open Access Journals (Sweden)

Juan A. Corrales

2011-10-01

Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

Supporting robotics technology requirements through research in intelligent machines

Energy Technology Data Exchange (ETDEWEB)

Mann, R.C.

1995-02-01

{open_quotes}Safer, better, cheaper{close_quotes} are recurring themes in many robot development efforts. Significant improvements are being accomplished with existing technology, but basic research sets the foundations for future improvements and breakthrough discoveries. Advanced robots represent systems that integrate the three basic functions of sensing, reasoning, and acting (locomotion and manipulation) into one functional unit. Depending on the application requirements, some of these functions are implemented at a more or less advanced level than others. For example, some navigation tasks can be accomplished with purely reactive control and do not require sophisticated reasoning and planning methodologies. Robotics work at the Oak Ridge National Laboratory (ORNL) spans the spectrum from basic research to application-specific development and rapid prototyping of systems. This presentation summarizes recent highlights of the robotics research activities at ORNL.

A novel optimal coordinated control strategy for the updated robot system for single port surgery.

Science.gov (United States)

Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

2017-09-01

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

Computer vision for an autonomous mobile robot

CSIR Research Space (South Africa)

Withey, Daniel J

2015-10-01

Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots

Directory of Open Access Journals (Sweden)

Fang Wu

2017-05-01

Full Text Available Due to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Most of the existing spherical robots rely on the “hit and run” technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. It utilizes a passive magnetic field so that the system is both compact and power efficient. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. Experimental results are also presented for validation purposes.

Implementation of a robotic flexible assembly system

Science.gov (United States)

Benton, Ronald C.

1987-01-01

As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

Autonomous mobile robot teams

Science.gov (United States)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Status and Trends of the Anthropomorphic Robotics

Directory of Open Access Journals (Sweden)

S. P. Hurs

2016-01-01

Full Text Available The paper considers a number of current developments in the field of anthropomorphic robotics, namely robotic exoskeletons, android platform with copying control systems, android platform with autonomous control systems, avatars, and androids. Highlights the key subsystems of the robotic platform such as sensitization tools, tools of self-diagnostics, security and prioritization, a power subsystem, and computer system. Identifies the most important subsystem of a “future soldier” to represent an equipage as a multifunctional active exoskeleton, completed with the necessary equipment.The paper shows the main problems the developers of anthropomorphic robotics face. For example, many degrees of the human body freedom curb a creation of the actuating mechanisms of robots, which fit the human anatomy as much as possible. For the human sizes the specific characteristics of traditional types of actuators, such as electromechanical, electro-hydraulic and electro-pneumatic are worse than those of the human muscles. Clearly, the greatest prospects in this area are associated with artificial muscles. There is also no so far a solution for the problem of creating the feedbacks in all kinds of senses to ensure that an operator has a feeling that he is in the place of the robot. There is much tension around the issue of creating a perfect remote control system that allows the operator to obtain unambiguous signals to control the robot. There is currently no completely autonomous control system with elements of artificial intelligence. Particular attention is paid to the problems of creating power sources that can provide affordable autonomy for mobile robotic systems. The most, presently, promising power sources are mentioned.The paper considers some development aspects of the control system, which is capable to run in a copier, supervisory, combined and offline modes. Presents the most important functions of the robot sensory system. Shows some aspects

Towards Distributed Intelligence: A High Level Definition

Science.gov (United States)

2004-12-01

Some of the first research in multi-robot systems came in the foraging /sorting area by Parker [77] and Beckers [9] and was likely fueled by the bio...chapter 24, pages 28–39. Artificial Intelligence at MIT. The MIT Press, 1989. 15. R.A. Brooks. Robotic Science, chapter 11, The Whole Iguana , pages 432

Investigation and study on each technique and example of intelligent planning; Intelligent planning no kakushu shuho to jirei ni kansuru chosa kenkyu

Energy Technology Data Exchange (ETDEWEB)

NONE

1995-12-11

Various problems on intelligent planning (IP) and the tendency of basic technology were investigated. For each technique of IP, a Petri net and mark graph have been widely used as the modeling and analysis methods of a discrete event system. Moreover, various planning problems were modeled by a traveling salesman problem, and the efficient solution of the traveling salesman problem has been studied simultaneously. The tendency of the basic technology and application system viewed from an example of intelligent plant planning was investigated as an applied field of planning technology, with importance attached to the production system and robot planning. In the scheduling technology of the production system, the activation of an AI study and a new theory (i.e., architecture study) based on natural science information was investigated with the transition in the world as a trigger. A robot system has been planned in a wide range such as the environmental information acquisition planning of a robot. 202 refs., 69 figs., 4 tabs.

Robotic environments

NARCIS (Netherlands)

Bier, H.H.

2011-01-01

Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating

BRAIN. Broad Research in Artificial Intelligence and Neuroscience-Are We Safe Enough in the Future of Artificial Intelligence? A Discussion on Machine Ethics and Artificial Intelligence Safety

OpenAIRE

Utku Köse

2018-01-01

Nowadays, there is a serious anxiety on the existence of dangerous intelligent systems and it is not just a science-fiction idea of evil machines like the ones in well-known Terminator movie or any other movies including intelligent robots – machines threatening the existence of humankind. So, there is a great interest in some alternative research works under the topics of Machine Ethics, Artificial Intelligence Safety and the associated research topics like Future of Artificial I...

Autonomous Driver Based on an Intelligent System of Decision-Making.

Science.gov (United States)

Czubenko, Michał; Kowalczuk, Zdzisław; Ordys, Andrew

The paper presents and discusses a system ( xDriver ) which uses an Intelligent System of Decision-making (ISD) for the task of car driving. The principal subject is the implementation, simulation and testing of the ISD system described earlier in our publications (Kowalczuk and Czubenko in artificial intelligence and soft computing lecture notes in computer science, lecture notes in artificial intelligence, Springer, Berlin, 2010, 2010, In Int J Appl Math Comput Sci 21(4):621-635, 2011, In Pomiary Autom Robot 2(17):60-5, 2013) for the task of autonomous driving. The design of the whole ISD system is a result of a thorough modelling of human psychology based on an extensive literature study. Concepts somehow similar to the ISD system can be found in the literature (Muhlestein in Cognit Comput 5(1):99-105, 2012; Wiggins in Cognit Comput 4(3):306-319, 2012), but there are no reports of a system which would model the human psychology for the purpose of autonomously driving a car. The paper describes assumptions for simulation, the set of needs and reactions (characterizing the ISD system), the road model and the vehicle model, as well as presents some results of simulation. It proves that the xDriver system may behave on the road as a very inexperienced driver.

1st Iberian Robotics Conference

CERN Document Server

Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

2014-01-01

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

Artificial Intelligence (AI) Studies in Water Resources

OpenAIRE

Ay, Murat; Özyıldırım, Serhat

2018-01-01

Artificial intelligence has been extensively used in many areas such as computer science,robotics, engineering, medicine, translation, economics, business, and psychology. Variousstudies in the literature show that the artificial intelligence in modeling approaches give closeresults to the real data for solution of linear, non-linear, and other systems. In this study, wereviewed the current state-of-the-art and progress on the modelling of artificial intelligence forwater variables: rainfall-...

An intelligent inspection and survey robot. Volume 2

Energy Technology Data Exchange (ETDEWEB)

NONE

1995-12-15

Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified.

An intelligent inspection and survey robot. Volume 2

International Nuclear Information System (INIS)

1995-01-01

Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified

Robot Tracking of Human Subjects in Field Environments

Science.gov (United States)

Graham, Jeffrey; Shillcutt, Kimberly

2003-01-01

Future planetary exploration will involve both humans and robots. Understanding and improving their interaction is a main focus of research in the Intelligent Systems Branch at NASA's Johnson Space Center. By teaming intelligent robots with astronauts on surface extra-vehicular activities (EVAs), safety and productivity can be improved. The EVA Robotic Assistant (ERA) project was established to study the issues of human-robot teams, to develop a testbed robot to assist space-suited humans in exploration tasks, and to experimentally determine the effectiveness of an EVA assistant robot. A companion paper discusses the ERA project in general, its history starting with ASRO (Astronaut-Rover project), and the results of recent field tests in Arizona. This paper focuses on one aspect of the research, robot tracking, in greater detail: the software architecture and algorithms. The ERA robot is capable of moving towards and/or continuously following mobile or stationary targets or sequences of targets. The contributions made by this research include how the low-level pose data is assembled, normalized and communicated, how the tracking algorithm was generalized and implemented, and qualitative performance reports from recent field tests.

Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

3rd International Asia Conference on Informatics in Control, Automation and Robotics

CERN Document Server

Informatics in Control, Automation and Robotics

2012-01-01

Session 2 includes 110 papers selected from 2011 3rd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China.   As we all know, the ever growing technology in robotics and automation will help build a better human society. This session will provide a unique opportunity for the academic and industrial communities to address new challenges, share solutions, and discuss research directions for the future. Robotics research emphasizes intelligence and adaptability to cope with unstructured environments. Automation research emphasizes efficiency, productivity, quality, and reliability, focusing on systems that operate autonomously. The main focus of this session is on the autonomous acquisition of semantic information in intelligent robots and systems, as well as the use of semantic knowledge to guide further acquisition of information.

An intelligent inspection and survey robot. Volume 1

International Nuclear Information System (INIS)

1995-01-01

ARIES number-sign 1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data

An intelligent inspection and survey robot. Volume 1

Energy Technology Data Exchange (ETDEWEB)

NONE

1995-12-15

ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data.

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

Science.gov (United States)

Fredrickson, Steven E.; Duran, Steve G.; Braun, Angela N.; Straube, Timothy M.; Mitchell, Jennifer D.

2006-01-01

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits

Towards Light‐guided Micro‐robotics

DEFF Research Database (Denmark)

Glückstad, Jesper

‐dimensional microstructures. Furthermore, we exploit the light shaping capabilities available in the workstation to demonstrate a new strategy for controlling microstructures that goes beyond the typical refractive light deflections that are exploited in conventional optical trapping and manipulation e.g. of micro......Robotics in the macro‐scale typically uses light for carrying information in machine vision for monitoring and feedback in intelligent robotic guidance systems. With light’s miniscule momentum, shrinking robots down to the micro‐scale regime creates opportunities for exploiting optical forces...... and torques in micro‐robotic actuation and control. Indeed, the literature on optical trapping and micro‐manipulation attests to the possibilities for optical micro‐robotics. Advancing light‐driven micro‐robotics requires the optimization of optical force and optical torque that, in turn, requires...

ROMO - The Robotic Electric Vehicle

OpenAIRE

Brembeck, Jonathan; Ho, Lok Man; Schaub, Alexander; Satzger, Clemens; Tobolar, Jakub; Bals, Johann; Hirzinger, Gerhard

2011-01-01

This paper outlines the development of the ROboMObil, an innovative electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The motivation behind the Wheel Robot concept, the implementation details together with the suspension design are described. The electric power system, consisting of a Li-Ion battery cluster to provide high-voltage power for propulsion and a low-voltage supply for vehicle control, i...

The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students

National Research Council Canada - National Science Library

Theisen, Bernard L

2007-01-01

The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s...

The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1995-07-01

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. 203 figs, 12 tabs, 72 refs. (Author).

Evolutionary Developmental Soft Robotics As a Framework to Study Intelligence and Adaptive Behavior in Animals and Plants

Directory of Open Access Journals (Sweden)

Francesco Corucci

2017-07-01

Full Text Available In this paper, a comprehensive methodology and simulation framework will be reviewed, designed in order to study the emergence of adaptive and intelligent behavior in generic soft-bodied creatures. By incorporating artificial evolutionary and developmental processes, the system allows to evolve complete creatures (brain, body, developmental properties, sensory, control system, etc. for different task environments. Whether the evolved creatures will resemble animals or plants is in general not known a priori, and depends on the specific task environment set up by the experimenter. In this regard, the system may offer a unique opportunity to explore differences and similarities between these two worlds. Different material properties can be simulated and optimized, from a continuum of soft/stiff materials, to the interconnection of heterogeneous structures, both found in animals and plants alike. The adopted genetic encoding and simulation environment are particularly suitable in order to evolve distributed sensory and control systems, which play a particularly important role in plants. After a general description of the system some case studies will be presented, focusing on the emergent properties of the evolved creatures. Particular emphasis will be on some unifying concepts that are thought to play an important role in the emergence of intelligent and adaptive behavior across both the animal and plant kingdoms, such as morphological computation and morphological developmental plasticity. Overall, with this paper, we hope to draw attention on set of tools, methodologies, ideas and results, which may be relevant to researchers interested in plant-inspired robotics and intelligence.

FCJ-209 Indigenous Knowledge Systems and Pattern Thinking: An Expanded Analysis of the First Indigenous Robotics Prototype Workshop

Directory of Open Access Journals (Sweden)

Angie Abdilla

2016-12-01

Full Text Available In November 2014, the lead researcher’s interest in the conceptual development of digital technology and her cultural connection to Indigenous Knowledge Systems created an opportunity to explore a culturally relevant use of technology with urban Indigenous youth: the Indigenous Robotics Prototype Workshop. The workshop achieved a sense of cultural pride and confidence in Indigenous traditional knowledge while inspiring the youth to continue with their engagement in coding and programming through building robots. Yet, the outcomes from the prototype workshop further revealed a need to investigate how Indigenous Knowledge Systems, and particularly Pattern Thinking, might hint toward a possible paradigm shift for the ethical and advanced design of new technologies. This article examines the implications of such a hypothetical shift in autonomous systems in robotics and artificial intelligence (AI, using the Indigenous Robotics Prototype Workshop as a case study and springboard.

Business Intelligence Systems

Directory of Open Access Journals (Sweden)

Bogdan NEDELCU

2014-02-01

Full Text Available The aim of this article is to show the importance of business intelligence and its growing influence. It also shows when the concept of business intelligence was used for the first time and how it evolved over time. The paper discusses the utility of a business intelligence system in any organization and its contribution to daily activities. Furthermore, we highlight the role and the objectives of business intelligence systems inside an organization and the needs to grow the incomes and reduce the costs, to manage the complexity of the business environment and to cut IT costs so that the organization survives in the current competitive climate. The article contains information about architectural principles of a business intelligence system and how such a system can be achieved.

Future of robots in nuclear plants and processes

International Nuclear Information System (INIS)

Fisher, J.J.; Byrd, J.S.

1985-01-01

The role of robotics at the Savannah River Plant and Laboratory is reviewed. The site's remote process areas are described briefly, and existing remote handling equipment and robots are discussed. Three technology areas under development and relating to process automation are reviewed. These are: inspection systems to detect and evaluate process problems or to determine equipment integrity, process monitoring systems to analyze plant operations and to supply information in the event of an unusual occurrence, and remote manipulator systems and controls to handle instruments and tools. A technique is presented for employing future intelligent robots through process networks. These networks will represent the integration of robotic technology with dedicated process knowledge bases

Combined Intelligent Control (CIC an Intelligent Decision Making Algorithm

Directory of Open Access Journals (Sweden)

Moteaal Asadi Shirzi

2007-03-01

Full Text Available The focus of this research is to introduce the concept of combined intelligent control (CIC as an effective architecture for decision-making and control of intelligent agents and multi-robot sets. Basically, the CIC is a combination of various architectures and methods from fields such as artificial intelligence, Distributed Artificial Intelligence (DAI, control and biological computing. Although any intelligent architecture may be very effective for some specific applications, it could be less for others. Therefore, CIC combines and arranges them in a way that the strengths of any approach cover the weaknesses of others. In this paper first, we introduce some intelligent architectures from a new aspect. Afterward, we offer the CIC by combining them. CIC has been executed in a multi-agent set. In this set, robots must cooperate to perform some various tasks in a complex and nondeterministic environment with a low sensory feedback and relationship. In order to investigate, improve, and correct the combined intelligent control method, simulation software has been designed which will be presented and considered. To show the ability of the CIC algorithm as a distributed architecture, a central algorithm is designed and compared with the CIC.

Robot bicolor system

Science.gov (United States)

Yamaba, Kazuo

1999-03-01

In case of robot vision, most important problem is the processing speed of acquiring and analyzing images are less than the speed of execution of the robot. In an actual robot color vision system, it is considered that the system should be processed at real time. We guessed this problem might be solved using by the bicolor analysis technique. We have been testing a system which we hope will give us insight to the properties of bicolor vision. The experiment is used the red channel of a color CCD camera and an image from a monochromatic camera to duplicate McCann's theory. To mix the two signals together, the mono image is copied into each of the red, green and blue memory banks of the image processing board and then added the red image to the red bank. On the contrary, pure color images, red, green and blue components are obtained from the original bicolor images in the novel color system after the scaling factor is added to each RGB image. Our search for a bicolor robot vision system was entirely successful.

Designing the Mind of a Social Robot

Directory of Open Access Journals (Sweden)

Nicole Lazzeri

2018-02-01

Full Text Available Humans have an innate tendency to anthropomorphize surrounding entities and have always been fascinated by the creation of machines endowed with human-inspired capabilities and traits. In the last few decades, this has become a reality with enormous advances in hardware performance, computer graphics, robotics technology, and artificial intelligence. New interdisciplinary research fields have brought forth cognitive robotics aimed at building a new generation of control systems and providing robots with social, empathetic and affective capabilities. This paper presents the design, implementation, and test of a human-inspired cognitive architecture for social robots. State-of-the-art design approaches and methods are thoroughly analyzed and discussed, cases where the developed system has been successfully used are reported. The tests demonstrated the system’s ability to endow a social humanoid robot with human social behaviors and with in-silico robotic emotions.

Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

Directory of Open Access Journals (Sweden)

Aleksandar Rodić

2015-04-01

Full Text Available The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope, stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions

R&D Plan for Army Applications of AI/Robotics.

Science.gov (United States)

1982-05-01

Unilever , Philips, Toshiba, and Hamamatsu. Also emerging are companies that are developing artificial intelligence and/or robotics products. U.S...ROBOTICS.. . . . ..... 83 3.1. Introduction. . . . . ...... ... ... ... . .... 83 3.2. Background .. . . . . ...... ... ... . . .... 84 3.3. A Unified...Honeywell Systems and Research Center Hughes Research Laboratories Lockheed Missiles and Space Company Martin Marietta Corporation The Rand Corporation

Fuzzy mobile-robot positioning in intelligent spaces using wireless sensor networks.

Science.gov (United States)

Herrero, David; Martínez, Humberto

2011-01-01

This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using wireless sensor networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Directory of Open Access Journals (Sweden)

Hsu-Chih Huang

2014-01-01

Full Text Available This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions. The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application. The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA (TDNA solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA solver and ant, colony optimization (ACO solver.

Light robotics: a new field of research

DEFF Research Database (Denmark)

Engay, Einstom; Chouliara, Manto; Bañas, Andrew

2018-01-01

After years of working on light-driven trapping and manipulation, we can see that a confluence of developments is now ripe for the emergence of a new area that can contribute to nanobiophotonics - Light Robotics - which combines advances in microfabrication and optical micromanipulation together...... with intelligent control ideas from robotics, wavefront engineering and information optics. In the Summer 2017 we are publishing a 482 pages edited Elsevier book volume covering the fundamental aspects needed for Light Robotics including optical trapping systems, microfabrication and microassembly as well...... as underlying theoretical principles and experimental illustrations for optimizing optical forces and torques for Light Robotics...

Multiprocessor development for robot control

International Nuclear Information System (INIS)

Lee, Jong Min; Kim, Seung Ho; Hwang, Suk Yeoung; Sohn, Surg Won; Kim, Byung Soo; Kim, Chang Hoi; Lee, Yong Bum; Kim, Woong Ki

1988-12-01

The object of this project is to develop a multiprocessor system which is essential to robot technology. A multiprocessor system interconnecting many single board computer is much faster and flexible than a single processor. The developed multiprocessor will be used to control nuclear mobile robot, so a loosely coupled system is adopted as a robot controller. A total configuration of controller is divided into three main parts in related with its function. It is consisted of supervisory control part, functional control part, remote control part. The designed control system is to be expanded easily for further use with a modular architecture, so the functional independency within sub-systems can be obtained throughout the system structure. Electromagnetic interference affecting to the control system is minimized by using optical fiber as communication media between robot and control system. System performances is enhanced not only by using distributed architecture in hardware, but by adopting real-time, multi-tasking operating system in software. The iRMX86 OS is used and reconfigured for real-time, multi-tasking operation. RS-485 serial communication protocol is used between functional control part and remote control part. Since the developed multiprocessor control system is an essential and fundamental technology for artificial intelligent robot, the result of this project can be applied directly to nuclear mobile robot. (Author)

Merging the fields of swarm robotics and new media: Perceiving swarm robotics as new media

Directory of Open Access Journals (Sweden)

Monika O. Ivanova

2014-06-01

Full Text Available The aim of this paper is to provide evidence that swarm robotic systems can be perceived as new media objects. A thorough description of the five principles of new media proposed by Lev Manovich in “The Language of New Media” is presented. This is complemented by a state of the art on swarm robotics with an in-depth comparison of the characteristics of both fields. Also presented are examples of swarm robotics used in new media installations in order to illustrate the cutting-edge applications of robotics and artificial intelligence achieved through the unity of bothfields. The hypothesis of this research is that a novel point of view would be introduced by examining the field of swarm robotics through the scope of new media, which would benefit thework of both new media and swarm robotic researchers.

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

Dynamical Intention: Integrated Intelligence Modeling for Goal-directed Embodied Agents

Directory of Open Access Journals (Sweden)

Eric Aaron

2016-11-01

Full Text Available Intelligent embodied robots are integrated systems: As they move continuously through their environments, executing behaviors and carrying out tasks, components for low-level and high-level intelligence are integrated in the robot's cognitive system, and cognitive and physical processes combine to create their behavior. For a modeling framework to enable the design and analysis of such integrated intelligence, the underlying representations in the design of the robot should be dynamically sensitive, capable of reflecting both continuous motion and micro-cognitive influences, while also directly representing the necessary beliefs and intentions for goal-directed behavior. In this paper, a dynamical intention-based modeling framework is presented that satisfies these criteria, along with a hybrid dynamical cognitive agent (HDCA framework for employing dynamical intentions in embodied agents. This dynamical intention-HDCA (DI-HDCA modeling framework is a fusion of concepts from spreading activation networks, hybrid dynamical system models, and the BDI (belief-desire-intention theory of goal-directed reasoning, adapted and employed unconventionally to meet entailments of environment and embodiment. The paper presents two kinds of autonomous agent learning results that demonstrate dynamical intentions and the multi-faceted integration they enable in embodied robots: with a simulated service robot in a grid-world office environment, reactive-level learning minimizes reliance on deliberative-level intelligence, enabling task sequencing and action selection to be distributed over both deliberative and reactive levels; and with a simulated game of Tag, the cognitive-physical integration of an autonomous agent enables the straightforward learning of a user-specified strategy during gameplay, without interruption to the game. In addition, the paper argues that dynamical intentions are consistent with cognitive theory underlying goal-directed behavior, and

A computer architecture for intelligent machines

Science.gov (United States)

Lefebvre, D. R.; Saridis, G. N.

1992-01-01

The theory of intelligent machines proposes a hierarchical organization for the functions of an autonomous robot based on the principle of increasing precision with decreasing intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed. The authors present a computer architecture that implements the lower two levels of the intelligent machine. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Execution-level controllers for motion and vision systems are briefly addressed, as well as the Petri net transducer software used to implement coordination-level functions. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.

Mobile intelligent autonomous systems

National Research Council Canada - National Science Library

Raol, J. R; Gopal, Ajith K

2013-01-01

"Written for systems, mechanical, aero, electrical, civil, industrial, and robotics engineers, this book covers robotics from a theoretical and systems point of view, with an emphasis on the sensor...

The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

International Nuclear Information System (INIS)

Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun

1995-07-01

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human's eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. It has been looking for these techniques to expand the working area of human, raise the working efficiencies of remote task to the highest degree, and enhance the industrial

Automatic control system generation for robot design validation

Science.gov (United States)

Bacon, James A. (Inventor); English, James D. (Inventor)

2012-01-01

The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

Mobility Systems For Robotic Vehicles

Science.gov (United States)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

iPathology: Robotic Applications and Management of Plants and Plant Diseases

Directory of Open Access Journals (Sweden)

Yiannis Ampatzidis

2017-06-01

Full Text Available The rapid development of new technologies and the changing landscape of the online world (e.g., Internet of Things (IoT, Internet of All, cloud-based solutions provide a unique opportunity for developing automated and robotic systems for urban farming, agriculture, and forestry. Technological advances in machine vision, global positioning systems, laser technologies, actuators, and mechatronics have enabled the development and implementation of robotic systems and intelligent technologies for precision agriculture. Herein, we present and review robotic applications on plant pathology and management, and emerging agricultural technologies for intra-urban agriculture. Greenhouse advanced management systems and technologies have been greatly developed in the last years, integrating IoT and WSN (Wireless Sensor Network. Machine learning, machine vision, and AI (Artificial Intelligence have been utilized and applied in agriculture for automated and robotic farming. Intelligence technologies, using machine vision/learning, have been developed not only for planting, irrigation, weeding (to some extent, pruning, and harvesting, but also for plant disease detection and identification. However, plant disease detection still represents an intriguing challenge, for both abiotic and biotic stress. Many recognition methods and technologies for identifying plant disease symptoms have been successfully developed; still, the majority of them require a controlled environment for data acquisition to avoid false positives. Machine learning methods (e.g., deep and transfer learning present promising results for improving image processing and plant symptom identification. Nevertheless, diagnostic specificity is a challenge for microorganism control and should drive the development of mechatronics and robotic solutions for disease management.

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot.

Science.gov (United States)

Chai, Xun; Gao, Feng; Pan, Yang; Qi, Chenkun; Xu, Yilin

2015-04-22

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called "Octopus", which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

Experiences with a Barista Robot, FusionBot

Science.gov (United States)

Limbu, Dilip Kumar; Tan, Yeow Kee; Wong, Chern Yuen; Jiang, Ridong; Wu, Hengxin; Li, Liyuan; Kah, Eng Hoe; Yu, Xinguo; Li, Dong; Li, Haizhou

In this paper, we describe the implemented service robot, called FusionBot. The goal of this research is to explore and demonstrate the utility of an interactive service robot in a smart home environment, thereby improving the quality of human life. The robot has four main features: 1) speech recognition, 2) object recognition, 3) object grabbing and fetching and 4) communication with a smart coffee machine. Its software architecture employs a multimodal dialogue system that integrates different components, including spoken dialog system, vision understanding, navigation and smart device gateway. In the experiments conducted during the TechFest 2008 event, the FusionBot successfully demonstrated that it could autonomously serve coffee to visitors on their request. Preliminary survey results indicate that the robot has potential to not only aid in the general robotics but also contribute towards the long term goal of intelligent service robotics in smart home environment.

Probabilistic approaches to robotic perception

CERN Document Server

Ferreira, João Filipe

2014-01-01

This book tries to address the following questions: How should the uncertainty and incompleteness inherent to sensing the environment be represented and modelled in a way that will increase the autonomy of a robot? How should a robotic system perceive, infer, decide and act efficiently? These are two of the challenging questions robotics community and robotic researchers have been facing. The development of robotic domain by the 1980s spurred the convergence of automation to autonomy, and the field of robotics has consequently converged towards the field of artificial intelligence (AI). Since the end of that decade, the general public’s imagination has been stimulated by high expectations on autonomy, where AI and robotics try to solve difficult cognitive problems through algorithms developed from either philosophical and anthropological conjectures or incomplete notions of cognitive reasoning. Many of these developments do not unveil even a few of the processes through which biological organisms solve thes...

An overview of the program to place advanced automation and robotics on the Space Station

Science.gov (United States)

Heydorn, Richard P.

1987-01-01

The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Robot Programming.

Science.gov (United States)

1982-12-01

Paris, France, June, 1982, 519-530. Latoinbe, J. C. "Equipe Intelligence Artificielle et Robotique: Etat d’avancement des recherches," Laboratoire...8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK Artificial Intelligence Laboratory AREA I WORK UNIT NUMBERS ,. 545 Technology Square Cambridge

Intelligent Systems Technologies for Ops

Science.gov (United States)

Smith, Ernest E.; Korsmeyer, David J.

2012-01-01

As NASA supports International Space Station assembly complete operations through 2020 (or later) and prepares for future human exploration programs, there is additional emphasis in the manned spaceflight program to find more efficient and effective ways of providing the ground-based mission support. Since 2006 this search for improvement has led to a significant cross-fertilization between the NASA advanced software development community and the manned spaceflight operations community. A variety of mission operations systems and tools have been developed over the past decades as NASA has operated the Mars robotic missions, the Space Shuttle, and the International Space Station. NASA Ames Research Center has been developing and applying its advanced intelligent systems research to mission operations tools for both unmanned Mars missions operations since 2001 and to manned operations with NASA Johnson Space Center since 2006. In particular, the fundamental advanced software development work under the Exploration Technology Program, and the experience and capabilities developed for mission operations systems for the Mars surface missions, (Spirit/Opportunity, Phoenix Lander, and MSL) have enhanced the development and application of advanced mission operation systems for the International Space Station and future spacecraft. This paper provides an update on the status of the development and deployment of a variety of intelligent systems technologies adopted for manned mission operations, and some discussion of the planned work for Autonomous Mission Operations in future human exploration. We discuss several specific projects between the Ames Research Center and the Johnson Space Centers Mission Operations Directorate, and how these technologies and projects are enhancing the mission operations support for the International Space Station, and supporting the current Autonomous Mission Operations Project for the mission operation support of the future human exploration

Cognitive Coordination for Cooperative Multi-Robot Teamwork

NARCIS (Netherlands)

Wei, C.

2015-01-01

Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

An intelligent inspection and survey robot

International Nuclear Information System (INIS)

Byrd, J.; Holland, J.M.

1995-01-01

ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low level nuclear waste. The project is being performed by a team under the SCUREF (South Carolina University Research and Education Foundation) comprised of the University of South Carolina, and Clemson University, and their industrial partner Cybermotion Inc., with funding from METC, Morgantown, WV. The ARIES program is unusual in the level of cooperation between the universities and Cybermotion. By maintaining daily communications via telephone and E-Mall, participating in frequent meetings with each other and the end users, and by developing an open flow of (sometimes sensitive) technical information, the team has been able to build on a very broad base of intellectual strengths and existing technology without wasteful duplication. This base includes all of the navigation and control software and hardware developed by Cybermotion over nearly a decade and the deep technology resources of the university partners. It is anticipated that the result will be a technically advanced system that is much closer to a deployable configuration than is typical for this stage of research. In this decade of shrinking budgets, such relationships can provide a crucial advantage for all participants

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

Artificial Intelligence Base Telemedicine Robotic

OpenAIRE

Hakika, Kisti; TS, Hendra Yunianto; Afriyanti, Liza

2009-01-01

Telemedicine atau pelayanan kesehatan jarak jauh bukan hal yang baru lagi dalam dunia kesehatan.Penggunaan teknologi sangat membantu dalam mengimplementasikan telemedicine. Namun perkembangantelemedicine mengalami kemajuan seiring dengan perkembangan teknologi informasi. Salah satu perkembanganteknologi adalah robot. Secara umum kegunaan robot adalah untuk menggantikan tugas manusia. Padamakalah ini, akan dibuat simulasi telemedicine berupa konsultasi antara dokter dan pasien menggunakansebua...

Fuzzy Mobile-Robot Positioning in Intelligent Spaces Using Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

David Herrero

2011-11-01

Full Text Available This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using Wireless Sensor Networks (WSNs. The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor model of these measurements is very noisy and unreliable. The proposed method makes use of fuzzy logic for modeling and dealing with such uncertain information. Besides, the proposed approach is compared with a probabilistic technique showing that the fuzzy approach is able to handle highly uncertain situations that are difficult to manage by well-known localization methods.

Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions.

Science.gov (United States)

Kassahun, Yohannes; Yu, Bingbin; Tibebu, Abraham Temesgen; Stoyanov, Danail; Giannarou, Stamatia; Metzen, Jan Hendrik; Vander Poorten, Emmanuel

2016-04-01

Advances in technology and computing play an increasingly important role in the evolution of modern surgical techniques and paradigms. This article reviews the current role of machine learning (ML) techniques in the context of surgery with a focus on surgical robotics (SR). Also, we provide a perspective on the future possibilities for enhancing the effectiveness of procedures by integrating ML in the operating room. The review is focused on ML techniques directly applied to surgery, surgical robotics, surgical training and assessment. The widespread use of ML methods in diagnosis and medical image computing is beyond the scope of the review. Searches were performed on PubMed and IEEE Explore using combinations of keywords: ML, surgery, robotics, surgical and medical robotics, skill learning, skill analysis and learning to perceive. Studies making use of ML methods in the context of surgery are increasingly being reported. In particular, there is an increasing interest in using ML for developing tools to understand and model surgical skill and competence or to extract surgical workflow. Many researchers begin to integrate this understanding into the control of recent surgical robots and devices. ML is an expanding field. It is popular as it allows efficient processing of vast amounts of data for interpreting and real-time decision making. Already widely used in imaging and diagnosis, it is believed that ML will also play an important role in surgery and interventional treatments. In particular, ML could become a game changer into the conception of cognitive surgical robots. Such robots endowed with cognitive skills would assist the surgical team also on a cognitive level, such as possibly lowering the mental load of the team. For example, ML could help extracting surgical skill, learned through demonstration by human experts, and could transfer this to robotic skills. Such intelligent surgical assistance would significantly surpass the state of the art in surgical

An Informationally Structured Room for Robotic Assistance

Directory of Open Access Journals (Sweden)

Tokuo Tsuji

2015-04-01

Full Text Available The application of assistive technologies for elderly people is one of the most promising and interesting scenarios for intelligent technologies in the present and near future. Moreover, the improvement of the quality of life for the elderly is one of the first priorities in modern countries and societies. In this work, we present an informationally structured room that is aimed at supporting the daily life activities of elderly people. This room integrates different sensor modalities in a natural and non-invasive way inside the environment. The information gathered by the sensors is processed and sent to a centralized management system, which makes it available to a service robot assisting the people. One important restriction of our intelligent room is reducing as much as possible any interference with daily activities. Finally, this paper presents several experiments and situations using our intelligent environment in cooperation with our service robot.