Development of intelligent robots - Achievements and issues

NASA Astrophysics Data System (ADS)

Nitzan, D.

1985-03-01

A flexible, intelligent robot is regarded as a general purpose machine system that may include effectors, sensors, computers, and auxiliary equipment and, like a human, can perform a variety of tasks under unpredictable conditions. Development of intelligent robots is essential for increasing the growth rate of today's robot population in industry and elsewhere. Robotics research and development topics include manipulation, end effectors, mobility, sensing (noncontact and contact), adaptive control, robot programming languages, and manufacturing process planning. Past achievements and current issues related to each of these topics are described briefly.

Why the United States Must Adopt Lethal Autonomous Weapon Systems

DTIC Science & Technology

2017-05-25

2017. http://www.designboom.com/ technology /designboom-tech-predictions-robotics-12-26- 2016/. Egan, Matt. "Robots Write Thousands Of News Stories A...views on the morality of artificial intelligence (AI) and robotics technology . Eastern culture sees artificial intelligence as an economic savior...Army, 37 pages. The East and West have differing views on the morality of artificial intelligence (AI) and robotics technology . Eastern culture

Autonomous intelligent military robots: Army ants, killer bees, and cybernetic soldiers

NASA Astrophysics Data System (ADS)

Finkelstein, Robert

The rationale for developing autonomous intelligent robots in the military is to render conventional warfare systems ineffective and indefensible. The Desert Storm operation demonstrated the effectiveness of such systems as unmanned air and ground vehicles and indicated the future possibilities of robotic technology. Robotic military vehicles would have the advantages of expendability, low cost, lower complexity compared to manned systems, survivability, maneuverability, and a capability to share in instantaneous communication and distributed processing of combat information. Basic characteristics of intelligent systems and hierarchical control systems with sensor inputs are described. Genetic algorithms are seen as a means of achieving appropriate levels of intelligence in a robotic system. Potential impacts of robotic technology in the military are outlined.

Artificial intelligence in robot control systems

NASA Astrophysics Data System (ADS)

Korikov, A.

2018-05-01

This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

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

NASA Astrophysics Data System (ADS)

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.

Design Of An Intelligent Robotic System Organizer Via Expert System Tecniques

NASA Astrophysics Data System (ADS)

Yuan, Peter H.; Valavanis, Kimon P.

1989-02-01

Intelligent Robotic Systems are a special type of Intelligent Machines. When modeled based on Vle theory of Intelligent Controls, they are composed of three interactive levels, namely: organization, coordination, and execution, ordered according, to the ,Principle of Increasing, Intelligence with Decreasing Precl.sion. Expert System techniques, are used to design an Intelligent Robotic System Organizer with a dynamic Knowledge Base and an interactive Inference Engine. Task plans are formulated using, either or both of a Probabilistic Approach and Forward Chapling Methodology, depending on pertinent information associated with a spec;fic requested job. The Intelligent Robotic System, Organizer is implemented and tested on a prototype system operating in an uncertain environment. An evaluation of-the performance, of the prototype system is conducted based upon the probability of generating a successful task sequence versus the number of trials taken by the organizer.

An intelligent space for mobile robot localization using a multi-camera system.

PubMed

Rampinelli, Mariana; Covre, Vitor Buback; de Queiroz, Felippe Mendonça; Vassallo, Raquel Frizera; Bastos-Filho, Teodiano Freire; Mazo, Manuel

2014-08-15

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System

PubMed Central

Rampinelli, Mariana.; Covre, Vitor Buback.; de Queiroz, Felippe Mendonça.; Vassallo, Raquel Frizera.; Bastos-Filho, Teodiano Freire.; Mazo, Manuel.

2014-01-01

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization. PMID:25196009

Rice-obot 1: An intelligent autonomous mobile robot

NASA Technical Reports Server (NTRS)

Defigueiredo, R.; Ciscon, L.; Berberian, D.

1989-01-01

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2

NASA Technical Reports Server (NTRS)

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 preservations can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed the following topics: (1) vision systems integration and architecture; (2) selective perception and human robot interaction; (3) robotic systems technology; (4) military and other field applications; (5) dual-use precommercial robotic technology; (6) building operations; (7) planetary exploration applications; (8) planning; (9) new directions in robotics; and (10) commercialization.

Vision Guided Intelligent Robot Design And Experiments

NASA Astrophysics Data System (ADS)

Slutzky, G. D.; Hall, E. L.

1988-02-01

The concept of an intelligent robot is an important topic combining sensors, manipulators, and artificial intelligence to design a useful machine. Vision systems, tactile sensors, proximity switches and other sensors provide the elements necessary for simple game playing as well as industrial applications. These sensors permit adaption to a changing environment. The AI techniques permit advanced forms of decision making, adaptive responses, and learning while the manipulator provides the ability to perform various tasks. Computer languages such as LISP and OPS5, have been utilized to achieve expert systems approaches in solving real world problems. The purpose of this paper is to describe several examples of visually guided intelligent robots including both stationary and mobile robots. Demonstrations will be presented of a system for constructing and solving a popular peg game, a robot lawn mower, and a box stacking robot. The experience gained from these and other systems provide insight into what may be realistically expected from the next generation of intelligent machines.

NASA's Intelligent Robotics Group

NASA Image and Video Library

2017-01-06

Shareable video highlighting the Intelligent Robotics Group's 25 years of experience developing tools to allow humans and robots to work as teammates. Highlights the VERVE software, which allows researchers to see a 3D representation of the robot's world and mentions how Nissan is using a version of VERVE in the autonomous vehicle research.

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

NASA Astrophysics Data System (ADS)

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.

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

NASA Technical Reports Server (NTRS)

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.

Intelligent robot trends for factory automation

NASA Astrophysics Data System (ADS)

Hall, Ernest L.

1997-09-01

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 economic and technical trends. The robotics industry now has a billion-dollar market in the U.S. and is growing. Feasibility studies are presented which also show unaudited healthy rates of return for a variety of robotic applications. 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. However, the road from inspiration to successful application is still long and difficult, often taking decades to achieve a new product. More cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit both industry and society.

Intelligent robot trends for 1998

NASA Astrophysics Data System (ADS)

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.

Performance Evaluation and Benchmarking of Next Intelligent Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

del Pobil, Angel; Madhavan, Raj; Bonsignorio, Fabio

Performance Evaluation and Benchmarking of Intelligent Systems presents research dedicated to the subject of performance evaluation and benchmarking of intelligent systems by drawing from the experiences and insights of leading experts gained both through theoretical development and practical implementation of intelligent systems in a variety of diverse application domains. This contributed volume offers a detailed and coherent picture of state-of-the-art, recent developments, and further research areas in intelligent systems. The chapters cover a broad range of applications, such as assistive robotics, planetary surveying, urban search and rescue, and line tracking for automotive assembly. Subsystems or components described in this bookmore » include human-robot interaction, multi-robot coordination, communications, perception, and mapping. Chapters are also devoted to simulation support and open source software for cognitive platforms, providing examples of the type of enabling underlying technologies that can help intelligent systems to propagate and increase in capabilities. Performance Evaluation and Benchmarking of Intelligent Systems serves as a professional reference for researchers and practitioners in the field. This book is also applicable to advanced courses for graduate level students and robotics professionals in a wide range of engineering and related disciplines including computer science, automotive, healthcare, manufacturing, and service robotics.« less

Performance Evaluation of Intelligent Systems at the National Institute of Standards and Technology (NIST)

DTIC Science & Technology

2011-03-01

past few years, including performance evaluation of emergency response robots , sensor systems on unmanned ground vehicles, speech-to-speech translation...emergency response robots ; intelligent systems; mixed palletizing, testing, simulation; robotic vehicle perception systems; search and rescue robots ...ranging from autonomous vehicles to urban search and rescue robots to speech translation and manufacturing systems. The evaluations have occurred in

Integrated Planning for Telepresence With Time Delays

NASA Technical Reports Server (NTRS)

Johnston, Mark; Rabe, Kenneth

2009-01-01

A conceptual "intelligent assistant" and an artificial-intelligence computer program that implements the intelligent assistant have been developed to improve control exerted by a human supervisor over a robot that is so distant that communication between the human and the robot involves significant signal-propagation delays. The goal of the effort is not only to help the human supervisor monitor and control the state of the robot, but also to improve the efficiency of the robot by allowing the supervisor to "work ahead". The intelligent assistant is an integrated combination of an artificial-intelligence planner and a monitor of states of both the human supervisor and the remote robot. The novelty of the system lies in the way it uses the planner to reason about the states at both ends of the time delay. The purpose served by the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved.

micROS: a morphable, intelligent and collective robot operating system.

PubMed

Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

2016-01-01

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

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

NASA Technical Reports Server (NTRS)

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 robot control using an adaptive critic with a task control center and dynamic database

NASA Astrophysics Data System (ADS)

Hall, E. L.; Ghaffari, M.; Liao, X.; Alhaj Ali, S. M.

2006-10-01

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

NASA Technical Reports Server (NTRS)

Chen, Alexander Y.

1990-01-01

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

[Mobile autonomous robots-Possibilities and limits].

PubMed

Maehle, E; Brockmann, W; Walthelm, A

2002-02-01

Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

Mobile robotics research at Sandia National Laboratories

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morse, W.D.

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.

Machine intelligence and robotics: Report of the NASA study group. Executive summary

NASA Technical Reports Server (NTRS)

1979-01-01

A brief overview of applications of machine intelligence and robotics in the space program is given. These space exploration robots, global service robots to collect data for public service use on soil conditions, sea states, global crop conditions, weather, geology, disasters, etc., from Earth orbit, space industrialization and processing technologies, and construction of large structures in space. Program options for research, advanced development, and implementation of machine intelligence and robot technology for use in program planning are discussed. A vigorous and long-range program to incorporate and keep pace with state of the art developments in computer technology, both in spaceborne and ground-based computer systems is recommended.

Intelligent software for laboratory automation.

PubMed

Whelan, Ken E; King, Ross D

2004-09-01

The automation of laboratory techniques has greatly increased the number of experiments that can be carried out in the chemical and biological sciences. Until recently, this automation has focused primarily on improving hardware. Here we argue that future advances will concentrate on intelligent software to integrate physical experimentation and results analysis with hypothesis formulation and experiment planning. To illustrate our thesis, we describe the 'Robot Scientist' - the first physically implemented example of such a closed loop system. In the Robot Scientist, experimentation is performed by a laboratory robot, hypotheses concerning the results are generated by machine learning and experiments are allocated and selected by a combination of techniques derived from artificial intelligence research. The performance of the Robot Scientist has been evaluated by a rediscovery task based on yeast functional genomics. The Robot Scientist is proof that the integration of programmable laboratory hardware and intelligent software can be used to develop increasingly automated laboratories.

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

PubMed Central

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-01-01

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. PMID:28216555

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

PubMed

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-02-14

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.

Learning for intelligent mobile robots

NASA Astrophysics Data System (ADS)

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 mathematical model of the creative control process is presented that illustrates the use for mobile robots. Examples from a variety of intelligent mobile robot applications are also presented. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to many applications.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

PubMed

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.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks

PubMed Central

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. PMID:28540284

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

NASA Technical Reports Server (NTRS)

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.

Supervised space robots are needed in space exploration

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

High level systems engineering models were developed to simulate and analyze the types, numbers, and roles of intelligent systems, including supervised autonomous robots, which will be required to support human space exploration. Conventional and intelligent systems were compared for two missions: (1) a 20-year option 5A space exploration; and (2) the First Lunar Outpost (FLO). These studies indicate that use of supervised intelligent systems on planet surfaces will 'enable' human space exploration. The author points out that space robotics can be considered a form of the emerging technology of field robotics and solutions to many space applications will apply to problems relative to operating in Earth-based hazardous environments.

Artificial intelligence and robotics in high throughput post-genomics.

PubMed

Laghaee, Aroosha; Malcolm, Chris; Hallam, John; Ghazal, Peter

2005-09-15

The shift of post-genomics towards a systems approach has offered an ever-increasing role for artificial intelligence (AI) and robotics. Many disciplines (e.g. engineering, robotics, computer science) bear on the problem of automating the different stages involved in post-genomic research with a view to developing quality assured high-dimensional data. We review some of the latest contributions of AI and robotics to this end and note the limitations arising from the current independent, exploratory way in which specific solutions are being presented for specific problems without regard to how these could be eventually integrated into one comprehensible integrated intelligent system.

A Contest-Oriented Project for Learning Intelligent Mobile Robots

ERIC Educational Resources Information Center

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…

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

Intelligent robot trends and predictions for the new millennium

NASA Astrophysics Data System (ADS)

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.

An Intelligent Agent Approach for Teaching Neural Networks Using LEGO[R] Handy Board Robots

ERIC Educational Resources Information Center

Imberman, Susan P.

2004-01-01

In this article we describe a project for an undergraduate artificial intelligence class. The project teaches neural networks using LEGO[R] handy board robots. Students construct robots with two motors and two photosensors. Photosensors provide readings that act as inputs for the neural network. Output values power the motors and maintain the…

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

NASA Astrophysics Data System (ADS)

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.

Robotic intelligence kernel

DOEpatents

Bruemmer, David J [Idaho Falls, ID

2009-11-17

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

Designing and implementing transparency for real time inspection of autonomous robots

NASA Astrophysics Data System (ADS)

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.

Robotic Intelligence Kernel: Driver

DOE Office of Scientific and Technical Information (OSTI.GOV)

The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

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

PubMed

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.

Can Artificial Intelligences Suffer from Mental Illness? A Philosophical Matter to Consider.

PubMed

Ashrafian, Hutan

2017-04-01

The potential for artificial intelligences and robotics in achieving the capacity of consciousness, sentience and rationality offers the prospect that these agents have minds. If so, then there may be a potential for these minds to become dysfunctional, or for artificial intelligences and robots to suffer from mental illness. The existence of artificially intelligent psychopathology can be interpreted through the philosophical perspectives of mental illness. This offers new insights into what it means to have either robot or human mental disorders, but may also offer a platform on which to examine the mechanisms of biological or artificially intelligent psychiatric disease. The possibility of mental illnesses occurring in artificially intelligent individuals necessitates the consideration that at some level, they may have achieved a mental capability of consciousness, sentience and rationality such that they can subsequently become dysfunctional. The deeper philosophical understanding of these conditions in mankind and artificial intelligences might therefore offer reciprocal insights into mental health and mechanisms that may lead to the prevention of mental dysfunction.

Three Years of Using Robots in an Artificial Intelligence Course: Lessons Learned

ERIC Educational Resources Information Center

Kumar, Amruth N.

2004-01-01

We have been using robots in our artificial intelligence course since fall 2000. We have been using the robots for open-laboratory projects. The projects are designed to emphasize high-level knowledge-based AI algorithms. After three offerings of the course, we paused to analyze the collected data and to see if we could answer the following…

Artificial Intelligence/Robotics Applications to Navy Aircraft Maintenance.

DTIC Science & Technology

1984-06-01

other automatic machinery such as presses, molding machines , and numerically-controlled machine tools, just as people do. A-36...Robotics Technologies 3 B. Relevant AI Technologies 4 1. Expert Systems 4 2. Automatic Planning 4 3. Natural Language 5 4. Machine Vision...building machines that imitate human behavior. Artificial intelligence is concerned with the functions of the brain, whereas robotics include, in

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

PubMed

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.

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

DTIC Science & Technology

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

High-Level Connectionist Models

DTIC Science & Technology

1993-04-01

The Ohio State University, Columbus Ohio. To appearto Artifcial Life IlL Angeline, P., Saunders, G., Pollack, J. (1993). An evolutionary algorithm...of Robotics and Automation, 2(1):14-23. Brooks, R. A. (1991). Intelligence without representations. Artificial Intelligence , 47:139- 159. Connell, J. H...1990). Minimalist Mobile Robotics: A Colony-style Architecture for an Creature, Volume 5 of Perspectives in Artificial Intelligence . Academic Press

Robot Programming.

DTIC Science & Technology

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

Tele-assistance for semi-autonomous robots

NASA Technical Reports Server (NTRS)

Rogers, Erika; Murphy, Robin R.

1994-01-01

This paper describes a new approach in semi-autonomous mobile robots. In this approach the robot has sufficient computerized intelligence to function autonomously under a certain set of conditions, while the local system is a cooperative decision making unit that combines human and machine intelligence. Communication is then allowed to take place in a common mode and in a common language. A number of exception-handling scenarios that were constructed as a result of experiments with actual sensor data collected from two mobile robots were presented.

Intelligence in the Now: Robust Intelligence in Complex Domains

DTIC Science & Technology

2015-09-26

We have applied our model and the resulting search strategy for a mobile manipulator modeled on a Willow Garage PR2 robot. As shown in Figure 12...with them – the robot tries to move a handle to various target locations and observes the reached location. Figure 13 shows Willow Garage PR2 robot...Massachusetts Institute of Technology, Cambridge, MA 02139 USA barragan@mit.edu, tlp@mit.edu, lpk@mit.edu Fig. 1. Willow Garage PR2 robot manipulating

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

PubMed

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.

Integration of task level planning and diagnosis for an intelligent robot

NASA Technical Reports Server (NTRS)

Chan, Amy W.

1992-01-01

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

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

PubMed Central

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

Intelligent robot trends and predictions for the .net future

NASA Astrophysics Data System (ADS)

Hall, Ernest L.

2001-10-01

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 and future technical and economic trends. During the past twenty years the use of industrial robots that are equipped not only with precise 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. Intelligent robot products have been developed in many cases for factory automation and for some hospital and home applications. To reach an even higher degree of applications, the addition of learning may be 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 adaptive critic is a good model for human learning. In general, the critic may be considered to be the human with the teach pendant, plant manager, line supervisor, quality inspector or the consumer. If the ultimate critic is the consumer, then the quality inspector must model the consumer's decision-making process and use this model in the design and manufacturing operations. Can the adaptive critic be used to advance intelligent robots? Intelligent robots have historically taken decades to be developed and reduced to practice. Methods for speeding this development include technology such as rapid prototyping and product development and government, industry and university cooperation.

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

PubMed

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.

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

NASA Astrophysics Data System (ADS)

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.

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

NASA Astrophysics Data System (ADS)

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.

Artificial Intelligence for Controlling Robotic Aircraft

NASA Technical Reports Server (NTRS)

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.

Types of verbal interaction with instructable robots

NASA Technical Reports Server (NTRS)

Crangle, C.; Suppes, P.; Michalowski, S.

1987-01-01

An instructable robot is one that accepts instruction in some natural language such as English and uses that instruction to extend its basic repertoire of actions. Such robots are quite different in conception from autonomously intelligent robots, which provide the impetus for much of the research on inference and planning in artificial intelligence. Examined here are the significant problem areas in the design of robots that learn from vebal instruction. Examples are drawn primarily from our earlier work on instructable robots and recent work on the Robotic Aid for the physically disabled. Natural-language understanding by machines is discussed as well as in the possibilities and limits of verbal instruction. The core problem of verbal instruction, namely, how to achieve specific concrete action in the robot in response to commands that express general intentions, is considered, as are two major challenges to instructability: achieving appropriate real-time behavior in the robot, and extending the robot's language capabilities.

Local adjacency metric dimension of sun graph and stacked book graph

NASA Astrophysics Data System (ADS)

Yulisda Badri, Alifiah; Darmaji

2018-03-01

A graph is a mathematical system consisting of a non-empty set of nodes and a set of empty sides. One of the topics to be studied in graph theory is the metric dimension. Application in the metric dimension is the navigation robot system on a path. Robot moves from one vertex to another vertex in the field by minimizing the errors that occur in translating the instructions (code) obtained from the vertices of that location. To move the robot must give different instructions (code). In order for the robot to move efficiently, the robot must be fast to translate the code of the nodes of the location it passes. so that the location vertex has a minimum distance. However, if the robot must move with the vertex location on a very large field, so the robot can not detect because the distance is too far.[6] In this case, the robot can determine its position by utilizing location vertices based on adjacency. The problem is to find the minimum cardinality of the required location vertex, and where to put, so that the robot can determine its location. The solution to this problem is the dimension of adjacency metric and adjacency metric bases. Rodrguez-Velzquez and Fernau combine the adjacency metric dimensions with local metric dimensions, thus becoming the local adjacency metric dimension. In the local adjacency metric dimension each vertex in the graph may have the same adjacency representation as the terms of the vertices. To obtain the local metric dimension of values in the graph of the Sun and the stacked book graph is used the construction method by considering the representation of each adjacent vertex of the graph.

Research and development of service robot platform based on artificial psychology

NASA Astrophysics Data System (ADS)

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.

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

PubMed

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.

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

PubMed Central

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

Proceedings from an International Conference on Computers and Philosophy, i-C&P 2006 held 3-5 May 2006 in Laval, France

DTIC Science & Technology

2008-10-20

embedded intelligence and cultural adaptations to the onslaught of robots in society. This volume constitutes a key contribution to the body of... Robotics , CNRS/Toulouse University, France Nathalie COLINEAU, Language & Multi-modality, CSIRO, Australia Roberto CORDESCHI, Computation & Communication...Intelligence, SONY CSL ­ Paris Nik KASABOV, Computer and Information Sciences, Auckland University, New Zealand Oussama KHATIB, Robotics & Artificial

Dimensions of complexity in learning from interactive instruction. [for robotic systems deployed in space

NASA Technical Reports Server (NTRS)

Huffman, Scott B.; Laird, John E.

1992-01-01

Robot systems deployed in space must exhibit flexibility. In particular, an intelligent robotic agent should not have to be reprogrammed for each of the various tasks it may face during the course of its lifetime. However, pre-programming knowledge for all of the possible tasks that may be needed is extremely difficult. Therefore, a powerful notion is that of an instructible agent, one which is able to receive task-level instructions and advice from a human advisor. An agent must do more than simply memorize the instructions it is given (this would amount to programming). Rather, after mapping instructions into task constructs that it can reason with, it must determine each instruction's proper scope of applicability. In this paper, we will examine the characteristics of instruction, and the characteristics of agents, that affect learning from instruction. We find that in addition to a myriad of linguistic concerns, both the situatedness of the instructions (their placement within the ongoing execution of tasks) and the prior domain knowledge of the agent have an impact on what can be learned.

Architecture for robot intelligence

NASA Technical Reports Server (NTRS)

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.

Artificial intelligence and robot responsibilities: innovating beyond rights.

PubMed

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.

An Innovative Multi-Agent Search-and-Rescue Path Planning Approach

DTIC Science & Technology

2015-03-09

search problems from search theory and artificial intelligence /distributed robotic control, and pursuit-evasion problem perspectives may be found in...Dissanayake, “Probabilistic search for a moving target in an indoor environment”, In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006, pp...3393-3398. [7] H. Lau, and G. Dissanayake, “Optimal search for multiple targets in a built environment”, In Proc. IEEE/RSJ Int. Conf. Intelligent

Substructure Discovery of Macro-Operators

DTIC Science & Technology

1988-05-01

Aspects of Scientific Discovery," in Machine Learning: An Artifcial Intelligence Approach, Vol. II. R. S. Michalski, J. G. Carbonell and T. M. Mitchell (ed... intelligent robot using this system could learn how to perform new tasks by watching tasks being performed by someone else. even if the robot does not possess...Substructure Discovery of Macro-Operators* Bradley L. Whitehall Artificial Intelligence Research Group Coordinated Science Laboratory ’University of Illinois at

Intelligent manipulation technique for multi-branch robotic systems

NASA Technical Reports Server (NTRS)

Chen, Alexander Y. K.; Chen, Eugene Y. S.

1990-01-01

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

Robotics.

ERIC Educational Resources Information Center

Waddell, Steve; Doty, Keith L.

1999-01-01

"Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

Machine intelligence and autonomy for aerospace systems

NASA Technical Reports Server (NTRS)

Heer, Ewald (Editor); Lum, Henry (Editor)

1988-01-01

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

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

ERIC Educational Resources Information Center

Moore, Gwendolyn B.; And Others

1986-01-01

Describes possible applications of new technologies to special education. Discusses results of a study designed to explore the use of robotics, artificial intelligence, and computer simulations to aid people with handicapping conditions. Presents several scenarios in which specific technological advances may contribute to special education…

Haptic exploration of fingertip-sized geometric features using a multimodal tactile sensor

NASA Astrophysics Data System (ADS)

Ponce Wong, Ruben D.; Hellman, Randall B.; Santos, Veronica J.

2014-06-01

Haptic perception remains a grand challenge for artificial hands. Dexterous manipulators could be enhanced by "haptic intelligence" that enables identification of objects and their features via touch alone. Haptic perception of local shape would be useful when vision is obstructed or when proprioceptive feedback is inadequate, as observed in this study. In this work, a robot hand outfitted with a deformable, bladder-type, multimodal tactile sensor was used to replay four human-inspired haptic "exploratory procedures" on fingertip-sized geometric features. The geometric features varied by type (bump, pit), curvature (planar, conical, spherical), and footprint dimension (1.25 - 20 mm). Tactile signals generated by active fingertip motions were used to extract key parameters for use as inputs to supervised learning models. A support vector classifier estimated order of curvature while support vector regression models estimated footprint dimension once curvature had been estimated. A distal-proximal stroke (along the long axis of the finger) enabled estimation of order of curvature with an accuracy of 97%. Best-performing, curvature-specific, support vector regression models yielded R2 values of at least 0.95. While a radial-ulnar stroke (along the short axis of the finger) was most helpful for estimating feature type and size for planar features, a rolling motion was most helpful for conical and spherical features. The ability to haptically perceive local shape could be used to advance robot autonomy and provide haptic feedback to human teleoperators of devices ranging from bomb defusal robots to neuroprostheses.

Robotic air vehicle. Blending artificial intelligence with conventional software

NASA Technical Reports Server (NTRS)

Mcnulty, Christa; Graham, Joyce; Roewer, Paul

1987-01-01

The Robotic Air Vehicle (RAV) system is described. The program's objectives were to design, implement, and demonstrate cooperating expert systems for piloting robotic air vehicles. The development of this system merges conventional programming used in passive navigation with Artificial Intelligence techniques such as voice recognition, spatial reasoning, and expert systems. The individual components of the RAV system are discussed as well as their interactions with each other and how they operate as a system.

A High Density Electrophysiological Data Analysis System for a Peripheral Nerve Interface Communicating with Individual Neurons in the Brain

DTIC Science & Technology

2016-11-14

necessary capability to build a high density communication highway between 86 billion brain neurons and intelligent vehicles or robots . With this...build a high density communication highway between brain neurons and intelligent vehicles or robots . The final outcome of the INI using TDT system...will be beneficial to wounded warriors suffering from loss of limb function, so that, using sophisticated bidirectional robotic limbs, these

Robotics

NASA Astrophysics Data System (ADS)

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.

Human-Robot Teams for Unknown and Uncertain Environments

NASA Technical Reports Server (NTRS)

Fong, Terry

2015-01-01

Man-robot interaction is the study of interactions between humans and robots. It is often referred as HRI by researchers. Human-robot interaction is a multidisciplinary field with contributions from human-computer interaction, artificial intelligence.

Development of coffee maker service robot using speech and face recognition systems using POMDP

NASA Astrophysics Data System (ADS)

Budiharto, Widodo; Meiliana; Santoso Gunawan, Alexander Agung

2016-07-01

There are many development of intelligent service robot in order to interact with user naturally. This purpose can be done by embedding speech and face recognition ability on specific tasks to the robot. In this research, we would like to propose Intelligent Coffee Maker Robot which the speech recognition is based on Indonesian language and powered by statistical dialogue systems. This kind of robot can be used in the office, supermarket or restaurant. In our scenario, robot will recognize user's face and then accept commands from the user to do an action, specifically in making a coffee. Based on our previous work, the accuracy for speech recognition is about 86% and face recognition is about 93% in laboratory experiments. The main problem in here is to know the intention of user about how sweetness of the coffee. The intelligent coffee maker robot should conclude the user intention through conversation under unreliable automatic speech in noisy environment. In this paper, this spoken dialog problem is treated as a partially observable Markov decision process (POMDP). We describe how this formulation establish a promising framework by empirical results. The dialog simulations are presented which demonstrate significant quantitative outcome.

Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

PubMed

Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

2017-05-01

OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

Autonomous Realtime Threat-Hunting Robot (ARTHR

DOE Office of Scientific and Technical Information (OSTI.GOV)

INL

2008-05-29

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

Autonomous Realtime Threat-Hunting Robot (ARTHR

ScienceCinema

INL

2017-12-09

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

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

ERIC Educational Resources Information Center

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,…

The sixth generation robot in space

NASA Technical Reports Server (NTRS)

Butcher, A.; Das, A.; Reddy, Y. V.; Singh, H.

1990-01-01

The knowledge based simulator developed in the artificial intelligence laboratory has become a working test bed for experimenting with intelligent reasoning architectures. With this simulator, recently, small experiments have been done with an aim to simulate robot behavior to avoid colliding paths. An automatic extension of such experiments to intelligently planning robots in space demands advanced reasoning architectures. One such architecture for general purpose problem solving is explored. The robot, seen as a knowledge base machine, goes via predesigned abstraction mechanism for problem understanding and response generation. The three phases in one such abstraction scheme are: abstraction for representation, abstraction for evaluation, and abstraction for resolution. Such abstractions require multimodality. This multimodality requires the use of intensional variables to deal with beliefs in the system. Abstraction mechanisms help in synthesizing possible propagating lattices for such beliefs. The machine controller enters into a sixth generation paradigm.

A cognitive robotics system: the symbolic and sub-symbolic robotic intelligence control system (SS-RICS)

NASA Astrophysics Data System (ADS)

Kelley, Troy D.; Avery, Eric

2010-04-01

This paper will detail the progress on the development of the Symbolic and Subsymbolic Robotics Intelligence Control System (SS-RICS). The system is a goal oriented production system, based loosely on the cognitive architecture, the Adaptive Control of Thought-Rational (ACT-R) some additions and changes. We have found that in order to simulate complex cognition on a robot, many aspects of cognition (long term memory (LTM), perception) needed to be in place before any generalized intelligent behavior can be produced. In working with ACT-R, we found that it was a good instantiation of working memory, but that we needed to add other aspects of cognition including LTM and perception to have a complete cognitive system. Our progress to date will be noted and the challenges that remain will be addressed.

Role of expressive behaviour for robots that learn from people.

PubMed

Breazeal, Cynthia

2009-12-12

Robotics has traditionally focused on developing intelligent machines that can manipulate and interact with objects. The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things. In the future, robots are envisioned to assist people with a wide range of activities such as domestic chores, helping elders to live independently longer, serving a therapeutic role to help children with autism, assisting people undergoing physical rehabilitation and much more. Many of these activities shall require robots to learn new tasks, skills and individual preferences while 'on the job' from people with little expertise in the underlying technology. This paper identifies four key challenges in developing social robots that can learn from natural interpersonal interaction. The author highlights the important role that expressive behaviour plays in this process, drawing on examples from the past 8 years of her research group, the Personal Robots Group at the MIT Media Lab.

Bio-robots automatic navigation with electrical reward stimulation.

PubMed

Sun, Chao; Zhang, Xinlu; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2012-01-01

Bio-robots that controlled by outer stimulation through brain computer interface (BCI) suffer from the dependence on realtime guidance of human operators. Current automatic navigation methods for bio-robots focus on the controlling rules to force animals to obey man-made commands, with animals' intelligence ignored. This paper proposes a new method to realize the automatic navigation for bio-robots with electrical micro-stimulation as real-time rewards. Due to the reward-seeking instinct and trial-and-error capability, bio-robot can be steered to keep walking along the right route with rewards and correct its direction spontaneously when rewards are deprived. In navigation experiments, rat-robots learn the controlling methods in short time. The results show that our method simplifies the controlling logic and realizes the automatic navigation for rat-robots successfully. Our work might have significant implication for the further development of bio-robots with hybrid intelligence.

Mobile robot navigation modulated by artificial emotions.

PubMed

Lee-Johnson, C P; Carnegie, D A

2010-04-01

For artificial intelligence research to progress beyond the highly specialized task-dependent implementations achievable today, researchers may need to incorporate aspects of biological behavior that have not traditionally been associated with intelligence. Affective processes such as emotions may be crucial to the generalized intelligence possessed by humans and animals. A number of robots and autonomous agents have been created that can emulate human emotions, but the majority of this research focuses on the social domain. In contrast, we have developed a hybrid reactive/deliberative architecture that incorporates artificial emotions to improve the general adaptive performance of a mobile robot for a navigation task. Emotions are active on multiple architectural levels, modulating the robot's decisions and actions to suit the context of its situation. Reactive emotions interact with the robot's control system, altering its parameters in response to appraisals from short-term sensor data. Deliberative emotions are learned associations that bias path planning in response to eliciting objects or events. Quantitative results are presented that demonstrate situations in which each artificial emotion can be beneficial to performance.

New robotics: design principles for intelligent systems.

PubMed

Pfeifer, Rolf; Iida, Fumiya; Bongard, Josh

2005-01-01

New robotics is an approach to robotics that, in contrast to traditional robotics, employs ideas and principles from biology. While in the traditional approach there are generally accepted methods (e. g., from control theory), designing agents in the new robotics approach is still largely considered an art. In recent years, we have been developing a set of heuristics, or design principles, that on the one hand capture theoretical insights about intelligent (adaptive) behavior, and on the other provide guidance in actually designing and building systems. In this article we provide an overview of all the principles but focus on the principles of ecological balance, which concerns the relation between environment, morphology, materials, and control, and sensory-motor coordination, which concerns self-generated sensory stimulation as the agent interacts with the environment and which is a key to the development of high-level intelligence. As we argue, artificial evolution together with morphogenesis is not only "nice to have" but is in fact a necessary tool for designing embodied agents.

Architecture for Multiple Interacting Robot Intelligences

NASA Technical Reports Server (NTRS)

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.

Bio-robots automatic navigation with graded electric reward stimulation based on Reinforcement Learning.

PubMed

Zhang, Chen; Sun, Chao; Gao, Liqiang; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2013-01-01

Bio-robots based on brain computer interface (BCI) suffer from the lack of considering the characteristic of the animals in navigation. This paper proposed a new method for bio-robots' automatic navigation combining the reward generating algorithm base on Reinforcement Learning (RL) with the learning intelligence of animals together. Given the graded electrical reward, the animal e.g. the rat, intends to seek the maximum reward while exploring an unknown environment. Since the rat has excellent spatial recognition, the rat-robot and the RL algorithm can convergent to an optimal route by co-learning. This work has significant inspiration for the practical development of bio-robots' navigation with hybrid intelligence.

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Transparent actuators and robots based on single-layer superaligned carbon nanotube sheet and polymer composites.

PubMed

Chen, Luzhuo; Weng, Mingcen; Zhang, Wei; Zhou, Zhiwei; Zhou, Yi; Xia, Dan; Li, Jiaxin; Huang, Zhigao; Liu, Changhong; Fan, Shoushan

2016-03-28

Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm(-1) under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot "hand" were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency.

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

NASA Technical Reports Server (NTRS)

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.

Towards Distributed Intelligence: A High Level Definition

DTIC Science & Technology

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

Conference on Space and Military Applications of Automation and Robotics

NASA Technical Reports Server (NTRS)

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.

Autonomous Realtime Threat-Hunting Robot (ARTHR)

ScienceCinema

Idaho National Laboratory - David Bruemmer, Curtis Nielsen

2017-12-09

Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats. To learn more, visit

Leader/Follower Behaviour Using the SIFT Algorithm for Object Recognition

DTIC Science & Technology

2006-06-01

opérations de convoiement plus complexes qui utiliseraient une vision artificielle basée sur la détection d’un chef. Les travaux futurs : Étant donné la...Systems: A Virtual Trailer Link Model, In Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems. [4] Hong, P., Sahli, H., Colon, E., and... Intelligent Robots and Systems. [6] Nguyen, H., Kogut, G., Barua, R., and Burmeister, A. (2004), A Segway RMP-based Robotic Transport System, In In

Ambient intelligence application based on environmental measurements performed with an assistant mobile robot.

PubMed

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-03-27

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile.

Ambient Intelligence Application Based on Environmental Measurements Performed with an Assistant Mobile Robot

PubMed Central

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-01-01

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile. PMID:24681671

Intelligent mobility for robotic vehicles in the army after next

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Goetz, Richard C.; Gorsich, David J.

1999-07-01

The TARDEC Intelligent Mobility program addresses several essential technologies necessary to support the army after next (AAN) concept. Ground forces in the AAN time frame will deploy robotic unmanned ground vehicles (UGVs) in high-risk missions to avoid exposing soldiers to both friendly and unfriendly fire. Prospective robotic systems will include RSTA/scout vehicles, combat engineering/mine clearing vehicles, indirect fire artillery and missile launch platforms. The AAN concept requires high on-road and off-road mobility, survivability, transportability/deployability and low logistics burden. TARDEC is developing a robotic vehicle systems integration laboratory (SIL) to evaluate technologies and their integration into future UGV systems. Example technologies include the following: in-hub electric drive, omni-directional wheel and steering configurations, off-road tires, adaptive tire inflation, articulated vehicles, active suspension, mine blast protection, detection avoidance and evasive maneuver. This paper will describe current developments in these areas relative to the TARDEC intelligent mobility program.

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

NASA Astrophysics Data System (ADS)

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.

Transparent actuators and robots based on single-layer superaligned carbon nanotube sheet and polymer composites

NASA Astrophysics Data System (ADS)

Chen, Luzhuo; Weng, Mingcen; Zhang, Wei; Zhou, Zhiwei; Zhou, Yi; Xia, Dan; Li, Jiaxin; Huang, Zhigao; Liu, Changhong; Fan, Shoushan

2016-03-01

Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm-1 under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot ``hand'' were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency.Transparent actuators have been attracting emerging interest recently, as they demonstrate potential applications in the fields of invisible robots, tactical displays, variable-focus lenses, and flexible cellular phones. However, previous technologies did not simultaneously realize macroscopic transparent actuators with advantages of large-shape deformation, low-voltage-driven actuation and fast fabrication. Here, we develop a fast approach to fabricate a high-performance transparent actuator based on single-layer superaligned carbon nanotube sheet and polymer composites. Various advantages of single-layer nanotube sheets including high transparency, considerable conductivity, and ultra-thin dimensions together with selected polymer materials completely realize all the above required advantages. Also, this is the first time that a single-layer nanotube sheet has been used to fabricate actuators with high transparency, avoiding the structural damage to the single-layer nanotube sheet. The transparent actuator shows a transmittance of 72% at the wavelength of 550 nm and bends remarkably with a curvature of 0.41 cm-1 under a DC voltage for 5 s, demonstrating a significant advance in technological performances compared to previous conventional actuators. To illustrate their great potential usage, a transparent wiper and a humanoid robot ``hand'' were elaborately designed and fabricated, which initiate a new direction in the development of high-performance invisible robotics and other intelligent applications with transparency. Electronic supplementary information (ESI) available: Video records of the actuation process of the transparent wiper and the grabbing-releasing process of the transparent robot ``hand'', transmittance spectra of the PET and BOPP films, the SEM image showing the thickness of the SACNT sheet, calculation of the curvature, calculation of energy efficiency, experimental results of the control experiment, modeling of the SACNT/PET and PET/BOPP composites and experimental results of the repeatability test. See DOI: 10.1039/c5nr07237a

Design and implementation of self-balancing coaxial two wheel robot based on HSIC

NASA Astrophysics Data System (ADS)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

NASA Center for Intelligent Robotic Systems for Space Exploration

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.

Educational robotics as an Innovative teaching practice using technology: minimization of risks

NASA Astrophysics Data System (ADS)

Kvesko, S. B.; Kvesko, N. G.; Korniyenko, A. A.; Kabanova, N. N.

2018-05-01

This research is focused on studying educational robotics, specifically robots which provide functions of educational activity. We have considered the questions of intelligent agents’ behavior and have studied their educational opportunities. Educational robotics is a powerful tool of developing person’s skills and abilities in various fields of technical creativity and professional activity. The evolutionary development of robotics is connected with development of artificial intelligence, where emotions play a great role in operations. Nowadays the main thing is to form the ability and skills of optimum interaction with social environment when a person, based on gained knowledge, is capable to put goals of the activity in strict accordance with laws and society conditions and using current technology.

Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

PubMed Central

2015-01-01

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. PMID:26089863

Do Intelligent Robots Need Emotion?

PubMed

Pessoa, Luiz

2017-11-01

What is the place of emotion in intelligent robots? Researchers have advocated the inclusion of some emotion-related components in the information-processing architecture of autonomous agents. It is argued here that emotion needs to be merged with all aspects of the architecture: cognitive-emotional integration should be a key design principle. Copyright © 2017 Elsevier Ltd. All rights reserved.

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

ERIC Educational Resources Information Center

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…

Knowledge based systems for intelligent robotics

NASA Technical Reports Server (NTRS)

Rajaram, N. S.

1982-01-01

It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

ROBOSIM: An intelligent simulator for robotic systems

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Cook, George E.; Biegl, Csaba; Springfield, James F.

1993-01-01

The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year).

Role of expressive behaviour for robots that learn from people

PubMed Central

Breazeal, Cynthia

2009-01-01

Robotics has traditionally focused on developing intelligent machines that can manipulate and interact with objects. The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things. In the future, robots are envisioned to assist people with a wide range of activities such as domestic chores, helping elders to live independently longer, serving a therapeutic role to help children with autism, assisting people undergoing physical rehabilitation and much more. Many of these activities shall require robots to learn new tasks, skills and individual preferences while ‘on the job’ from people with little expertise in the underlying technology. This paper identifies four key challenges in developing social robots that can learn from natural interpersonal interaction. The author highlights the important role that expressive behaviour plays in this process, drawing on examples from the past 8 years of her research group, the Personal Robots Group at the MIT Media Lab. PMID:19884147

Different impressions of other agents obtained through social interaction uniquely modulate dorsal and ventral pathway activities in the social human brain.

PubMed

Takahashi, Hideyuki; Terada, Kazunori; Morita, Tomoyo; Suzuki, Shinsuke; Haji, Tomoki; Kozima, Hideki; Yoshikawa, Masahiro; Matsumoto, Yoshio; Omori, Takashi; Asada, Minoru; Naito, Eiichi

2014-09-01

Internal (neuronal) representations in the brain are modified by our experiences, and this phenomenon is not unique to sensory and motor systems. Here, we show that different impressions obtained through social interaction with a variety of agents uniquely modulate activity of dorsal and ventral pathways of the brain network that mediates human social behavior. We scanned brain activity with functional magnetic resonance imaging (fMRI) in 16 healthy volunteers when they performed a simple matching-pennies game with a human, human-like android, mechanical robot, interactive robot, and a computer. Before playing this game in the scanner, participants experienced social interactions with each opponent separately and scored their initial impressions using two questionnaires. We found that the participants perceived opponents in two mental dimensions: one represented "mind-holderness" in which participants attributed anthropomorphic impressions to some of the opponents that had mental functions, while the other dimension represented "mind-readerness" in which participants characterized opponents as intelligent. Interestingly, this "mind-readerness" dimension correlated to participants frequently changing their game tactic to prevent opponents from envisioning their strategy, and this was corroborated by increased entropy during the game. We also found that the two factors separately modulated activity in distinct social brain regions. Specifically, mind-holderness modulated activity in the dorsal aspect of the temporoparietal junction (TPJ) and medial prefrontal and posterior paracingulate cortices, while mind-readerness modulated activity in the ventral aspect of TPJ and the temporal pole. These results clearly demonstrate that activity in social brain networks is modulated through pre-scanning experiences of social interaction with a variety of agents. Furthermore, our findings elucidated the existence of two distinct functional networks in the social human brain. Social interaction with anthropomorphic or intelligent-looking agents may distinctly shape the internal representation of our social brain, which may in turn determine how we behave for various agents that we encounter in our society. Copyright © 2014 The Authors. Published by Elsevier Ltd.. All rights reserved.

Semantic Differential Scale Method Can Reveal Multi-Dimensional Aspects of Mind Perception.

PubMed

Takahashi, Hideyuki; Ban, Midori; Asada, Minoru

2016-01-01

As humans, we tend to perceive minds in both living and non-living entities, such as robots. From a questionnaire developed in a previous mind perception study, authors found that perceived minds could be located on two dimensions "experience" and "agency." This questionnaire allowed the assessment of how we perceive minds of various entities from a multi-dimensional point of view. In this questionnaire, subjects had to evaluate explicit mental capacities of target characters (e.g., capacity to feel hunger). However, we sometimes perceive minds in non-living entities, even though we cannot attribute these evidently biological capacities to the entity. In this study, we performed a large-scale web survey to assess mind perception by using the semantic differential scale method. We revealed that two mind dimensions "emotion" and "intelligence," respectively, corresponded to the two mind dimensions (experience and agency) proposed in a previous mind perception study. We did this without having to ask about specific mental capacities. We believe that the semantic differential scale is a useful method to assess the dimensions of mind perception especially for non-living entities that are hard to be attributed to biological capacities.

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

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.

Robotics and artificial intelligence across the Atlantic and Pacific

NASA Astrophysics Data System (ADS)

Schlussel, K.

1983-08-01

Attention is given to development efforts outside the U.S. in the fields of robotics and artificial intelligence, including international cooperative efforts, and Japanese, Western European, and Eastern European programs. It is noted that the Japan Industrial Robot Association, together with Japan's Ministry of International Trade and Industry, are promoting robotics developments through the exchange of specifications data among researchers and the arrangement of interest-free loans. Private research in Japan has concentrated on problems relating to applications, such as increased speed, miniaturization, digital control, weight reduction, and modularization. Western Europe has been comparatively slow in initiating research, but possesses an industry leader in a Swedish firm. The 25th Party Congress of the Communist Party of the Soviet Union committed itself to the mass production of industrial robots in 1976.

Research on the Use of Robotics in Hazardous Environments at Sandia National Laboratories

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kwok, Kwan S.

Many hazardous material handling needs exist in remote unstructured environments. Currently these operations are accomplished using personnel in direct contact with the hazards. A safe and cost effective alternative to this approach is the use of intelligent robotic systems for safe handling, packaging, transport, and even excavation of hazardous materials. The Intelligent Systems and Robotics Center of Sandia National Laboratories has developed and deployed robotic technologies for use in hazardous environments, three of which have been deployed in DOE production facilities for handling of special nuclear materials. Other systems are currently under development for packaging special nuclear materials. This papermore » presents an overview of the research activities, including five delivered systems, at %ndia National Laboratories on the use of robotics in hazardous environments.« less

Artificial intelligence in medicine.

PubMed

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.

Optimization of power utilization in multimobile robot foraging behavior inspired by honeybees system.

PubMed

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.

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

PubMed Central

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

Robot Tracking of Human Subjects in Field Environments

NASA Technical Reports Server (NTRS)

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.

Humanlike robots: the upcoming revolution in robotics

NASA Astrophysics Data System (ADS)

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.

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

NASA Technical Reports Server (NTRS)

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.

Development of dog-like retrieving capability in a ground robot

NASA Astrophysics Data System (ADS)

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.

Robotic control and inspection verification

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1991-01-01

Three areas of possible commercialization involving robots at the Kennedy Space Center (KSC) are discussed: a six degree-of-freedom target tracking system for remote umbilical operations; an intelligent torque sensing end effector for operating hand valves in hazardous locations; and an automatic radiator inspection device, a 13 by 65 foot robotic mechanism involving completely redundant motors, drives, and controls. Aspects concerning the first two innovations can be integrated to enable robots or teleoperators to perform tasks involving orientation and panal actuation operations that can be done with existing technology rather than waiting for telerobots to incorporate artificial intelligence (AI) to perform 'smart' autonomous operations. The third robot involves the application of complete control hardware redundancy to enable performance of work over and near expensive Space Shuttle hardware. The consumer marketplace may wish to explore commercialization of similiar component redundancy techniques for applications when a robot would not normally be used because of reliability concerns.

Humanlike Robots - The Upcoming Revolution in Robotics

NASA Technical Reports Server (NTRS)

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.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

NASA Astrophysics Data System (ADS)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

Robots Are Taking Over--Who Does What.

ERIC Educational Resources Information Center

Garrison, H. Don

Robots are machines designed to replace human labor. A fear of vast unemployment due to robots seems unfounded, however, since industrialization creates many more jobs and automation requires technologists to build, program, maintain, and operate sophisticated equipment. Robots possess an intelligence unit, a manipulator, and an end effector.…

On the Effectiveness of Robot-Assisted Language Learning

ERIC Educational Resources Information Center

Lee, Sungjin; Noh, Hyungjong; Lee, Jonghoon; Lee, Kyusong; Lee, Gary Geunbae; Sagong, Seongdae; Kim, Munsang

2011-01-01

This study introduces the educational assistant robots that we developed for foreign language learning and explores the effectiveness of robot-assisted language learning (RALL) which is in its early stages. To achieve this purpose, a course was designed in which students have meaningful interactions with intelligent robots in an immersive…

Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

2002-07-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

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

PubMed Central

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

2017-01-01

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. PMID:28891964

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

PubMed

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.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Biologically inspired intelligent robots

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph; Breazeal, Cynthia

2003-07-01

Humans throughout history have always sought to mimic the appearance, mobility, functionality, intelligent operation, and thinking process of biological creatures. This field of biologically inspired technology, having the moniker biomimetics, has evolved from making static copies of human and animals in the form of statues to the emergence of robots that operate with realistic behavior. Imagine a person walking towards you where suddenly you notice something weird about him--he is not real but rather he is a robot. Your reaction would probably be "I can't believe it but this robot looks very real" just as you would react to an artificial flower that is a good imitation. You may even proceed and touch the robot to check if your assessment is correct but, as oppose to the flower case, the robot may be programmed to respond physical and verbally. This science fiction scenario could become a reality as the current trend continues in developing biologically inspired technologies. Technology evolution led to such fields as artificial muscles, artificial intelligence, and artificial vision as well as biomimetic capabilities in materials science, mechanics, electronics, computing science, information technology and many others. This paper will review the state of the art and challenges to biologically-inspired technologies and the role that EAP is expected to play as the technology evolves.

A robotic shower system : Acceptance and ethical issues.

PubMed

Klein, Barbara; Schlömer, Inga

2018-01-01

Being able to maintain personal hygiene plays a crucial role for independent living in old age or when suffering from disabilities. Within the European project ICT Supported Bath Robots (I‑SUPPORT) an intelligent robotic shower system is being developed, which enables patients to shower independently at home or in institutionalized settings. The aim of this contribution is the identification of ethical issues in the development of a robotic shower system utilizing the model for the ethical evaluation of socio-technical arrangements (MEESTAR). In I‑SUPPORT a variety of concepts and methods are implemented in order to achieve technology acceptance such as user-centered requirements analysis, usability-tests and analysis of sociocultural and ethical aspects. This article reports the analysis of focus groups with 14 older adults and 9 professional caregivers utilizing MEESTAR as a heuristic approach for analyzing sociotechnical arrangements and identifying ethical problems. The MEESTAR procedure was adapted to the research question and client groups and implemented as a discursive method. This gave an insight into the meaning and background of ethical aspects and also a deeper insight into nursing processes as well as the requirements which the system should fulfil. Shortcomings are that the ethical dimensions are not everyday language and the time restrictions. In the next step a standardized assessment instrument will be developed and piloted.

Future uses of machine intelligence and robotics for the Space Station and implications for the U.S. economy

NASA Technical Reports Server (NTRS)

Cohen, A.; Erickson, J. D.

1985-01-01

The exciting possibilities for advancing the technologies of artificial intelligence, robotics, and automation on the Space Station is summarized. How these possibilities will be realized and how their realization can benefit the U.S. economy are described. Plans, research programs and preliminary designs that will lead to the realization of many of these possibilities are being formulated.

Artificial Intelligence and Virology - quo vadis

PubMed Central

Shapshak, Paul; Somboonwit, Charurut; Sinnott, John T.

2017-01-01

Artificial Intelligence (AI), robotics, co-robotics (cobots), quantum computers (QC), include surges of scientific endeavor to produce machines (mechanical and software) among numerous types and constructions that are accelerating progress to defeat infectious diseases. There is a plethora of additional applications and uses of these methodologies and technologies for the understanding of biomedicine through bioinformation discovery. Therefore, we briefly outline the use of such techniques in virology. PMID:29379259

[I, Robot: artificial intelligence, uniqueness and self-consciousness].

PubMed

Agrest, Martín

2008-01-01

The cinematographic version of the science fiction classical book by Isaac Asimov (I, Robot) is used as a starting point, from the Artificial Intelligence perspective, in order to analyze what it is to have a self. Uniqueness or the exchange impossibility and the continuity of being one self are put forward to understand the movie's characters as well as the possibilities of feeling self conscious.

Planning actions in robot automated operations

NASA Technical Reports Server (NTRS)

Das, A.

1988-01-01

Action planning in robot automated operations requires intelligent task level programming. Invoking intelligence necessiates a typical blackboard based architecture, where, a plan is a vector between the start frame and the goal frame. This vector is composed of partially ordered bases. A partial ordering of bases presents good and bad sides in action planning. Partial ordering demands the use of a temporal data base management system.

Artificial Intelligence and Virology - quo vadis.

PubMed

Shapshak, Paul; Somboonwit, Charurut; Sinnott, John T

2017-01-01

Artificial Intelligence (AI), robotics, co-robotics (cobots), quantum computers (QC), include surges of scientific endeavor to produce machines (mechanical and software) among numerous types and constructions that are accelerating progress to defeat infectious diseases. There is a plethora of additional applications and uses of these methodologies and technologies for the understanding of biomedicine through bioinformation discovery. Therefore, we briefly outline the use of such techniques in virology.

An overview of artificial intelligence and robotics. Volume 2: Robotics

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1982-01-01

This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

Robot-aided electrospinning toward intelligent biomedical engineering.

PubMed

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.

Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

PubMed Central

Gorostiza, Ernesto Martín; Galilea, José Luis Lázaro; Meca, Franciso Javier Meca; Monzú, David Salido; Zapata, Felipe Espinosa; Puerto, Luis Pallarés

2011-01-01

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. PMID:22163907

Molecular robots with sensors and intelligence.

PubMed

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-based computations. They also introduce novel computational models behind various kinds of molecular computers necessary for designing such computers. The amoeba robot team aims at constructing amoeba-like robots. The team is trying to incorporate motor proteins, including kinesin and microtubules (MTs), for use as actuators implemented in a liposomal compartment as a robot body. They are also developing a methodology to link DNA-based computation and molecular motor control. The slime robot team focuses on the development of slime-like robots. The team is evaluating various gels, including DNA gel and BZ gel, for use as actuators, as well as the body material to disperse various molecular devices in it. They also try to control the gel actuators by DNA signals coming from molecular computers.

An overview of artificial intelligence and robotics. Volume 1: Artificial intelligence. Part C: Basic AI topics

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1983-01-01

Readily understandable overviews of search oriented problem solving, knowledge representation, and computational logic are provided. Mechanization, automation and artificial intelligence are discussed as well as how they interrelate.

Self-organization via active exploration in robotic applications. Phase 2: Hybrid hardware prototype

NASA Technical Reports Server (NTRS)

Oegmen, Haluk

1993-01-01

In many environments human-like intelligent behavior is required from robots to assist and/or replace human operators. The purpose of these robots is to reduce human time and effort in various tasks. Thus the robot should be robust and as autonomous as possible in order to eliminate or to keep to a strict minimum its maintenance and external control. Such requirements lead to the following properties: fault tolerance, self organization, and intelligence. A good insight into implementing these properties in a robot can be gained by considering human behavior. In the first phase of this project, a neural network architecture was developed that captures some fundamental aspects of human categorization, habit, novelty, and reinforcement behavior. The model, called FRONTAL, is a 'cognitive unit' regulating the exploratory behavior of the robot. In the second phase of the project, FRONTAL was interfaced with an off-the-shelf robotic arm and a real-time vision system. The components of this robotic system, a review of FRONTAL, and simulation studies are presented in this report.

Virtual Reality for Artificial Intelligence: human-centered simulation for social science.

PubMed

Cipresso, Pietro; Riva, Giuseppe

2015-01-01

There is a long last tradition in Artificial Intelligence as use of Robots endowing human peculiarities, from a cognitive and emotional point of view, and not only in shape. Today Artificial Intelligence is more oriented to several form of collective intelligence, also building robot simulators (hardware or software) to deeply understand collective behaviors in human beings and society as a whole. Modeling has also been crucial in the social sciences, to understand how complex systems can arise from simple rules. However, while engineers' simulations can be performed in the physical world using robots, for social scientist this is impossible. For decades, researchers tried to improve simulations by endowing artificial agents with simple and complex rules that emulated human behavior also by using artificial intelligence (AI). To include human beings and their real intelligence within artificial societies is now the big challenge. We present an hybrid (human-artificial) platform where experiments can be performed by simulated artificial worlds in the following manner: 1) agents' behaviors are regulated by the behaviors shown in Virtual Reality involving real human beings exposed to specific situations to simulate, and 2) technology transfers these rules into the artificial world. These form a closed-loop of real behaviors inserted into artificial agents, which can be used to study real society.

Progress Report for the Robotic Intelligence Evaluation. Program Year 1: Developing Test Methodology for Anti-Rollover Systems

DTIC Science & Technology

2006-06-01

Scientific Research. 5PAM-Crash is a trademark of the ESI Group . 6MATLAB and SIMULINK are registered trademarks of the MathWorks. 14 maneuvers...Laboratory (ARL) to develop methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots...methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots acting as a team to perform a

Towards using musculoskeletal models for intelligent control of physically assistive robots.

PubMed

Carmichael, Marc G; Liu, Dikai

2011-01-01

With the increasing number of robots being developed to physically assist humans in tasks such as rehabilitation and assistive living, more intelligent and personalized control systems are desired. In this paper we propose the use of a musculoskeletal model to estimate the strength of the user, from which information can be utilized to improve control schemes in which robots physically assist humans. An optimization model is developed utilizing a musculoskeletal model to estimate human strength in a specified dynamic state. Results of this optimization as well as methods of using it to observe muscle-based weaknesses in task space are presented. Lastly potential methods and problems in incorporating this model into a robot control system are discussed.

Integrating deliberative planning in a robot architecture

NASA Technical Reports Server (NTRS)

Elsaesser, Chris; Slack, Marc G.

1994-01-01

The role of planning and reactive control in an architecture for autonomous agents is discussed. The postulated architecture seperates the general robot intelligence problem into three interacting pieces: (1) robot reactive skills, i.e., grasping, object tracking, etc.; (2) a sequencing capability to differentially ativate the reactive skills; and (3) a delibrative planning capability to reason in depth about goals, preconditions, resources, and timing constraints. Within the sequencing module, caching techniques are used for handling routine activities. The planning system then builds on these cached solutions to routine tasks to build larger grain sized primitives. This eliminates large numbers of essentially linear planning problems. The architecture will be used in the future to incorporate in robots cognitive capabilites normally associated with intelligent behavior.

Dimensions of Emotional Intelligence and Online Gaming Addiction in Adolescence: The Indirect Effects of Two Facets of Perceived Stress.

PubMed

Che, Dexin; Hu, Jianping; Zhen, Shuangju; Yu, Chengfu; Li, Bin; Chang, Xi; Zhang, Wei

2017-01-01

This study tested a parallel two-mediator model in which the relationship between dimensions of emotional intelligence and online gaming addiction are mediated by perceived helplessness and perceived self-efficacy, respectively. The sample included 931 male adolescents (mean age = 16.18 years, SD = 0.95) from southern China. Data on emotional intelligence (four dimensions, including self-management of emotion, social skills, empathy and utilization of emotions), perceived stress (two facets, including perceived self-efficacy and perceived helplessness) and online gaming addiction were collected, and bootstrap methods were used to test this parallel two-mediator model. Our findings revealed that perceived self-efficacy mediated the relationship between three dimensions of emotional intelligence (i.e., self-management, social skills, and empathy) and online gaming addiction, and perceived helplessness mediated the relationship between two dimensions of emotional intelligence (i.e., self-management and emotion utilization) and online gaming addiction. These findings underscore the importance of separating the four dimensions of emotional intelligence and two facets of perceived stress to understand the complex relationship between these factors and online gaming addiction.

Dimensions of Emotional Intelligence and Online Gaming Addiction in Adolescence: The Indirect Effects of Two Facets of Perceived Stress

PubMed Central

Che, Dexin; Hu, Jianping; Zhen, Shuangju; Yu, Chengfu; Li, Bin; Chang, Xi; Zhang, Wei

2017-01-01

This study tested a parallel two-mediator model in which the relationship between dimensions of emotional intelligence and online gaming addiction are mediated by perceived helplessness and perceived self-efficacy, respectively. The sample included 931 male adolescents (mean age = 16.18 years, SD = 0.95) from southern China. Data on emotional intelligence (four dimensions, including self-management of emotion, social skills, empathy and utilization of emotions), perceived stress (two facets, including perceived self-efficacy and perceived helplessness) and online gaming addiction were collected, and bootstrap methods were used to test this parallel two-mediator model. Our findings revealed that perceived self-efficacy mediated the relationship between three dimensions of emotional intelligence (i.e., self-management, social skills, and empathy) and online gaming addiction, and perceived helplessness mediated the relationship between two dimensions of emotional intelligence (i.e., self-management and emotion utilization) and online gaming addiction. These findings underscore the importance of separating the four dimensions of emotional intelligence and two facets of perceived stress to understand the complex relationship between these factors and online gaming addiction. PMID:28751876

Robot computer problem solving system

NASA Technical Reports Server (NTRS)

Becker, J. D.; Merriam, E. W.

1974-01-01

The conceptual, experimental, and practical phases of developing a robot computer problem solving system are outlined. Robot intelligence, conversion of the programming language SAIL to run under the THNEX monitor, and the use of the network to run several cooperating jobs at different sites are discussed.

Herbert: A Second Generation Mobile Robot.

DTIC Science & Technology

1988-01-01

PROJECT. TASK S Artificial Inteligence Laboratory AREA A WORK UNIT NUMBERS ’ ~ 545 Technology Square Cambridge, MA 02139 11. CONTROLLING OFFICE NAME...AD-AI93 632 WMRT: A SECOND GENERTION MOBILE ROWT(U) / MASSACHUSETTS IMST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB R BROOKS ET AL .JAN l8 Al-M...MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 1016 January, 1988 HERBERT: A SECOND GENERATION MOBILE ROBOT Rodney A

Automatic Generation of Mechanical Assembly Sequences

DTIC Science & Technology

1988-12-01

Planning Algorithm for General Robot Manipulators. In AAAI-86 Proceedings of the F~th National Conference on Artifcial Intelligence , pages 626-631...topic in artificial intelligence , and the Al approach has dominated much of the research in robot task planning using domain-independent methods. The...computed, using the data in the relational model: " The GEOMETRIC-FEASIBILITY predicate which is true if there exists a collision-free path to bring the two

Quality use of the computer: Computational mechanics, artificial intelligence, robotics, and acoustic sensing; Proceedings of the ASME/JSME Pressure Vessels and Piping Conference, Honolulu, HI, July 23-27, 1989

NASA Astrophysics Data System (ADS)

Cory, J. F., Jr.; Gordon, J. L.; Miyoshi, T.; Suzuki, K.

1989-06-01

Papers are presented on the use of microcomputers, supercomputers, and workstations in solid and structural mechanics. Artificial intelligence technology, the development and use of expert systems, and research in the area of robotics are discussed. Attention is also given to probabilistic finite element and boundary element methods and acoustic sensing.

The AMEDD Futures 2039 Project: Phase 2 Final Report

DTIC Science & Technology

2009-06-30

healthcare education. Tools such as virtual reality trainers, robotic trainers, simulations and artificial intelligence will cause self directed and...functions monitoring * robotic arm applies blood to lab-in-the-field chips * robotic self -sustaining energy sources *wireless transmission of...Biotechnology, and Robotics for Far Forward Diagnosis and Treatment of Casualties in Future Warfare – Dr. Cynthia Abbott

Application of Kalman filters to robot calibration

NASA Technical Reports Server (NTRS)

Whitney, D. E.; Junkel, E. F.

1983-01-01

This report explores new uses of Kalman filter theory in manufacturing systems (robots in particular). The Kalman filter allows the robot to read its sensors plus external sensors and learn from its experience. In effect, the robot is given primitive intelligence. The study, which is applicable to any type of powered kinematic linkage, focuses on the calibration of a manipulator.

Ratbot automatic navigation by electrical reward stimulation based on distance measurement in unknown environments.

PubMed

Gao, Liqiang; Sun, Chao; Zhang, Chen; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2013-01-01

Traditional automatic navigation methods for bio-robots are constrained to configured environments and thus can't be applied to tasks in unknown environments. With no consideration of bio-robot's own innate living ability and treating bio-robots in the same way as mechanical robots, those methods neglect the intelligence behavior of animals. This paper proposes a novel ratbot automatic navigation method in unknown environments using only reward stimulation and distance measurement. By utilizing rat's habit of thigmotaxis and its reward-seeking behavior, this method is able to incorporate rat's intrinsic intelligence of obstacle avoidance and path searching into navigation. Experiment results show that this method works robustly and can successfully navigate the ratbot to a target in the unknown environment. This work might put a solid base for application of ratbots and also has significant implication of automatic navigation for other bio-robots as well.

Study on the intelligent decision making of soccer robot side-wall behavior

NASA Astrophysics Data System (ADS)

Zhang, Xiaochuan; Shao, Guifang; Tan, Zhi; Li, Zushu

2007-12-01

Side-wall is the static obstacle in soccer robot game, reasonably making use of the Side-wall can improve soccer robot competitive ability. As a kind of artificial life, the Side-wall processing strategy of soccer robot is influenced by many factors, such as game state, field region, attacking and defending situation and so on, each factor also has different influence degree, so, the Side-wall behavior selection is an intelligent selecting process. From the view point of human simulated, based on the idea of Side-wall processing priority[1], this paper builds the priority function for Side-wall processing, constructs the action predicative model for Side-wall obstacle, puts forward the Side-wall processing strategy, and forms the Side-wall behavior selection mechanism. Through the contrasting experiment between the strategy applied and none, proves that this strategy can improve the soccer robot capacity, it is feasible and effective, and has positive meaning for soccer robot stepped study.

Multi-robot task allocation based on two dimensional artificial fish swarm algorithm

NASA Astrophysics Data System (ADS)

Zheng, Taixiong; Li, Xueqin; Yang, Liangyi

2007-12-01

The problem of task allocation for multiple robots is to allocate more relative-tasks to less relative-robots so as to minimize the processing time of these tasks. In order to get optimal multi-robot task allocation scheme, a twodimensional artificial swarm algorithm based approach is proposed in this paper. In this approach, the normal artificial fish is extended to be two dimension artificial fish. In the two dimension artificial fish, each vector of primary artificial fish is extended to be an m-dimensional vector. Thus, each vector can express a group of tasks. By redefining the distance between artificial fish and the center of artificial fish, the behavior of two dimension fish is designed and the task allocation algorithm based on two dimension artificial swarm algorithm is put forward. At last, the proposed algorithm is applied to the problem of multi-robot task allocation and comparer with GA and SA based algorithm is done. Simulation and compare result shows the proposed algorithm is effective.

Automation and robotics technology for intelligent mining systems

NASA Technical Reports Server (NTRS)

Welsh, Jeffrey H.

1989-01-01

The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

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

NASA Astrophysics Data System (ADS)

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.

Towards building a team of intelligent robots

NASA Technical Reports Server (NTRS)

Varanasi, Murali R.; Mehrotra, R.

1987-01-01

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects).

Design and validation of an intelligent wheelchair towards a clinically-functional outcome.

PubMed

Boucher, Patrice; Atrash, Amin; Kelouwani, Sousso; Honoré, Wormser; Nguyen, Hai; Villemure, Julien; Routhier, François; Cohen, Paul; Demers, Louise; Forget, Robert; Pineau, Joelle

2013-06-17

Many people with mobility impairments, who require the use of powered wheelchairs, have difficulty completing basic maneuvering tasks during their activities of daily living (ADL). In order to provide assistance to this population, robotic and intelligent system technologies have been used to design an intelligent powered wheelchair (IPW). This paper provides a comprehensive overview of the design and validation of the IPW. The main contributions of this work are three-fold. First, we present a software architecture for robot navigation and control in constrained spaces. Second, we describe a decision-theoretic approach for achieving robust speech-based control of the intelligent wheelchair. Third, we present an evaluation protocol motivated by a meaningful clinical outcome, in the form of the Robotic Wheelchair Skills Test (RWST). This allows us to perform a thorough characterization of the performance and safety of the system, involving 17 test subjects (8 non-PW users, 9 regular PW users), 32 complete RWST sessions, 25 total hours of testing, and 9 kilometers of total running distance. User tests with the RWST show that the navigation architecture reduced collisions by more than 60% compared to other recent intelligent wheelchair platforms. On the tasks of the RWST, we measured an average decrease of 4% in performance score and 3% in safety score (not statistically significant), compared to the scores obtained with conventional driving model. This analysis was performed with regular users that had over 6 years of wheelchair driving experience, compared to approximately one half-hour of training with the autonomous mode. The platform tested in these experiments is among the most experimentally validated robotic wheelchairs in realistic contexts. The results establish that proficient powered wheelchair users can achieve the same level of performance with the intelligent command mode, as with the conventional command mode.

Robot Acquisition of Active Maps Through Teleoperation and Vector Space Analysis

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2003-01-01

The work performed under this contract was in the area of intelligent robotics. The problem being studied was the acquisition of intelligent behaviors by a robot. The method was to acquire action maps that describe tasks as sequences of reflexive behaviors. Action maps (a.k.a. topological maps) are graphs whose nodes represent sensorimotor states and whose edges represent the motor actions that cause the robot to proceed from one state to the next. The maps were acquired by the robot after being teleoperated or otherwise guided by a person through a task several times. During a guided task, the robot records all its sensorimotor signals. The signals from several task trials are partitioned into episodes of static behavior. The corresponding episodes from each trial are averaged to produce a task description as a sequence of characteristic episodes. The sensorimotor states that indicate episode boundaries become the nodes, and the static behaviors, the edges. It was demonstrated that if compound maps are constructed from a set of tasks then the robot can perform new tasks in which it was never explicitly trained.

Korea's Robotland: Merging Intelligent Robotics Strategic Policy, Business Development, and Fun

NASA Astrophysics Data System (ADS)

Jun, Eugene

South Korea specializes in the design and manufacture of service and entertainment robots for consumer use. The government of South Korea considers robotics one of the countries main growth industries. To boost robot industry and accelerate the social demand of intelligent robots, a theme park titled ’Robotland’ is being constructed in Korea near Incheon International airport, the gateway to Seoul. A total of 700 million will be invested by the Korean government, the city of Incheon and financial investors. The 760,000 square meter site (188 acres) will contains a number of displays featuring famous robots and robot characters from around the world. Ultra-modern rides and amusement facilities, exhibition halls, shopping arcades and hotels, featuring advanced ubiquitous environments, will also be included in the park. In addition, Robotland will contain R&D centers and educational institutions. The Grand opening is scheduled in 2012. In this session, attendees will hear of development plans for Robotland, along with the social and business issues that are driving the development of the world’s first theme park.

Modularity in robotic systems

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Butler, Michael S.

1989-01-01

Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design.

Real-time multiple human perception with color-depth cameras on a mobile robot.

PubMed

Zhang, Hao; Reardon, Christopher; Parker, Lynne E

2013-10-01

The ability to perceive humans is an essential requirement for safe and efficient human-robot interaction. In real-world applications, the need for a robot to interact in real time with multiple humans in a dynamic, 3-D environment presents a significant challenge. The recent availability of commercial color-depth cameras allow for the creation of a system that makes use of the depth dimension, thus enabling a robot to observe its environment and perceive in the 3-D space. Here we present a system for 3-D multiple human perception in real time from a moving robot equipped with a color-depth camera and a consumer-grade computer. Our approach reduces computation time to achieve real-time performance through a unique combination of new ideas and established techniques. We remove the ground and ceiling planes from the 3-D point cloud input to separate candidate point clusters. We introduce the novel information concept, depth of interest, which we use to identify candidates for detection, and that avoids the computationally expensive scanning-window methods of other approaches. We utilize a cascade of detectors to distinguish humans from objects, in which we make intelligent reuse of intermediary features in successive detectors to improve computation. Because of the high computational cost of some methods, we represent our candidate tracking algorithm with a decision directed acyclic graph, which allows us to use the most computationally intense techniques only where necessary. We detail the successful implementation of our novel approach on a mobile robot and examine its performance in scenarios with real-world challenges, including occlusion, robot motion, nonupright humans, humans leaving and reentering the field of view (i.e., the reidentification challenge), human-object and human-human interaction. We conclude with the observation that the incorporation of the depth information, together with the use of modern techniques in new ways, we are able to create an accurate system for real-time 3-D perception of humans by a mobile robot.

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

NASA Astrophysics Data System (ADS)

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 hardware and software. The primary question in space engineering has traditionally been one of predictability and controllability which online learning compromises. A further factor to be accounted for is the notion that intelligence is derived primarily from robot-environment interaction which stresses the sensory and actuation capabilities (exemplified by the behavioural or situated robotics paradigm). One major concern is whether the major deficiency of current methods in terms of lack of scalability can be overcome using a highly distributed approach rather than the hierarchical approach suggested by the NASREM architecture. It is contended here that a mixed solution will be required where a priori programming is augmented by a posteriori learning resembling the biological distinction between fixed genetically inherited and learned neurally implemented behaviour in animals. In particular, a biomimetic approach is proferred which exploits the neural processes and architecture of the human brain through the use of forward models which attempts to marry the conflicting requirements of learning with predictability. Some small-scale efforts in this direction will be outlined.

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

NASA Technical Reports Server (NTRS)

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.

Intelligent Adaptive Systems: Literature Research of Design Guidance for Intelligent Adaptive Automation and Interfaces

DTIC Science & Technology

2007-09-01

behaviour based on past experience of interacting with the operator), and mobile (i.e., can move themselves from one machine to another). Edwards argues that...Sofge, D., Bugajska, M., Adams, W., Perzanowski, D., and Schultz, A. (2003). Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots...based architecture can provide a natural and scalable approach to implementing a multimodal interface to control mobile robots through dynamic

An Informationally Structured Room for Robotic Assistance †

PubMed Central

Tsuji, Tokuo; Mozos, Oscar Martinez; Chae, Hyunuk; Pyo, Yoonseok; Kusaka, Kazuya; Hasegawa, Tsutomu; Morooka, Ken'ichi; Kurazume, Ryo

2015-01-01

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. PMID:25912347

Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems.

PubMed

Chang, Yeong-Chan

2005-12-01

This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms.

Intelligent robotic tracker

NASA Technical Reports Server (NTRS)

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.

How to make an autonomous robot as a partner with humans: design approach versus emergent approach.

PubMed

Fujita, M

2007-01-15

In this paper, we discuss what factors are important to realize an autonomous robot as a partner with humans. We believe that it is important to interact with people without boring them, using verbal and non-verbal communication channels. We have already developed autonomous robots such as AIBO and QRIO, whose behaviours are manually programmed and designed. We realized, however, that this design approach has limitations; therefore we propose a new approach, intelligence dynamics, where interacting in a real-world environment using embodiment is considered very important. There are pioneering works related to this approach from brain science, cognitive science, robotics and artificial intelligence. We assert that it is important to study the emergence of entire sets of autonomous behaviours and present our approach towards this goal.

An intelligent, free-flying robot

NASA Technical Reports Server (NTRS)

Reuter, G. J.; Hess, C. W.; Rhoades, D. E.; Mcfadin, L. W.; Healey, K. J.; Erickson, J. D.

1988-01-01

The ground-based demonstration of EVA Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out, (2) searches for and acquires the target, (3) plans and executes a rendezvous while continuously tracking the target, (4) avoids stationary and moving obstacles, (5) reaches for and grapples the target, (6) returns to transfer the object, and (7) returns to base.

An intelligent, free-flying robot

NASA Technical Reports Server (NTRS)

Reuter, G. J.; Hess, C. W.; Rhoades, D. E.; Mcfadin, L. W.; Healey, K. J.; Erickson, J. D.; Phinney, Dale E.

1989-01-01

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base.

In Pursuit of Artificial Intelligence.

ERIC Educational Resources Information Center

Watstein, Sarah; Kesselman, Martin

1986-01-01

Defines artificial intelligence and reviews current research in natural language processing, expert systems, and robotics and sensory systems. Discussion covers current commercial applications of artificial intelligence and projections of uses and limitations in library technical and public services, e.g., in cataloging and online information and…

Intelligent surgical laser system configuration and software implementation

NASA Astrophysics Data System (ADS)

Hsueh, Chi-Fu T.; Bille, Josef F.

1992-06-01

An intelligent surgical laser system, which can help the ophthalmologist to achieve higher precision and control during their procedures, has been developed by ISL as model CLS 4001. In addition to the laser and laser delivery system, the system is also equipped with a vision system (IPU), robotics motion control (MCU), and a tracking closed loop system (ETS) that tracks the eye in three dimensions (X, Y and Z). The initial patient setup is computer controlled with guidance from the vision system. The tracking system is automatically engaged when the target is in position. A multi-level tracking system is developed by integrating our vision and tracking systems which have been able to maintain our laser beam precisely on target. The capabilities of the automatic eye setup and the tracking in three dimensions provides for improved accuracy and measurement repeatability. The system is operated through the Surgical Control Unit (SCU). The SCU communicates with the IPU and the MCU through both ethernet and RS232. Various scanning pattern (i.e., line, curve, circle, spiral, etc.) can be selected with given parameters. When a warning is activated, a voice message is played that will normally require a panel touch acknowledgement. The reliability of the system is ensured in three levels: (1) hardware, (2) software real time monitoring, and (3) user. The system is currently under clinical validation.

Synthetic Ion Channels and DNA Logic Gates as Components of Molecular Robots.

PubMed

Kawano, Ryuji

2018-02-19

A molecular robot is a next-generation biochemical machine that imitates the actions of microorganisms. It is made of biomaterials such as DNA, proteins, and lipids. Three prerequisites have been proposed for the construction of such a robot: sensors, intelligence, and actuators. This Minireview focuses on recent research on synthetic ion channels and DNA computing technologies, which are viewed as potential candidate components of molecular robots. Synthetic ion channels, which are embedded in artificial cell membranes (lipid bilayers), sense ambient ions or chemicals and import them. These artificial sensors are useful components for molecular robots with bodies consisting of a lipid bilayer because they enable the interface between the inside and outside of the molecular robot to function as gates. After the signal molecules arrive inside the molecular robot, they can operate DNA logic gates, which perform computations. These functions will be integrated into the intelligence and sensor sections of molecular robots. Soon, these molecular machines will be able to be assembled to operate as a mass microrobot and play an active role in environmental monitoring and in vivo diagnosis or therapy. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

The role of automation and artificial intelligence

NASA Astrophysics Data System (ADS)

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.

Robotics as an Educational Tool.

ERIC Educational Resources Information Center

Miglino, Orazio; Lund, Henrik Hautop; Cardaci, Maurizio

1999-01-01

Explores a new educational application of Piaget's theories of cognitive development: the use, as a teaching tool, of physical robots conceived as artificial organisms. Reviews educational projects using real robots. Shows that the use of intelligent systems to enlarge the view of biological reality could become an integral part of curricula in…

Virtual collaborative environments: programming and controlling robotic devices remotely

NASA Astrophysics Data System (ADS)

Davies, Brady R.; McDonald, Michael J., Jr.; Harrigan, Raymond W.

1995-12-01

This paper describes a technology for remote sharing of intelligent electro-mechanical devices. An architecture and actual system have been developed and tested, based on the proposed National Information Infrastructure (NII) or Information Highway, to facilitate programming and control of intelligent programmable machines (like robots, machine tools, etc.). Using appropriate geometric models, integrated sensors, video systems, and computing hardware; computer controlled resources owned and operated by different (in a geographic sense as well as legal sense) entities can be individually or simultaneously programmed and controlled from one or more remote locations. Remote programming and control of intelligent machines will create significant opportunities for sharing of expensive capital equipment. Using the technology described in this paper, university researchers, manufacturing entities, automation consultants, design entities, and others can directly access robotic and machining facilities located across the country. Disparate electro-mechanical resources will be shared in a manner similar to the way supercomputers are accessed by multiple users. Using this technology, it will be possible for researchers developing new robot control algorithms to validate models and algorithms right from their university labs without ever owning a robot. Manufacturers will be able to model, simulate, and measure the performance of prospective robots before selecting robot hardware optimally suited for their intended application. Designers will be able to access CNC machining centers across the country to fabricate prototypic parts during product design validation. An existing prototype architecture and system has been developed and proven. Programming and control of a large gantry robot located at Sandia National Laboratories in Albuquerque, New Mexico, was demonstrated from such remote locations as Washington D.C., Washington State, and Southern California.

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

PubMed

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.

Sensory Motor Coordination in Robonaut

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2003-01-01

As a participant of the year 2000 NASA Summer Faculty Fellowship Program, I worked with the engineers of the Dexterous Robotics Laboratory at NASA Johnson Space Center on the Robonaut project. The Robonaut is an articulated torso with two dexterous arms, left and right five-fingered hands, and a head with cameras mounted on an articulated neck. This advanced space robot, now driven only teleoperatively using VR gloves, sensors and helmets, is to be upgraded to a thinking system that can find, interact with and assist humans autonomously, allowing the Crew to work with Robonaut as a (junior) member of their team. Thus, the work performed this summer was toward the goal of enabling Robonaut to operate autonomously as an intelligent assistant to astronauts. Our underlying hypothesis is that a robot can develop intelligence if it learns a set of basic behaviors (i.e., reflexes - actions tightly coupled to sensing) and through experience learns how to sequence these to solve problems or to accomplish higher-level tasks. We describe our approach to the automatic acquisition of basic behaviors as learning sensory-motor coordination (SMC). Although research in the ontogenesis of animals development from the time of conception) supports the approach of learning SMC as the foundation for intelligent, autonomous behavior, we do not know whether it will prove viable for the development of autonomy in robots. The first step in testing the hypothesis is to determine if SMC can be learned by the robot. To do this, we have taken advantage of Robonaut's teleoperated control system. When a person teleoperates Robonaut, the person's own SMC causes the robot to act purposefully. If the sensory signals that the robot detects during teleoperation are recorded over several repetitions of the same task, it should be possible through signal analysis to identify the sensory-motor couplings that accompany purposeful motion. In this report, reasons for suspecting SMC as the basis for intelligent behavior will be reviewed. A robot control system for autonomous behavior that uses learned SMC will be proposed. Techniques for the extraction of salient parameters from sensory and motor data will be discussed. Experiments with Robonaut will be discussed and preliminary data presented.

JPRS Report, Science & Technology, Japan, 4th Intelligent Robots Symposium, Volume 2

DTIC Science & Technology

1989-03-16

accidents caused by strikes by robots,5 a quantitative model for safety evaluation,6 and evaluations of actual systems7 in order to contribute to...Mobile Robot Position Referencing Using Map-Based Vision Systems.... 160 Safety Evaluation of Man-Robot System 171 Fuzzy Path Pattern of Automatic...camera are made after the robot stops to prevent damage from occurring through obstacle interference. The position of the camera is indicated on the

Laboratory systems integration: robotics and automation.

PubMed

Felder, R A

1991-01-01

Robotic technology is going to have a profound impact on the clinical laboratory of the future. Faced with increased pressure to reduce health care spending yet increase services to patients, many laboratories are looking for alternatives to the inflexible or "fixed" automation found in many clinical analyzers. Robots are being examined by many clinical pathologists as an attractive technology which can adapt to the constant changes in laboratory testing. Already, laboratory designs are being altered to accommodate robotics and automated specimen processors. However, the use of robotics and computer intelligence in the clinical laboratory is still in its infancy. Successful examples of robotic automation exist in several laboratories. Investigators have used robots to automate endocrine testing, high performance liquid chromatography, and specimen transportation. Large commercial laboratories are investigating the use of specimen processors which combine the use of fixed automation and robotics. Robotics have also reduced the exposure of medical technologists to specimens infected with viral pathogens. The successful examples of clinical robotics applications were a result of the cooperation of clinical chemists, engineers, and medical technologists. At the University of Virginia we have designed and implemented a robotic critical care laboratory. Initial clinical experience suggests that robotic performance is reliable, however, staff acceptance and utilization requires continuing education. We are also developing a robotic cyclosporine which promises to greatly reduce the labor costs of this analysis. The future will bring lab wide automation that will fully integrate computer artificial intelligence and robotics. Specimens will be transported by mobile robots. Specimen processing, aliquotting, and scheduling will be automated.(ABSTRACT TRUNCATED AT 250 WORDS)

Computer Intelligence: Unlimited and Untapped.

ERIC Educational Resources Information Center

Staples, Betsy

1983-01-01

Herbert Simon (Nobel prize-winning economist/professor) expresses his views on human and artificial intelligence, problem solving, inventing concepts, and the future. Includes comments on expert systems, state of the art in artificial intelligence, robotics, and "Bacon," a computer program that finds scientific laws hidden in raw data.…

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

ERIC Educational Resources Information Center

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)

Impact of emotional intelligence and spiritual intelligence on the caring behavior of nurses: a dimension-level exploratory study among public hospitals in Malaysia.

PubMed

Kaur, Devinder; Sambasivan, Murali; Kumar, Naresh

2015-11-01

The purpose of this research is to study the impact of individual factors such as emotional intelligence (EI) and spiritual intelligence (SI) on the caring behavior of nurses. A cross-sectional survey using questionnaire was conducted by sampling 550 nurses working in seven major public hospitals in Malaysia. Data were analyzed using structural equation modeling (SEM). The main findings are: (1) critical existential thinking and transcendental awareness dimensions of SI have significant impacts on assurance of human presence dimension of caring behavior; (2) personal meaning production and conscious state expansion dimensions of SI have significant impacts on perception of emotion and managing own emotions dimensions of EI; and (3) managing own emotions dimension of EI has significant impacts on respectful deference to other and assurance of human presence dimensions of caring behavior of nurses. The results can be used to recruit and educate nurses. Copyright © 2015 Elsevier Inc. All rights reserved.

Gigapan Voyage for Robotic Recon

NASA Technical Reports Server (NTRS)

Lee, Susan Y.; Moorse, Theodore Fitzgerald; Park, Eric J.

2010-01-01

Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group

Leave it to Florence.

PubMed

Whyatt, Jane

2014-12-31

There are four practice nurses at Heatherlands Medical Centre in Woodchurch, Cheshire--and one 'intelligent system' named Florence. With a voice like a car satnav, 'she' is a software robot, or Artificial Intelligence (AI).

ReACT!: An Interactive Educational Tool for AI Planning for Robotics

ERIC Educational Resources Information Center

Dogmus, Zeynep; Erdem, Esra; Patogulu, Volkan

2015-01-01

This paper presents ReAct!, an interactive educational tool for artificial intelligence (AI) planning for robotics. ReAct! enables students to describe robots' actions and change in dynamic domains without first having to know about the syntactic and semantic details of the underlying formalism, and to solve planning problems using…

A hardware/software environment to support R D in intelligent machines and mobile robotic systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.

1990-01-01

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots).more » The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.« less

High level intelligent control of telerobotics systems

NASA Technical Reports Server (NTRS)

Mckee, James

1988-01-01

A high level robot command language is proposed for the autonomous mode of an advanced telerobotics system and a predictive display mechanism for the teleoperational model. It is believed that any such system will involve some mixture of these two modes, since, although artificial intelligence can facilitate significant autonomy, a system that can resort to teleoperation will always have the advantage. The high level command language will allow humans to give the robot instructions in a very natural manner. The robot will then analyze these instructions to infer meaning so that is can translate the task into lower level executable primitives. If, however, the robot is unable to perform the task autonomously, it will switch to the teleoperational mode. The time delay between control movement and actual robot movement has always been a problem in teleoperations. The remote operator may not actually see (via a monitor) the results of high actions for several seconds. A computer generated predictive display system is proposed whereby the operator can see a real-time model of the robot's environment and the delayed video picture on the monitor at the same time.

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

NASA Astrophysics Data System (ADS)

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.

Measuring the Performance and Intelligence of Systems: Proceedings of the 2002 PerMIS Workshop

NASA Technical Reports Server (NTRS)

Messina, E. R.; Meystel, A. M.

2002-01-01

Contents include the following: Performance Metrics; Performance of Multiple Agents; Performance of Mobility Systems; Performance of Planning Systems; General Discussion Panel 1; Uncertainty of Representation I; Performance of Robots in Hazardous Domains; Modeling Intelligence; Modeling of Mind; Measuring Intelligence; Grouping: A Core Procedure of Intelligence; Uncertainty in Representation II; Towards Universal Planning/Control Systems.

A force vector and surface orientation sensor for intelligent grasping

NASA Technical Reports Server (NTRS)

Mcglasson, W. D.; Lorenz, R. D.; Duffie, N. A.; Gale, K. L.

1991-01-01

The paper discusses a force vector and surface orientation sensor suitable for intelligent grasping. The use of a novel four degree-of-freedom force vector robotic fingertip sensor allows efficient, real time intelligent grasping operations. The basis of sensing for intelligent grasping operations is presented and experimental results demonstrate the accuracy and ease of implementation of this approach.

Research and applications: Artificial intelligence

NASA Technical Reports Server (NTRS)

Raphael, B.; Duda, R. O.; Fikes, R. E.; Hart, P. E.; Nilsson, N. J.; Thorndyke, P. W.; Wilber, B. M.

1971-01-01

Research in the field of artificial intelligence is discussed. The focus of recent work has been the design, implementation, and integration of a completely new system for the control of a robot that plans, learns, and carries out tasks autonomously in a real laboratory environment. The computer implementation of low-level and intermediate-level actions; routines for automated vision; and the planning, generalization, and execution mechanisms are reported. A scenario that demonstrates the approximate capabilities of the current version of the entire robot system is presented.

A fault-tolerant intelligent robotic control system

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Tso, Kam Sing

1993-01-01

This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

An architectural approach to create self organizing control systems for practical autonomous robots

NASA Technical Reports Server (NTRS)

Greiner, Helen

1991-01-01

For practical industrial applications, the development of trainable robots is an important and immediate objective. Therefore, the developing of flexible intelligence directly applicable to training is emphasized. It is generally agreed upon by the AI community that the fusion of expert systems, neural networks, and conventionally programmed modules (e.g., a trajectory generator) is promising in the quest for autonomous robotic intelligence. Autonomous robot development is hindered by integration and architectural problems. Some obstacles towards the construction of more general robot control systems are as follows: (1) Growth problem; (2) Software generation; (3) Interaction with environment; (4) Reliability; and (5) Resource limitation. Neural networks can be successfully applied to some of these problems. However, current implementations of neural networks are hampered by the resource limitation problem and must be trained extensively to produce computationally accurate output. A generalization of conventional neural nets is proposed, and an architecture is offered in an attempt to address the above problems.

Intelligence Level Performance Standards Research for Autonomous Vehicles

PubMed Central

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

2017-01-01

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. PMID:28649189

Intelligence Level Performance Standards Research for Autonomous Vehicles.

PubMed

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.

Autonomy in Materials Research: A Case Study in Carbon Nanotube Growth (Postprint)

DTIC Science & Technology

2016-10-21

built an Autonomous Research System (ARES)—an autonomous research robot capable of first-of-its-kind closed-loop iterative materials experimentation...ARES exploits advances in autonomous robotics , artificial intelligence, data sciences, and high-throughput and in situ techniques, and is able to...roles of humans and autonomous research robots , and for human-machine partnering. We believe autonomous research robots like ARES constitute a

The magic glove: a gesture-based remote controller for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Luo, Chaomin; Chen, Yue; Krishnan, Mohan; Paulik, Mark

2012-01-01

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 Intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

Task-level robot programming: Integral part of evolution from teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Reynolds, James C.

1987-01-01

An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy.

POINTER: Portable Intelligent Trainer for External Robotics

NASA Technical Reports Server (NTRS)

Kuiper, Hilbert; Rikken, Patrick J.

1994-01-01

Intelligent tutoring systems (ITS's) play an increasing role in training and education of people with different levels of skill and knowledge. As compared to conventional computer based training (CBT) an ITS provides more tailored instruction by trying to mimic the teaching behavior of a human instructor as much as possible and is therefore much more flexible. This paper starts with an introduction to ITS's, followed by the description of an ITS for training of an (astronaut) operator in monitoring and controlling robotic arm procedures. The robotic arm will be used for exchange of equipment between a space station and a space plane involving critical and accurate movements of the robotic arm. The ITS for this application, called Pointer, is developed by TNO Physics and Electronics Laboratory and is based upon an existing ITS that includes procedural training. Pointer has been developed on a workstation whereas the target platform was a portable computer. Therefore, a lot of attention had to be paid to scaling effects and keeping up with user friendliness of the much smaller user interface. Although the learning domain was the control of a robotic arm, it is clear that use of intelligent training technologies on a portable computer has many other applications (payload operations, operation control rooms, etc.). Training can occur at any time and place in an attractive and cost effective way.

A Mobile Robot for Small Object Handling

NASA Astrophysics Data System (ADS)

Fišer, Ondřej; Szűcsová, Hana; Grimmer, Vladimír; Popelka, Jan; Vonásek, Vojtěch; Krajník, Tomáš; Chudoba, Jan

The aim of this paper is to present an intelligent autonomous robot capable of small object manipulation. The design of the robot is influenced mainly by the rules of EUROBOT 09 competition. In this challenge, two robots pick up objects scattered on a planar rectangular playfield and use these elements to build models of Hellenistic temples. This paper describes the robot hardware, i.e. electro-mechanics of the drive, chassis and manipulator, as well as the software, i.e. localization, collision avoidance, motion control and planning algorithms.

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

PubMed Central

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. PMID:27806074

A prototype supervised intelligent robot for helping astronauts

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Grimm, K. A.; Pendleton, T. W.

1994-01-01

The development status is described of a prototype supervised intelligent robot for space application for purposes of (1) helping the crew of a spacecraft such as the Space Station with various tasks such as holding objects and retrieving/replacing tools and other objects from/into storage, and for purposes of (2) retrieving detached objects, such as equipment or crew, that have become separated from their spacecraft. In addition to this set of tasks in this low Earth orbiting spacecraft environment, it is argued that certain aspects of the technology can be viewed as generic in approach, thereby offering insight into intelligent robots for other tasks and environments. Also described are characterization results on the usable reduced gravity environment in an aircraft flying parabolas (to simulate weightlessness) and results on hardware performance there. These results show it is feasible to use that environment for evaluative testing of dexterous grasping based on real-time visual sensing of freely rotating and translating objects.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Emotional Intelligence of Self Regulated Learners

ERIC Educational Resources Information Center

Rathore, Ami

2018-01-01

The study was conducted on self regulated learners of senior secondary school. The main objectives of the study were to find out significant dimensions of emotional intelligence held by self regulated learners. To compare the emotional intelligence dimensions of self regulated learners, in terms of subject and gender. To find out the relationship…

SyRoTek--Distance Teaching of Mobile Robotics

ERIC Educational Resources Information Center

Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

2013-01-01

E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

Robotic Technology: An Assessment and Forecast,

DTIC Science & Technology

1984-07-01

Research Associates# Inc. Dr. Roger Nagel# Lehigh University Dr. Charles Rosen# Machine Intelligence Corporations and Mr. Jack Thornton# Robot Insider...amr (Subcontractors: systems for assembly and Adopt Technology# inspection Stanford University. SRI) AFSC MANTECH o McDonnell Douglas o Machine ...supervisory controls man- machine interaction and system integration. - .. _ - Foreign R& The U.S. faces a strong technological challenge in robotics from

Design and validation of an intelligent wheelchair towards a clinically-functional outcome

PubMed Central

2013-01-01

Background Many people with mobility impairments, who require the use of powered wheelchairs, have difficulty completing basic maneuvering tasks during their activities of daily living (ADL). In order to provide assistance to this population, robotic and intelligent system technologies have been used to design an intelligent powered wheelchair (IPW). This paper provides a comprehensive overview of the design and validation of the IPW. Methods The main contributions of this work are three-fold. First, we present a software architecture for robot navigation and control in constrained spaces. Second, we describe a decision-theoretic approach for achieving robust speech-based control of the intelligent wheelchair. Third, we present an evaluation protocol motivated by a meaningful clinical outcome, in the form of the Robotic Wheelchair Skills Test (RWST). This allows us to perform a thorough characterization of the performance and safety of the system, involving 17 test subjects (8 non-PW users, 9 regular PW users), 32 complete RWST sessions, 25 total hours of testing, and 9 kilometers of total running distance. Results User tests with the RWST show that the navigation architecture reduced collisions by more than 60% compared to other recent intelligent wheelchair platforms. On the tasks of the RWST, we measured an average decrease of 4% in performance score and 3% in safety score (not statistically significant), compared to the scores obtained with conventional driving model. This analysis was performed with regular users that had over 6 years of wheelchair driving experience, compared to approximately one half-hour of training with the autonomous mode. Conclusions The platform tested in these experiments is among the most experimentally validated robotic wheelchairs in realistic contexts. The results establish that proficient powered wheelchair users can achieve the same level of performance with the intelligent command mode, as with the conventional command mode. PMID:23773851

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

NASA Technical Reports Server (NTRS)

Erickson, 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 objective 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.

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

NASA Technical Reports Server (NTRS)

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.

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

NASA Astrophysics Data System (ADS)

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.

A Petri-net coordination model for an intelligent mobile robot

NASA Technical Reports Server (NTRS)

Wang, F.-Y.; Kyriakopoulos, K. J.; Tsolkas, A.; Saridis, G. N.

1990-01-01

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

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

NASA Astrophysics Data System (ADS)

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.

Simulation-based intelligent robotic agent for Space Station Freedom

NASA Technical Reports Server (NTRS)

Biegl, Csaba A.; Springfield, James F.; Cook, George E.; Fernandez, Kenneth R.

1990-01-01

A robot control package is described which utilizes on-line structural simulation of robot manipulators and objects in their workspace. The model-based controller is interfaced with a high level agent-independent planner, which is responsible for the task-level planning of the robot's actions. Commands received from the agent-independent planner are refined and executed in the simulated workspace, and upon successful completion, they are transferred to the real manipulators.

What Artificial Intelligence Is Doing for Training.

ERIC Educational Resources Information Center

Kirrane, Peter R.; Kirrane, Diane E.

1989-01-01

Discusses the three areas of research and application of artificial intelligence: (1) robotics, (2) natural language processing, and (3) knowledge-based or expert systems. Focuses on what expert systems can do, especially in the area of training. (JOW)

Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin

NASA Astrophysics Data System (ADS)

Chen, Zheng; Shatara, Stephan; Tan, Xiaobo

2009-03-01

In this paper, a model is proposed for a biomimetic robotic fish propelled by an ionic polymer metal composite (IPMC) actuator with a rigid passive fin at the end. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state speed of the robot under a periodic actuation voltage. Experimental results have shown that the proposed model can predict the fish motion for different tail dimensions. Since its parameters are expressed in terms of physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.

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

PubMed

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 robotics. Current devices possess no intelligence whatsoever and are merely advanced and expensive instruments.

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

NASA Astrophysics Data System (ADS)

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 object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission began. Additionally, the CRS can send an email containing step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest. The CRS has displayed several characteristics of intelligent behavior, including reasoning, planning, learning, and communication of learned knowledge, while autonomously performing two missions. The CRS has also demonstrated how Soar can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicles and is one of the few systems that use perceptual systems such as occupancy grid, computer vision, and fuzzy logic algorithms with cognitive architectures for robotics. The use of these perceptual systems to generate symbolic information about the environment during the indoor search mission allowed the CRS to use Soar's planning and learning mechanisms, which have rarely been used by agents to control mobile robots in real environments. Additionally, the system developed for the indoor search mission represents the first known use of a topological map with a cognitive architecture on a mobile robot. The ability to learn both a topological map and production rules allowed the Soar agent used during the indoor search mission to make intelligent decisions and behave more efficiently as it learned about its environment. While the CRS has been applied to two different missions, it has been developed with the intention that it be extended in the future so it can be used as a general system for mobile robot control. The CRS can be expanded through the addition of new sensors and sensor processing algorithms, development of Soar agents with more production rules, and the use of new architectural mechanisms in Soar.

Adjustment of gripping force by optical systems

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Barz, C.

2018-01-01

With increasing automation, robotics also requires ever more intelligent solutions in the handling of various tasks. In this context, many grippers must also be re-designed. For this, they must always be adapted for different requirements. The equipment of the gripper systems with sensors should help to make the gripping process more intelligent. In order to achieve such objectives, optical systems can also be used. This work analyzes how the gripping force can be adjusted by means of an optical recognition. The result of this work is the creation of a connection between optical recognition, tolerances, gripping force and real-time control. In this way, algorithms can be created, with the aid of which robot grippers as well as other gripping systems become more intelligent.

The role of empathy and emotional intelligence in nurses' communication attitudes using regression models and fuzzy-set qualitative comparative analysis models.

PubMed

Giménez-Espert, María Del Carmen; Prado-Gascó, Vicente Javier

2018-03-01

To analyse link between empathy and emotional intelligence as a predictor of nurses' attitudes towards communication while comparing the contribution of emotional aspects and attitudinal elements on potential behaviour. Nurses' attitudes towards communication, empathy and emotional intelligence are key skills for nurses involved in patient care. There are currently no studies analysing this link, and its investigation is needed because attitudes may influence communication behaviours. Correlational study. To attain this goal, self-reported instruments (attitudes towards communication of nurses, trait emotional intelligence (Trait Emotional Meta-Mood Scale) and Jefferson Scale of Nursing Empathy (Jefferson Scale Nursing Empathy) were collected from 460 nurses between September 2015-February 2016. Two different analytical methodologies were used: traditional regression models and fuzzy-set qualitative comparative analysis models. The results of the regression model suggest that cognitive dimensions of attitude are a significant and positive predictor of the behavioural dimension. The perspective-taking dimension of empathy and the emotional-clarity dimension of emotional intelligence were significant positive predictors of the dimensions of attitudes towards communication, except for the affective dimension (for which the association was negative). The results of the fuzzy-set qualitative comparative analysis models confirm that the combination of high levels of cognitive dimension of attitudes, perspective-taking and emotional clarity explained high levels of the behavioural dimension of attitude. Empathy and emotional intelligence are predictors of nurses' attitudes towards communication, and the cognitive dimension of attitude is a good predictor of the behavioural dimension of attitudes towards communication of nurses in both regression models and fuzzy-set qualitative comparative analysis. In general, the fuzzy-set qualitative comparative analysis models appear to be better predictors than the regression models are. To evaluate current practices, establish intervention strategies and evaluate their effectiveness. The evaluation of these variables and their relationships are important in creating a satisfied and sustainable workforce and improving quality of care and patient health. © 2018 John Wiley & Sons Ltd.

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

NASA Technical Reports Server (NTRS)

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 articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

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

NASA Technical Reports Server (NTRS)

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

Computer hardware and software for robotic control

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1987-01-01

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Multi-Robot FastSLAM for Large Domains

DTIC Science & Technology

2007-03-01

Derr, D. Fox, A.B. Cremers , Integrating global position estimation and position tracking for mobile robots: The dynamic markov localization approach...Intelligence (AAAI), 2000. 53. Andrew J. Davison and David W. Murray. Simultaneous Localization and Map- Building Using Active Vision. IEEE...Wyeth, Michael Milford and David Prasser. A Modified Particle Filter for Simultaneous Robot Localization and Landmark Tracking in an Indoor

Robots as Imagined in the Television Series Humans.

PubMed

Wicclair, Mark R

2018-07-01

Humans is a science fiction television series set in what appears to be present-day London. What makes it science fiction is that in London and worldwide, there are robots that look like humans and can mimic human behavior. The series raises several important ethical and philosophical questions about artificial intelligence and robotics, which should be of interest to bioethicists.

Three main paradigms of simultaneous localization and mapping (SLAM) problem

NASA Astrophysics Data System (ADS)

Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

2018-04-01

Simultaneous Localization and Mapping (SLAM) is one of the most challenging research areas within computer and machine vision for automated scene commentary and explanation. The SLAM technique has been a developing research area in the robotics context during recent years. By utilizing the SLAM method robot can estimate the different positions of the robot at the distinct points of time which can indicate the trajectory of robot as well as generate a map of the environment. SLAM has unique traits which are estimating the location of robot and building a map in the various types of environment. SLAM is effective in different types of environment such as indoor, outdoor district, Air, Underwater, Underground and Space. Several approaches have been investigated to use SLAM technique in distinct environments. The purpose of this paper is to provide an accurate perceptive review of case history of SLAM relied on laser/ultrasonic sensors and camera as perception input data. In addition, we mainly focus on three paradigms of SLAM problem with all its pros and cons. In the future, use intelligent methods and some new idea will be used on visual SLAM to estimate the motion intelligent underwater robot and building a feature map of marine environment.

Future Challenges of Robotics and Artificial Intelligence in Nursing: What Can We Learn from Monsters in Popular Culture?

PubMed

Erikson, Henrik; Salzmann-Erikson, Martin

It is highly likely that artificial intelligence (AI) will be implemented in nursing robotics in various forms, both in medical and surgical robotic instruments, but also as different types of droids and humanoids, physical reinforcements, and also animal/pet robots. Exploring and discussing AI and robotics in nursing and health care before these tools become commonplace is of great importance. We propose that monsters in popular culture might be studied with the hope of learning about situations and relationships that generate empathic capacities in their monstrous existences. The aim of the article is to introduce the theoretical framework and assumptions behind this idea. Both robots and monsters are posthuman creations. The knowledge we present here gives ideas about how nursing science can address the postmodern, technologic, and global world to come. Monsters therefore serve as an entrance to explore technologic innovations such as AI. Analyzing when and why monsters step out of character can provide important insights into the conceptualization of caring and nursing as a science, which is important for discussing these empathic protocols, as well as more general insight into human knowledge. The relationship between caring, monsters, robotics, and AI is not as farfetched as it might seem at first glance.

Future Challenges of Robotics and Artificial Intelligence in Nursing: What Can We Learn from Monsters in Popular Culture?

PubMed Central

Erikson, Henrik; Salzmann-Erikson, Martin

2016-01-01

It is highly likely that artificial intelligence (AI) will be implemented in nursing robotics in various forms, both in medical and surgical robotic instruments, but also as different types of droids and humanoids, physical reinforcements, and also animal/pet robots. Exploring and discussing AI and robotics in nursing and health care before these tools become commonplace is of great importance. We propose that monsters in popular culture might be studied with the hope of learning about situations and relationships that generate empathic capacities in their monstrous existences. The aim of the article is to introduce the theoretical framework and assumptions behind this idea. Both robots and monsters are posthuman creations. The knowledge we present here gives ideas about how nursing science can address the postmodern, technologic, and global world to come. Monsters therefore serve as an entrance to explore technologic innovations such as AI. Analyzing when and why monsters step out of character can provide important insights into the conceptualization of caring and nursing as a science, which is important for discussing these empathic protocols, as well as more general insight into human knowledge. The relationship between caring, monsters, robotics, and AI is not as farfetched as it might seem at first glance. PMID:27455058

Planetary Exploration Rebooted! New Ways of Exploring the Moon, Mars and Beyond

NASA Technical Reports Server (NTRS)

Fong, Terrence W.

2010-01-01

In this talk, I will summarize how the NASA Ames Intelligent Robotics Group has been developing and field testing planetary robots for human exploration, creating automated planetary mapping systems, and engaging the public as citizen scientists.

Games and Machine Learning: A Powerful Combination in an Artificial Intelligence Course

ERIC Educational Resources Information Center

Wallace, Scott A.; McCartney, Robert; Russell, Ingrid

2010-01-01

Project MLeXAI [Machine Learning eXperiences in Artificial Intelligence (AI)] seeks to build a set of reusable course curriculum and hands on laboratory projects for the artificial intelligence classroom. In this article, we describe two game-based projects from the second phase of project MLeXAI: Robot Defense--a simple real-time strategy game…

Third Conference on Artificial Intelligence for Space Applications, part 1

NASA Technical Reports Server (NTRS)

Denton, Judith S. (Compiler); Freeman, Michael S. (Compiler); Vereen, Mary (Compiler)

1987-01-01

The application of artificial intelligence to spacecraft and aerospace systems is discussed. Expert systems, robotics, space station automation, fault diagnostics, parallel processing, knowledge representation, scheduling, man-machine interfaces and neural nets are among the topics discussed.

Workshop on Critical ORI Issues Held in Bordeaux, France on OCtober 27 - 29, 1992. Program and Abstracts.

DTIC Science & Technology

1992-10-29

These people try to make their robotic vehicle as intelligent and autonomous as possible with the current state of technology. The robot only interacts... Robotics Peter J. Burt David Sarnoff Research Center Princeton, NJ 08543-5300 U.S.A. The ability of an operator to drive a remotely piloted vehicle depends...RESUPPLY - System which can rapidly and autonomously load and unload palletized ammunition. (18) AUTONOMOUS COMBAT EVACUATION VEHICLE - Robotic arms

Software Tools for Design and Performance Evaluation of Intelligent Systems

DTIC Science & Technology

2004-08-01

Self-calibration of Three-Legged Modular Reconfigurable Parallel Robots Based on Leg-End Distance Errors,” Robotica , Vol. 19, pp. 187-198. [4...9] Lintott, A. B., and Dunlop, G. R., “Parallel Topology Robot Calibration,” Robotica . [10] Vischer, P., and Clavel, R., “Kinematic Calibration...of the Parallel Delta Robot,” Robotica , Vol. 16, pp.207- 218, 1998. [11] Joshi, S.A., and Surianarayan, A., “Calibration of a 6-DOF Cable Robot Using

Intelligent Systems and Its Applications in Robotics

NASA Astrophysics Data System (ADS)

Kaynak, Okyay

The last decade of the last millennium is characterized by what might be called the intelligent systems revolution, as a result of which, it is now possible to have man made systems that exhibit ability to reason, learn from experience and make rational decisions without human intervention. Prof. Zadeh has coined the word MIQ (machine intelligence quotient) to describe a measure of intelligence of man-made systems. In this perspective, an intelligent system can be defined as a system that has a high MIQ.

Analysis and experiments with an elephant's trunk robot

NASA Technical Reports Server (NTRS)

Hannan, M. W.; Walker, I. D.

2001-01-01

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Research on wheelchair robot control system based on EOG

NASA Astrophysics Data System (ADS)

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.

An intelligent approach to welding robot selection

NASA Astrophysics Data System (ADS)

Milano, J.; Mauk, S. D.; Flitter, L.; Morris, R.

1993-10-01

In a shipyard where multiple stationary and mobile workcells are employed in the fabrication of components of complex sub-assemblies,efficient operation requires an intelligent method of scheduling jobs and selecting workcells based on optimum throughput and cost. The achievement of this global solution requires the successful organization of resource availability,process requirements,and process constraints. The Off-line Planner (OLP) of the Programmable Automated Weld Systemd (PAWS) is capable of advanced modeling of weld processes and environments as well as the generation of complete weld procedures. These capabilities involve the integration of advanced Computer Aided Design (CAD), path planning, and obstacle detection and avoidance techniques as well as the synthesis of complex design and process information. These existing capabilities provide the basis of the functionality required for the successful implementation of an intelligent weld robot selector and material flow planner. Current efforts are focused on robot selection via the dynamic routing of components to the appropriate work cells. It is proposed that this problem is a variant of the “Traveling Salesman Problem” (TSP) that has been proven to belong to a larger set of optimization problems termed nondeterministic polynomial complete (NP complete). In this paper, a heuristic approach utilizing recurrent neural networks is explored as a rapid means of producing a near optimal, if not optimal, bdweld robot selection.

Learning in robotic manipulation: The role of dimensionality reduction in policy search methods. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

NASA Astrophysics Data System (ADS)

Ficuciello, Fanny; Siciliano, Bruno

2016-07-01

A question that often arises, among researchers working on artificial hands and robotic manipulation, concerns the real meaning of synergies. Namely, are they a realistic representation of the central nervous system control of manipulation activities at different levels and of the sensory-motor manipulation apparatus of the human being, or do they constitute just a theoretical framework exploiting analytical methods to simplify the representation of grasping and manipulation activities? Apparently, this is not a simple question to answer and, in this regard, many minds from the field of neuroscience and robotics are addressing the issue [1]. The interest of robotics is definitely oriented towards the adoption of synergies to tackle the control problem of devices with high number of degrees of freedom (DoFs) which are required to achieve motor and learning skills comparable to those of humans. The synergy concept is useful for innovative underactuated design of anthropomorphic hands [2], while the resulting dimensionality reduction simplifies the control of biomedical devices such as myoelectric hand prostheses [3]. Synergies might also be useful in conjunction with the learning process [4]. This aspect is less explored since few works on synergy-based learning have been realized in robotics. In learning new tasks through trial-and-error, physical interaction is important. On the other hand, advanced mechanical designs such as tendon-driven actuation, underactuated compliant mechanisms and hyper-redundant/continuum robots might exhibit enhanced capabilities of adapting to changing environments and learning from exploration. In particular, high DoFs and compliance increase the complexity of modelling and control of these devices. An analytical approach to manipulation planning requires a precise model of the object, an accurate description of the task, and an evaluation of the object affordance, which all make the process rather time consuming. The integration of learning into control naturally leads to relaxing the above requirements through the adoption of coordinated motion patterns and sensory-motor synergies as useful tools leading to a problem of reduced dimension. To this purpose, model-based control strategies relying on synergistic models of manipulation activities learned from human experience can be integrated with real-time learning from actions strategies [5]. In [6] a classification of learning strategies for robotics is provided, while the difference between imitation learning and reinforcement learning (RL) is highlighted in [7]. From recent research in the field [8,9], it seems that RL represents the future toward autonomous and intelligent robots since it provides learning capabilities as those of humans, i.e. based on exploration and trial-and-error policies. In this context, suitable policy search methods to be implemented in a synergy-based framework are to be sought in order to reduce the search space dimension while guaranteeing the convergence and efficiency of the learning algorithm.

The Fourth Law of Robotics.

ERIC Educational Resources Information Center

Markoff, John

1994-01-01

Discusses intelligent software agents, or knowledge robots (knowbots), and the impact they have on the Internet. Topics addressed include ethical dilemmas; problems created by rapid growth on the Internet; new technologies that are amplifying growth; and a shift to a market economy and resulting costs. (LRW)

An Intelligent Robotic Hospital Bed for Safe Transportation of Critical Neurosurgery Patients Along Crowded Hospital Corridors.

PubMed

Wang, Chao; Savkin, Andrey V; Clout, Ray; Nguyen, Hung T

2015-09-01

We present a novel design of an intelligent robotic hospital bed, named Flexbed, with autonomous navigation ability. The robotic bed is developed for fast and safe transportation of critical neurosurgery patients without changing beds. Flexbed is more efficient and safe during the transportation process comparing to the conventional hospital beds. Flexbed is able to avoid en-route obstacles with an efficient easy-to-implement collision avoidance strategy when an obstacle is nearby and to move towards its destination at maximum speed when there is no threat of collision. We present extensive simulation results of navigation of Flexbed in the crowded hospital corridor environments with moving obstacles. Moreover, results of experiments with Flexbed in the real world scenarios are also presented and discussed.

Automated site characterization for robotic sample acquisition systems

NASA Astrophysics Data System (ADS)

Scholl, Marija S.; Eberlein, Susan J.

1993-04-01

A mobile, semiautonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities that might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.

The 1990 Goddard Conference on Space Applications of Artificial Intelligence

NASA Technical Reports Server (NTRS)

Rash, James L. (Editor)

1990-01-01

The papers presented at the 1990 Goddard Conference on Space Applications of Artificial Intelligence are given. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The proceedings fall into the following areas: Planning and Scheduling, Fault Monitoring/Diagnosis, Image Processing and Machine Vision, Robotics/Intelligent Control, Development Methodologies, Information Management, and Knowledge Acquisition.

Post-human and scientific research: how engineering carried out the project.

PubMed

Ghilardi, Giampaolo; Accoto, Dino

2014-01-01

We start with a definition of robot in order to understand which are legitimate robotics' objectives. Then it is provided an outline of new robot generations and their industrial and biomedical applications. We consider the consequences of this new kind of technology on the notion of intelligence, stressing how the exteroceptive sensor systems provide a new bottom up approach to the AI debate. We consider three challenges Robotics have to face nowadays. First materials and components, which are built with technologies top-down, set huge limits in terms of weight, speed, safety and cost, not to mention reliability and durability. Second the methodological aspects: the challenge concerns the management of complexity. How to achieve intelligent and adaptive behaviours out of the control system of the robot, which must remain intrinsically simple? A third issue we address is the cultural one: the unreasonable expectations of the general public often provoked by a misunderstanding of the notion of intelligence itself. We consider then what makes human specifically human from a broader philosophic point of view, pointing out how the will is strangely absent in the AI debate. We show three advantages connected with this different perspective instead of the classical one intellect centered. First, while intellect is not used only by man, will is. Second, desire involves intellect while the reciprocal is not necessarily true. Third, looking at robotics and more specifically to cybernetics the key concept of these fields are control and governance, whereas both of them are specifically relate to the domain of will rather than intellect. We look then into the concept of participation as essential to the understanding of the notion of will, to overcome some roboethics' issues related to the adoption of the still dominant rationalistic paradigm.

An intelligent robot for helping astronauts

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Grimm, K. A.; Pendleton, T. W.

1994-01-01

This paper describes the development status of a prototype supervised intelligent robot for space application for purposes of (1) helping the crew of a spacecraft such as the Space Station with various tasks, such as holding objects and retrieving/replacing tools and other objects from/into storage, and (2) for purposes of retrieving detached objects, such as equipment or crew, that have become separated from their spacecraft. In addition to this set of tasks in this low-Earth-orbiting spacecraft environment, it is argued that certain aspects of the technology can be viewed as generic in approach, thereby offering insight into intelligent robots for other tasks and environments. Candidate software architectures and their key technical issues which enable real work in real environments to be accomplished safely and robustly are addressed. Results of computer simulations of grasping floating objects are presented. Also described are characterization results on the usable reduced gravity environment in an aircraft flying parabola (to simulate weightlessness) and results on hardware performance there. These results show it is feasible to use that environment for evaluative testing of dexterous grasping based on real-time vision of freely rotating and translating objects.

Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1988-01-01

Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics.

Mamdani Fuzzy System for Indoor Autonomous Mobile Robot

NASA Astrophysics Data System (ADS)

Khan, M. K. A. Ahamed; Rashid, Razif; Elamvazuthi, I.

2011-06-01

Several control algorithms for autonomous mobile robot navigation have been proposed in the literature. Recently, the employment of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, Mamdani fuzzy system for an autonomous mobile robot is developed. The paper begins with the discussion on the conventional controller and then followed by the description of fuzzy logic controller in detail.

Demonstrating Robotic Autonomy in NASA's Intelligent Systems Project

NASA Technical Reports Server (NTRS)

Morris, Robert; Smith, Ben; Estlin, Tara; Pedersen, Liam

2004-01-01

This paper will provide an overview of NASA's investments in autonomy during the past five years within the Intelligent Systems Project, with particular attention paid to investments that have resulted in mission infusion of autonomy technology, in particular, into the recent Mars Exploration Rover (MER) mission. The content of the paper will be divided into two primary topic areas: a technical overview of the component technologies developed under the program, and a programmatic overview of the history and organization of the NASA IS project itself, with a focus on describing the program elements related to autonomy and intelligent robotics. The paper will also provide an overview of the September 2004 autonomy demonstrations, including a discussion of objectives, organization, and preliminary results (to the extent they are available before the submission deadline).

First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1987-01-01

Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.

Infant-Like Social Interactions Between a Robot and a Human Caregiver

DTIC Science & Technology

2006-01-01

developmental psychology and ethology, as well as the applications of these fields to robotics as outlined by Brooks, Ferrell, Irie, Marjanovic ...Irie, R., Kemp, C. C., Marjanovic , M., Scassellati, B., & Williamson M. (1998). Alternative essences of intelligence. Proceedings of the Fifteenth

Lecture materials for the CTOS/MCS introductory course

NASA Technical Reports Server (NTRS)

Fieldhouse, Keith; Holt, Kevin; Lefebvre, Don; Murphy, Steve; Swift, Dave; Watson, Jim

1991-01-01

On July 18 and 19, 1991 the Center for Intelligent Robotic Systems for Space Exploration presented a course on its robotic testbed support software as it then existed. The course materials are collected as a reflection of the state of those systems at that time.

NASA Ames Participates in Two Major Bay Area Events (Reporter Package)NASA Ames Research Center participated in two important outreach events: Maker Faire and a gathering of hardware and software industry professionals called the Solid Conference. The conference was an opportunity for the Intelligent Robotics Group from NASA Ames to publicly unveil their latest version of the free flying robot used on the International Space Station. NASA also participated at the Bay Area Maker Faire, a gathering of more than 120,000 innovators, enthusiasts, crafters, hobbyists and tinkerers to share what they have invented and made.

NASA Image and Video Library

2014-05-28

NASA Ames Research Center participated in two important outreach events: Maker Faire and a gathering of hardware and software industry professionals called the Solid Conference. The conference was an opportunity for the Intelligent Robotics Group from NASA Ames to publicly unveil their latest version of the free flying robot used on the International Space Station. NASA also participated at the Bay Area Maker Faire, a gathering of more than 120,000 innovators, enthusiasts, crafters, hobbyists and tinkerers to share what they have invented and made.

Extensible Hardware Architecture for Mobile Robots

NASA Technical Reports Server (NTRS)

Park, Eric; Kobayashi, Linda; Lee, Susan Y.

2005-01-01

The Intelligent Robotics Group at NASA Ames Research Center has developed a new mobile robot hardware architecture designed for extensibility and reconfigurability. Currently implemented on the k9 rover. and won to be integrated onto the K10 series of human-robot collaboration research robots, this architecture allows for rapid changes in instrumentation configuration and provides a high degree of modularity through a synergistic mix of off-the-shelf and custom designed components, allowing eased transplantation into a wide vane6 of mobile robot platforms. A component level overview of this architecture is presented along with a description of the changes required for implementation on K10 , followed by plans for future work.

Research on robot mobile obstacle avoidance control based on visual information

NASA Astrophysics Data System (ADS)

Jin, Jiang

2018-03-01

Robots to detect obstacles and control robots to avoid obstacles has been a key research topic of robot control. In this paper, a scheme of visual information acquisition is proposed. By judging visual information, the visual information is transformed into the information source of path processing. In accordance with the established route, in the process of encountering obstacles, the algorithm real-time adjustment trajectory to meet the purpose of intelligent control of mobile robots. Simulation results show that, through the integration of visual sensing information, the obstacle information is fully obtained, while the real-time and accuracy of the robot movement control is guaranteed.

Knowledge Based Simulation: An Artificial Intelligence Approach to System Modeling and Automating the Simulation Life Cycle.

DTIC Science & Technology

1988-04-13

Simulation: An Artificial Intelligence Approach to System Modeling and Automating the Simulation Life Cycle Mark S. Fox, Nizwer Husain, Malcolm...McRoberts and Y.V.Reddy CMU-RI-TR-88-5 Intelligent Systems Laboratory The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania D T T 13...years of research in the application of Artificial Intelligence to Simulation. Our focus has been in two areas: the use of Al knowledge representation

Children perseverate to a human's actions but not to a robot's actions.

PubMed

Moriguchi, Yusuke; Kanda, Takayuki; Ishiguro, Hiroshi; Itakura, Shoji

2010-01-01

Previous research has shown that young children commit perseverative errors from their observation of another person's actions. The present study examined how social observation would lead children to perseverative tendencies, using a robot. In Experiment 1, preschoolers watched either a human model or a robot sorting cards according to one dimension (e.g. shape), after which they were asked to sort according to a different dimension (e.g. colour). The results showed that children's behaviours in the task were significantly influenced by the human model's actions but not by the robot's actions. Experiment 2 excluded the possibility that children's behaviours were not affected by the robot's actions because they did not observe its actions. We concluded that children's perseverative errors from social observation resulted, in part, from their socio-cognitive ability.

Vocal emotion of humanoid robots: a study from brain mechanism.

PubMed

Wang, Youhui; Hu, Xiaohua; Dai, Weihui; Zhou, Jie; Kuo, Taitzong

2014-01-01

Driven by rapid ongoing advances in humanoid robot, increasing attention has been shifted into the issue of emotion intelligence of AI robots to facilitate the communication between man-machines and human beings, especially for the vocal emotion in interactive system of future humanoid robots. This paper explored the brain mechanism of vocal emotion by studying previous researches and developed an experiment to observe the brain response by fMRI, to analyze vocal emotion of human beings. Findings in this paper provided a new approach to design and evaluate the vocal emotion of humanoid robots based on brain mechanism of human beings.

Stereo vision with distance and gradient recognition

NASA Astrophysics Data System (ADS)

Kim, Soo-Hyun; Kang, Suk-Bum; Yang, Tae-Kyu

2007-12-01

Robot vision technology is needed for the stable walking, object recognition and the movement to the target spot. By some sensors which use infrared rays and ultrasonic, robot can overcome the urgent state or dangerous time. But stereo vision of three dimensional space would make robot have powerful artificial intelligence. In this paper we consider about the stereo vision for stable and correct movement of a biped robot. When a robot confront with an inclination plane or steps, particular algorithms are needed to go on without failure. This study developed the recognition algorithm of distance and gradient of environment by stereo matching process.

Introduction to autonomous mobile robotics using Lego Mindstorms NXT

NASA Astrophysics Data System (ADS)

Akın, H. Levent; Meriçli, Çetin; Meriçli, Tekin

2013-12-01

Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the Lego Mindstorms NXT kits are used as the robot platform. The aims, scope and contents of the course are presented, and the design of the laboratory sessions as well as the term projects, which address several core problems of robotics and artificial intelligence simultaneously, are explained in detail.

Intelligent Systems: Shaping the Future of Aeronautics and Space Exploration

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje; Lohn, Jason; Kaneshige, John

2004-01-01

Intelligent systems are nature-inspired, mathematically sound, computationally intensive problem solving tools and methodologies that have become important for NASA's future roles in Aeronautics and Space Exploration. Intelligent systems will enable safe, cost and mission-effective approaches to air& control, system design, spacecraft autonomy, robotic space exploration and human exploration of Moon, Mars, and beyond. In this talk, we will discuss intelligent system technologies and expand on the role of intelligent systems in NASA's missions. We will also present several examples of which some are highlighted m this extended abstract.

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

Computer graphics testbed to simulate and test vision systems for space applications

NASA Technical Reports Server (NTRS)

Cheatham, John B.

1991-01-01

Research activity has shifted from computer graphics and vision systems to the broader scope of applying concepts of artificial intelligence to robotics. Specifically, the research is directed toward developing Artificial Neural Networks, Expert Systems, and Laser Imaging Techniques for Autonomous Space Robots.

It's 1984 and Robots Are in the Classroom.

ERIC Educational Resources Information Center

Howe, Samuel F.

1984-01-01

Describes the features of TOPO, HERO, RB5X, and Tasman Turtle, personal robots used in elementary and secondary schools and colleges to introduce concepts of artificial intelligence, advanced high school and college computer science, and elementary level programming. Mechanical arms are also briefly mentioned. (MBR)

Control of intelligent robots in space

NASA Technical Reports Server (NTRS)

Freund, E.; Buehler, CH.

1989-01-01

In view of space activities like International Space Station, Man-Tended-Free-Flyer (MTFF) and free flying platforms, the development of intelligent robotic systems is gaining increasing importance. The range of applications that have to be performed by robotic systems in space includes e.g., the execution of experiments in space laboratories, the service and maintenance of satellites and flying platforms, the support of automatic production processes or the assembly of large network structures. Some of these tasks will require the development of bi-armed or of multiple robotic systems including functional redundancy. For the development of robotic systems which are able to perform this variety of tasks a hierarchically structured modular concept of automation is required. This concept is characterized by high flexibility as well as by automatic specialization to the particular sequence of tasks that have to be performed. On the other hand it has to be designed such that the human operator can influence or guide the system on different levels of control supervision, and decision. This leads to requirements for the hardware and software concept which permit a range of application of the robotic systems from telemanipulation to autonomous operation. The realization of this goal requires strong efforts in the development of new methods, software and hardware concepts, and the integration into an automation concept.

Simulation tools for robotics research and assessment

NASA Astrophysics Data System (ADS)

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-level computational models to provide the necessary simulation fidelity for accuracy. However, the Perception domain remains the most problematic for adequate simulation performance due to the often cartoon nature of computer rendering and the inability to model realistic electromagnetic radiation effects, such as multiple reflections, in real-time.

The relationship between spiritual intelligence and personality traits among Jordanian university students

PubMed Central

Mahasneh, Ahmad M; Shammout, Nizar A; Alkhazaleh, Ziad M; Al-Alwan, Ahmed F; Abu-Eita, Jawhara D

2015-01-01

This study was aimed at identifying the level of spiritual intelligence and its correlation with personality traits among a group of Jordanian undergraduate students. A purposive sample of 716 male and female students was chosen from different faculties at the Hashemite University. Two questionnaires on spiritual intelligence and personality traits were distributed to members of the sample during the academic year 2013–2014. Results illustrated a medium level of spiritual intelligence in students, and indicated a positive and statistically significant relationship between spiritual intelligence dimensions (critical existential thinking, personal meaning production, transcendental awareness, and conscious state expansion) and personality traits (neuroticism, extraversion, openness to experience, agreeableness, and conscientiousness), but no significant correlation between personal meaning production and transcendental awareness dimensions and neuroticism personality traits. Finally, regression analysis results indicate that critical existential thinking is the first predictor dimension of spiritual intelligence in terms of neuroticism, extraversion, openness to experience, agreeableness, and conscientiousness. In the light of the results of this study, many recommendations were written by the researchers. PMID:25834470

A Starter's Guide to Artificial Intelligence.

ERIC Educational Resources Information Center

McConnell, Barry A.; McConnell, Nancy J.

1988-01-01

Discussion of the history and development of artificial intelligence (AI) highlights a bibliography of introductory books on various aspects of AI, including AI programing; problem solving; automated reasoning; game playing; natural language; expert systems; machine learning; robotics and vision; critics of AI; and representative software. (LRW)

The relationship between epistemological beliefs, implicit theories of intelligence, and self-regulated learning among Norwegian postsecondary students.

PubMed

Bråten, Ivar; Strømsø, Helge I

2005-12-01

More empirical work is needed to examine the dimensionality of personal epistemology and relations between those dimensions and motivational and strategic components of self-regulated learning. In particular, there is great need to investigate personal epistemology and its relation to self-regulated learning across cultures and academic contexts. Because the demarcation between personal epistemology and implicit theories of intelligence has been questioned, dimensions of personal epistemology should also be studied in relation to implicit theories of intelligence. The primary aim was to examine the dimensionality of personal epistemology and the relation between those dimensions and implicit theories of intelligence in the cultural context of Norwegian postsecondary education. A secondary aim was to examine the relative contribution of epistemological beliefs and theories of intelligence to motivational and strategic components of self-regulated learning in different academic contexts within that culture. The first sample included 178 business administration students in a traditional transmission-oriented instructional context; the second, 108 student teachers in an innovative pedagogical context. The dimensionality of the Schommer Epistemological Questionnaire was examined through factor analyses, and the resulting dimensions were examined in relation to implicit theories of intelligence. We performed multiple regression analyses, separately for the two academic contexts, to try to predict motivational (i.e. self-efficacy beliefs, mastery goal orientation, and interest) and strategic (i.e. self-regulatory strategy use) components of self-regulated learning with epistemological beliefs and implicit theories of intelligence. Considerable cross-cultural generalizability was found for the dimensionality of personal epistemology. Moreover, the dimensions of personal epistemology seemed to represent constructs separate from the construct of implicit theories of intelligence. Differences in the predictability of the epistemological dimensions were found for the two samples. For the student teachers, belief about knowledge construction and modification was a better predictor of self-regulated learning. For the business administration students, belief about the certainty of knowledge played a more important role in self-regulated learning. Epistemological beliefs predict self-regulated learning among Norwegian postsecondary students and play more important roles than implicit theories of intelligence. Relations between epistemological beliefs and self-regulated learning may vary with academic context.

Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

PubMed Central

Masmoudi, Mohamed Slim; Masmoudi, Mohamed

2016-01-01

This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

Intelligent Robotic Systems Study (IRSS), phase 4

NASA Technical Reports Server (NTRS)

1991-01-01

Under the Intelligent Robotics Systems Study (IRSS), a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). Based upon the NASREM system design concept, the controller built for the PFMA provides localized position based force control, teleoperation, and advanced path recording and playback capabilities. The PFMA has six computer controllable degrees of freedom (DOF) plus a 7th manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Joints on the PFMA are driven via 7 pulse width modulated amplifiers. Digital control of the PFMA is implemented using a variety of single board computers. There were two major activities under the IRSS phase 4 study: (1) enhancement of the PFMA control system software functionality; and (2) evaluation of operating modes via a teleoperation performance study. These activities are described and results are given.

Multi-camera sensor system for 3D segmentation and localization of multiple mobile robots.

PubMed

Losada, Cristina; Mazo, Manuel; Palazuelos, Sira; Pizarro, Daniel; Marrón, Marta

2010-01-01

This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.

Autonomous and Connected Vehicles: A Law Enforcement Primer

DTIC Science & Technology

2015-12-01

CYBERSECURITY FOR AUTOMOBILES Intelligent Transportation Systems (ITS) that are emerging around the globe achieve that classification based on the convergence...Car Works,” October 18, 2011, IEEE Spectrum, http://spectrum.ieee.org/automaton/robotics/ artificial - intelligence /how-google-self-driving-car-works...whereby artificial intelligence acts on behalf of a human, but carries the same life or death consequences.435 States should encourage and engage in

Coordinated Control Of Mobile Robotic Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Automation and Robotics for space operation and planetary exploration

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

A design philosophy for multi-layer neural networks with applications to robot control

NASA Technical Reports Server (NTRS)

Vadiee, Nader; Jamshidi, MO

1989-01-01

A system is proposed which receives input information from many sensors that may have diverse scaling, dimension, and data representations. The proposed system tolerates sensory information with faults. The proposed self-adaptive processing technique has great promise in integrating the techniques of artificial intelligence and neural networks in an attempt to build a more intelligent computing environment. The proposed architecture can provide a detailed decision tree based on the input information, information stored in a long-term memory, and the adapted rule-based knowledge. A mathematical model for analysis will be obtained to validate the cited hypotheses. An extensive software program will be developed to simulate a typical example of pattern recognition problem. It is shown that the proposed model displays attention, expectation, spatio-temporal, and predictory behavior which are specific to the human brain. The anticipated results of this research project are: (1) creation of a new dynamic neural network structure, and (2) applications to and comparison with conventional multi-layer neural network structures. The anticipated benefits from this research are vast. The model can be used in a neuro-computer architecture as a building block which can perform complicated, nonlinear, time-varying mapping from a multitude of input excitory classes to an output or decision environment. It can be used for coordinating different sensory inputs and past experience of a dynamic system and actuating signals. The commercial applications of this project can be the creation of a special-purpose neuro-computer hardware which can be used in spatio-temporal pattern recognitions in such areas as air defense systems, e.g., target tracking, and recognition. Potential robotics-related applications are trajectory planning, inverse dynamics computations, hierarchical control, task-oriented control, and collision avoidance.

Space applications of artificial intelligence; 1990 Goddard Conference, Greenbelt, MD, May 1, 2, 1990, Selected Papers

NASA Technical Reports Server (NTRS)

Rash, James L. (Editor)

1990-01-01

The papers presented at the 1990 Goddard Conference on Space Applications of Artificial Intelligence are given. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The proceedings fall into the following areas: Planning and Scheduling, Fault Monitoring/Diagnosis, Image Processing and Machine Vision, Robotics/Intelligent Control, Development Methodologies, Information Management, and Knowledge Acquisition.

Artificial intelligence - NASA. [robotics for Space Station

NASA Technical Reports Server (NTRS)

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.

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Field Tested Service Oriented Robotic Architecture: Case Study

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Utz, Hanz

2012-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

A development of intelligent entertainment robot for home life

NASA Astrophysics Data System (ADS)

Kim, Cheoltaek; Lee, Ju-Jang

2005-12-01

The purpose of this paper was to present the study and design idea for entertainment robot with educational purpose (IRFEE). The robot has been designed for home life considering dependability and interaction. The developed robot has three objectives - 1. Develop autonomous robot, 2. Design robot considering mobility and robustness, 3. Develop robot interface and software considering entertainment and education functionalities. The autonomous navigation was implemented by active vision based SLAM and modified EPF algorithm. The two differential wheels, the pan-tilt were designed mobility and robustness and the exterior was designed considering esthetic element and minimizing interference. The speech and tracking algorithm provided the good interface with human. The image transfer and Internet site connection is needed for service of remote connection and educational purpose.

Artificial Intelligence Is for Real: Undergraduate Students Should Know about It.

ERIC Educational Resources Information Center

Liebowitz, Jay

1988-01-01

Discussion of the possibilities of introducing artificial intelligence (AI) into the undergraduate curriculum highlights the introduction of AI in an introduction to information processing course for business students at George Washington University. Topics discussed include robotics, expert systems prototyping in class, and the interdisciplinary…

Work and Programmable Automation.

ERIC Educational Resources Information Center

DeVore, Paul W.

A new industrial era based on electronics and the microprocessor has arrived, an era that is being called intelligent automation. Intelligent automation, in the form of robots, replaces workers, and the new products, using microelectronic devices, require significantly less labor to produce than the goods they replace. The microprocessor thus…

Robots that can adapt like animals.

PubMed

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-28

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot 'think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

Robots that can adapt like animals

NASA Astrophysics Data System (ADS)

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-01

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot `think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

An argument for human exploration of the moon and Mars.

PubMed

Spudis, P D

1992-01-01

A debate of the merits of human space travel as opposed to robots is presented. While robotic space travel would be considerably less expensive, the author takes the position that there are certain skills and research abilities that only humans possess. Human contributions to past lunar exploration are considered, along with a discussion of the interaction of humans with robotics or other artificial intelligence or computer driven technologies. The author concludes that while robots and machines are tools which should be incorporated into space travel, they are not adequate substitutes for people.

Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review.

PubMed

Rasheed, Nadia; Amin, Shamsudin H M

2016-01-01

Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue.

Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review

PubMed Central

Rasheed, Nadia; Amin, Shamsudin H. M.

2016-01-01

Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue. PMID:27069470

All-Terrain Intelligent Robot Braves Battlefront to Save Lives

NASA Technical Reports Server (NTRS)

2005-01-01

As NASA s lead center for creating robotic spacecraft and rovers, the Jet Propulsion Laboratory (JPL) builds smart machines that can perform very complicated tasks, far, far away from the homeland. JPL s robotic proficiency is making an impact millions of miles away on Mars, where two rovers are presently unlocking the secrets of the Red Planet s rugged terrain, and thousands of miles away in the embattled regions of Iraq and Afghanistan, where robots sown from the seeds of JPL machines have been deployed to be the "eyes and ears" of humans on the front line. This commercial offspring, known as the PackBot Tactical Mobile Robot, is manufactured by iRobot, Inc., of Burlington, Massachusetts.

Use of symbolic computation in robotics education

NASA Technical Reports Server (NTRS)

Vira, Naren; Tunstel, Edward

1992-01-01

An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots.

DMPL: Programming and Verifying Distributed Mixed Synchrony and Mixed Critical Software

DTIC Science & Technology

2016-06-16

ference on Intelligent Robots and Systems, pages 1495–1502, Chicago, IL, September 2014. IEEE Computer Society. [21] MADARA website . http://sourceforge.net...4.6 DMPL program for 5- robot reconnaissance example 19 Figure 5.1 Generated C++ code for example DMPL program. In practice, local vari- ables (lines...examples of collision avoidance in multi- robot systems. CMU/SEI-2016-TR-005 | SOFTWARE ENGINEERING INSTITUTE | Carnegie Mellon University vii

Computer graphics testbed to simulate and test vision systems for space applications

NASA Technical Reports Server (NTRS)

Cheatham, John B.

1991-01-01

Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

Giftedness of Chinese Students in Hong Kong: Perspectives from Different Conceptions of Intelligences

ERIC Educational Resources Information Center

Chan, David W.

2008-01-01

This study examined the self-perceived intelligences (multiple intelligences, emotional intelligence, and successful intelligence) of 498 Chinese gifted students in Hong Kong. Based on the associations among perceived intelligence scores, three dimensions could be distinguished to describe giftedness and could be interpreted as global giftedness,…

Artificial Intelligence and the High School Computer Curriculum.

ERIC Educational Resources Information Center

Dillon, Richard W.

1993-01-01

Describes a four-part curriculum that can serve as a model for incorporating artificial intelligence (AI) into the high school computer curriculum. The model includes examining questions fundamental to AI, creating and designing an expert system, language processing, and creating programs that integrate machine vision with robotics and…

The need for artificial intelligence as an aid in controlling a manufacturing operation

NASA Astrophysics Data System (ADS)

Weyand, J.

AI applications to industrial production and planning are discussed and illustrated with diagrams and drawings. Applications examined include flexible automation of manufacturing processes (robots with open manual control, robots programmable to meet product specifications, self-regulated robots, and robots capable of learning), flexible fault detection and diagnostics, production control, and overall planning and management (product strategies, marketing, determination of development capacity, site selection, project organization, and technology investment strategies). For the case of robots, problems in the design and operation of a state-of-the-art machine-tool cell (for hole boring, milling, and joining) are analyzed in detail.

User-centric design of a personal assistance robot (FRASIER) for active aging.

PubMed

Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

2015-01-01

We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

Impressions of Humanness for Android Robot may Represent an Endophenotype for Autism Spectrum Disorders.

PubMed

Kumazaki, Hirokazu; Warren, Zachary; Swanson, Amy; Yoshikawa, Yuichiro; Matsumoto, Yoshio; Ishiguro, Hiroshi; Sarkar, Nilanjan; Minabe, Yoshio; Kikuchi, Mitsuru

2018-02-01

Identification of meaningful endophenotypes may be critical to unraveling the etiology and pathophysiology of autism spectrum disorders (ASD). We investigated whether impressions of "humanness" for android robot might represent a candidate characteristic of an ASD endophenotype. We used a female type of android robot with an appearance similar to that of a real person. Significant differences in overall impressions of 'humanness' for android robot were found between adolescents with ASD and typical development (TD) controls, as well as parents of children with ASD and parents of TD controls. Our current work does suggest robotic systems could potentially play an intelligent role in dissecting ASD heterogeneity.

Vocal Emotion of Humanoid Robots: A Study from Brain Mechanism

PubMed Central

Wang, Youhui; Hu, Xiaohua; Zhou, Jie; Kuo, Taitzong

2014-01-01

Driven by rapid ongoing advances in humanoid robot, increasing attention has been shifted into the issue of emotion intelligence of AI robots to facilitate the communication between man-machines and human beings, especially for the vocal emotion in interactive system of future humanoid robots. This paper explored the brain mechanism of vocal emotion by studying previous researches and developed an experiment to observe the brain response by fMRI, to analyze vocal emotion of human beings. Findings in this paper provided a new approach to design and evaluate the vocal emotion of humanoid robots based on brain mechanism of human beings. PMID:24587712

Research and applications: Artificial intelligence

NASA Technical Reports Server (NTRS)

Raphael, B.; Fikes, R. E.; Chaitin, L. J.; Hart, P. E.; Duda, R. O.; Nilsson, N. J.

1971-01-01

A program of research in the field of artificial intelligence is presented. The research areas discussed include automatic theorem proving, representations of real-world environments, problem-solving methods, the design of a programming system for problem-solving research, techniques for general scene analysis based upon television data, and the problems of assembling an integrated robot system. Major accomplishments include the development of a new problem-solving system that uses both formal logical inference and informal heuristic methods, the development of a method of automatic learning by generalization, and the design of the overall structure of a new complete robot system. Eight appendices to the report contain extensive technical details of the work described.

Function-based design process for an intelligent ground vehicle vision system

NASA Astrophysics Data System (ADS)

Nagel, Robert L.; Perry, Kenneth L.; Stone, Robert B.; McAdams, Daniel A.

2010-10-01

An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via functional and process analysis considering the flows into the vehicle and the transformations of those flows. The conceptual design phase concludes with a vision system design that is modular in both hardware and software and is based on a laser range finder and camera for visual perception. During physical design, prototypes are developed and tested independently, following the modular interfaces identified during conceptual design. Prototype models, once functional, are implemented into the final design. The final vision system design uses a ray-casting algorithm to process camera and laser range finder data and identify potential paths. The ray-casting algorithm is a single thread of the robot's multithreaded application. Other threads control motion, provide feedback, and process sensory data. Once integrated, both hardware and software testing are performed on the robot. We discuss the robot's performance and the lessons learned.

Detecting method of subjects' 3D positions and experimental advanced camera control system

NASA Astrophysics Data System (ADS)

Kato, Daiichiro; Abe, Kazuo; Ishikawa, Akio; Yamada, Mitsuho; Suzuki, Takahito; Kuwashima, Shigesumi

1997-04-01

Steady progress is being made in the development of an intelligent robot camera capable of automatically shooting pictures with a powerful sense of reality or tracking objects whose shooting requires advanced techniques. Currently, only experienced broadcasting cameramen can provide these pictures.TO develop an intelligent robot camera with these abilities, we need to clearly understand how a broadcasting cameraman assesses his shooting situation and how his camera is moved during shooting. We use a real- time analyzer to study a cameraman's work and his gaze movements at studios and during sports broadcasts. This time, we have developed a detecting method of subjects' 3D positions and an experimental camera control system to help us further understand the movements required for an intelligent robot camera. The features are as follows: (1) Two sensor cameras shoot a moving subject and detect colors, producing its 3D coordinates. (2) Capable of driving a camera based on camera movement data obtained by a real-time analyzer. 'Moving shoot' is the name we have given to the object position detection technology on which this system is based. We used it in a soccer game, producing computer graphics showing how players moved. These results will also be reported.

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

NASA Technical Reports Server (NTRS)

Lindley, Craig A.

1993-01-01

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

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

NASA Astrophysics Data System (ADS)

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.

Semiautonomous teleoperation system with vision guidance

NASA Astrophysics Data System (ADS)

Yu, Wai; Pretlove, John R. G.

1998-12-01

This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

3D vision system for intelligent milking robot automation

NASA Astrophysics Data System (ADS)

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.

Storing and Predicting Dynamic Attributes in a World Model Knowledge Store

DTIC Science & Technology

2007-01-01

1 INTRODUCTION ..................................................................................................................16 Motivation and...be addressed and summarily solved by future robotic engineers. 16 CHAPTER 1 INTRODUCTION The world of mobile, intelligent robotics is...Office of the Secretary of Defense charted what was then the Joint Architecture for Unmanned Ground Vehicles Working Group ( JAUGS WG). JAUGS has since

Natural Speech Toward Humans and Intelligent Agents During a Simulated Search and Rescue Mission

DTIC Science & Technology

2008-12-01

Eklundh, 2006). Research has been done on giving directions to robots, and the point of view that teammates normally attribute to them (Imai, Hiraki ...Bystander intervention as a resource in human-robot collaboration. Interaction Studies, 7(3), 455-477. Imai, M., Hiraki , K., Miyasato, T., Nakatsu, R

Towards the automatic scanning of indoors with robots.

PubMed

Adán, Antonio; Quintana, Blanca; Vázquez, Andres S; Olivares, Alberto; Parra, Eduardo; Prieto, Samuel

2015-05-19

This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios.

Towards the Automatic Scanning of Indoors with Robots

PubMed Central

Adán, Antonio; Quintana, Blanca; Vázquez, Andres S.; Olivares, Alberto; Parra, Eduardo; Prieto, Samuel

2015-01-01

This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios. PMID:25996513

Actuation control of a PiezoMEMS biomimetic robotic jellyfish

NASA Astrophysics Data System (ADS)

Alejandre, Alvaro; Olszewski, Oskar; Jackson, Nathan

2017-06-01

Biomimetic micro-robots try to mimic the motion of a living system in the form of a synthetically developed microfabricated device. Dynamic motion of living systems have evolved through the years, but trying to mimic these motions is challenging. Micro-robotics are particular challenging as the fabrication of devices and controlling the motion in 3 dimensions is difficult. However, micro-scale robotics have potential to be used in a wide range of applications. MEMS based robots that can move and function in a liquid environment is of particular interest. This paper describes the development of a piezoMEMS based device that mimics the movement of a jellyfish. The paper focuses on the development of a finite element model that investigates a method of controlling the individual piezoelectric beams in order to create a jet propulsion motion, consisting of a quick excitation pulse followed by a slow recovery pulse in order to maximize thrust and velocity. By controlling the individual beams or legs of the jellyfish robot the authors can control the robot to move precisely in 3 dimensions.

Autonomous Mobile Platform for Research in Cooperative Robotics

NASA Technical Reports Server (NTRS)

Daemi, Ali; Pena, Edward; Ferguson, Paul

1998-01-01

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Personal mobility and manipulation using robotics, artificial intelligence and advanced control.

PubMed

Cooper, Rory A; Ding, Dan; Grindle, Garrett G; Wang, Hongwu

2007-01-01

Recent advancements of technologies, including computation, robotics, machine learning, communication, and miniaturization technologies, bring us closer to futuristic visions of compassionate intelligent devices. The missing element is a basic understanding of how to relate human functions (physiological, physical, and cognitive) to the design of intelligent devices and systems that aid and interact with people. Our stakeholder and clinician consultants identified a number of mobility barriers that have been intransigent to traditional approaches. The most important physical obstacles are stairs, steps, curbs, doorways (doors), rough/uneven surfaces, weather hazards (snow, ice), crowded/cluttered spaces, and confined spaces. Focus group participants suggested a number of ways to make interaction simpler, including natural language interfaces such as the ability to say "I want a drink", a library of high level commands (open a door, park the wheelchair, ...), and a touchscreen interface with images so the user could point and use other gestures.

Amelioration de la precision d'un bras robotise pour une application d'ebavurage

NASA Astrophysics Data System (ADS)

Mailhot, David

Process automation is a more and more referred solution when it comes to complex, tedious or even dangerous tasks for human. Flexibility, low cost and compactness make industrial robots very attractive for automation. Even if many developments have been made to enhance robot's performances, they still can not meet some industries requirements. For instance, aerospace industry requires very tight tolerances on a large variety of parts, which is not what robots were designed for at first. When it comes to robotic deburring, robot imprecision is a major problem that needs to be addressed before it can be implemented in production. This master's thesis explores different calibration techniques for robot's dimensions that could overcome the problem and make the robotic deburring application possible. Some calibration techniques that are easy to implement in production environment are simulated and compared. A calibration technique for tool's dimensions is simulated and implemented to evaluate its potential. The most efficient technique will be used within the application. Finally, the production environment and requirements are explained. The remaining imprecision will be compensated by the use of a force/torque sensor integrated with the robot's controller and by the use of a camera. Many tests are made to define the best parameters to use to deburr a specific feature on a chosen part. Concluding tests are shown and demonstrate the potential use of robotic deburring. Keywords: robotic calibration, robotic arm, robotic precision, robotic deburring

Learning to Solve Problems by Searching for Macro-Operators

DTIC Science & Technology

1983-07-01

executing generalized robot plans. Aritificial Intelligence 3:25 1-288, 1972. [Frey 821 Frey, Alexander Ii. Jr., and David Singmaster. Handbook of Cubik...and that searching for macros may be a useful general learning paradigm. 1.1. Introduction One view of die die field of artificial intelligence is that... intelligence literature [Schofield 67, Gaschnig 79, Ericsson 761 and provides one of the simplest examples of the operation of the Macro Problem Solver. It

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

NASA Astrophysics Data System (ADS)

Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

2006-10-01

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.

Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space

NASA Technical Reports Server (NTRS)

1987-01-01

Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

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.

Apparatus for multiprocessor-based control of a multiagent robot

NASA Technical Reports Server (NTRS)

Peters, II, Richard Alan (Inventor)

2009-01-01

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.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

A CLIPS-based expert system for the evaluation and selection of robots

NASA Technical Reports Server (NTRS)

Nour, Mohamed A.; Offodile, Felix O.; Madey, Gregory R.

1994-01-01

This paper describes the development of a prototype expert system for intelligent selection of robots for manufacturing operations. The paper first develops a comprehensive, three-stage process to model the robot selection problem. The decisions involved in this model easily lend themselves to an expert system application. A rule-based system, based on the selection model, is developed using the CLIPS expert system shell. Data about actual robots is used to test the performance of the prototype system. Further extensions to the rule-based system for data handling and interfacing capabilities are suggested.

Small Knowledge-Based Systems in Education and Training: Something New Under the Sun.

ERIC Educational Resources Information Center

Wilson, Brent G.; Welsh, Jack R.

1986-01-01

Discusses artificial intelligence, robotics, natural language processing, and expert or knowledge-based systems research; examines two large expert systems, MYCIN and XCON; and reviews the resources required to build large expert systems and affordable smaller systems (intelligent job aids) for training. Expert system vendors and products are…

Multimodal Interaction in Ambient Intelligence Environments Using Speech, Localization and Robotics

ERIC Educational Resources Information Center

Galatas, Georgios

2013-01-01

An Ambient Intelligence Environment is meant to sense and respond to the presence of people, using its embedded technology. In order to effectively sense the activities and intentions of its inhabitants, such an environment needs to utilize information captured from multiple sensors and modalities. By doing so, the interaction becomes more natural…

Artificial Intelligence Applications to Fire Management

Treesearch

Don J. Latham

1987-01-01

Artificial intelligence could be used in Forest Service fire management and land-use planning to a larger degree than is now done. Robots, for example, could be programmed to monitor for fire and insect activity, to keep track of wildlife, and to do elementary thinking about the environment. Catching up with the fast-changing technology is imperative.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

PubMed

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.

Towards Machine Learning of Motor Skills

NASA Astrophysics Data System (ADS)

Peters, Jan; Schaal, Stefan; Schölkopf, Bernhard

Autonomous robots that can adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. Early approaches to this goal during the heydays of artificial intelligence research in the late 1980s, however, made it clear that an approach purely based on reasoning or human insights would not be able to model all the perceptuomotor tasks that a robot should fulfill. Instead, new hope was put in the growing wake of machine learning that promised fully adaptive control algorithms which learn both by observation and trial-and-error. However, to date, learning techniques have yet to fulfill this promise as only few methods manage to scale into the high-dimensional domains of manipulator robotics, or even the new upcoming trend of humanoid robotics, and usually scaling was only achieved in precisely pre-structured domains. In this paper, we investigate the ingredients for a general approach to motor skill learning in order to get one step closer towards human-like performance. For doing so, we study two major components for such an approach, i.e., firstly, a theoretically well-founded general approach to representing the required control structures for task representation and execution and, secondly, appropriate learning algorithms which can be applied in this setting.

Progress toward EAP actuators for biomimetic social robots

NASA Astrophysics Data System (ADS)

Hanson, D.

2013-04-01

Social robotics and artificial intelligence have progressed steadily in recent years, appearing in a variety of useful applications and products as well as breakthrough research. However, limitations in conventional motors continue to limit the possibilities of bio-inspired robotics. Such motors are needed for locomotion, grasping and manipulation, and social expressions and gestures. EAP actuators, being more like biological muscle in key regards, could revolutionize the hardware for such robots, if made robust, powerful, and manufacturable at reasonable prices. The author presents a survey of the progress and opportunities for EAP actuators in these fields, and discusses the latest work of his team in developing and manufacturing social robots that could benefit from EAP actuators.

Real-time robot deliberation by compilation and monitoring of anytime algorithms

NASA Technical Reports Server (NTRS)

Zilberstein, Shlomo

1994-01-01

Anytime algorithms are algorithms whose quality of results improves gradually as computation time increases. Certainty, accuracy, and specificity are metrics useful in anytime algorighm construction. It is widely accepted that a successful robotic system must trade off between decision quality and the computational resources used to produce it. Anytime algorithms were designed to offer such a trade off. A model of compilation and monitoring mechanisms needed to build robots that can efficiently control their deliberation time is presented. This approach simplifies the design and implementation of complex intelligent robots, mechanizes the composition and monitoring processes, and provides independent real time robotic systems that automatically adjust resource allocation to yield optimum performance.

Robotic aortic surgery.

PubMed

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.

Cloud-based robot remote control system for smart factory

NASA Astrophysics Data System (ADS)

Wu, Zhiming; Li, Lianzhong; Xu, Yang; Zhai, Jingmei

2015-12-01

With the development of internet technologies and the wide application of robots, there is a prospect (trend/tendency) of integration between network and robots. A cloud-based robot remote control system over networks for smart factory is proposed, which enables remote users to control robots and then realize intelligent production. To achieve it, a three-layer system architecture is designed including user layer, service layer and physical layer. Remote control applications running on the cloud server is developed on Microsoft Azure. Moreover, DIV+ CSS technologies are used to design human-machine interface to lower maintenance cost and improve development efficiency. Finally, an experiment is implemented to verify the feasibility of the program.

An intelligent inspection and survey robot. Volume 2

DOE Office of Scientific and Technical Information (OSTI.GOV)

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.

Dextrous robot hands

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T. (Editor); Iberall, Thea (Editor)

1990-01-01

Recent studies of human hand function and their implications for the design of robot hands are discussed in reviews and reports. Topics addressed include human grasp choice and robotic grasp analysis, opposition space and human prehension, coordination in normal and prosthetic reaching, and intelligent exploration by the human hand. Consideration is given to a task-oriented dextrous manipulation architecture, the control architecture for the Belgrade/USC hand, the analysis of multifingered grasping and manipulation, and tactile sensing for shape interpretation. Diagrams, graphs, and photographs are provided.

A Simple Hierarchical Pooling Data Structure for Loop Closure

DTIC Science & Technology

2016-10-16

ticated agglomerative schemes at a fraction of the effort. 1.1 Related work Loop closure is a key component in robotic mapping (SLAM) [37], autonomous...appearance-only slam-fab-map 2.0. In: Robotics : Science and Systems. vol. 5. Seattle, USA (2009) 7. Dong, J., Soatto, S.: Domain size pooling in local...detection with bags of binary words. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ Intl. Conf. on. pp. 51–58. IEEE (2011) 9. Geiger, A

[Computerization and robotics in medical practice].

PubMed

Dervaderics, J

1997-10-26

The article gives the outlines of all principles used in computing included the non-electrical and analog computers and the artifical intelligence followed by citing examples as well. The principles and medical utilization of virtual reality are also mentioned. There are discussed: surgical planning, image guided surgery, robotic surgery, telepresence and telesurgery, and telemedicine implemented partially via Internet.

NICA: Natural Interaction with a Caring Agent

NASA Astrophysics Data System (ADS)

de Carolis, Berardina; Mazzotta, Irene; Novielli, Nicole

Ambient Intelligence solutions may provide a great opportunity for elderly people to live longer at home. Assistance and care are delegated to the intelligence embedded in the environment. However, besides considering service-oriented response to the user needs, the assistance has to take into account the establishment of social relations. We propose the use of a robot NICA (as the name of the project Natural Interaction with a Caring Agent) acting as a caring assistant that provides a social interface with the smart home services. In this paper, we introduce the general architecture of the robot's "mind" and then we focus on the need to properly react to affective and socially oriented situations.

Robotics and artificial intelligence: Jewish ethical perspectives.

PubMed

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.

An Intelligent Actuator Fault Reconstruction Scheme for Robotic Manipulators.

PubMed

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.

Robotic astrobiology - prospects for enhancing scientific productivity of mars rover missions

NASA Astrophysics Data System (ADS)

Ellery, A. A.

2018-07-01

Robotic astrobiology involves the remote projection of intelligent capabilities to planetary missions in the search for life, preferably with human-level intelligence. Planetary rovers would be true human surrogates capable of sophisticated decision-making to enhance their scientific productivity. We explore several key aspects of this capability: (i) visual texture analysis of rocks to enable their geological classification and so, astrobiological potential; (ii) serendipitous target acquisition whilst on the move; (iii) continuous extraction of regolith properties, including water ice whilst on the move; and (iv) deep learning-capable Bayesian net expert systems. Individually, these capabilities will provide enhanced scientific return for astrobiology missions, but together, they will provide full autonomous science capability.

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

PubMed

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.

Electroactive polymer (EAP) actuators for future humanlike robots

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph

2009-03-01

Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

Electroactive Polymer (EAP) Actuators for Future Humanlike Robots

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph

2009-01-01

Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

NASA Technical Reports Server (NTRS)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

An overview of artificial intelligence and robotics. Volume 1: Artificial intelligence. Part B: Applications

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1983-01-01

Artificial Intelligence (AI) is an emerging technology that has recently attracted considerable attention. Many applications are now under development. This report, Part B of a three part report on AI, presents overviews of the key application areas: Expert Systems, Computer Vision, Natural Language Processing, Speech Interfaces, and Problem Solving and Planning. The basic approaches to such systems, the state-of-the-art, existing systems and future trends and expectations are covered.

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

(Robots in space)—The paper emphasizes the enormous automation impact in industry caused by microelectronics, a "byproduct" of space-technology. The evolutionary stages of robotic are outlined and it is shown that there are a lot of reasons for more automation, artificial intelligence and robotic in space, too. The telemanipulator concept is compared with the industrial robot concept, both showing up an increasing degree of similarity. The state of the art in sensory systems is discussed. By hand of the typical operations needed in space as rendezvous, assembly and docking the required robot skill is indicated. As a conclusion it is stated that the basic technologies available with industrial robots today could solve a lot of space problems. What remains to do—apart of course from ongoing research—is better integration and adaption of industrial techniques to the need of space technology.

Dimensions of emotional intelligence related to physical and mental health and to health behaviors

PubMed Central

Fernández-Abascal, Enrique G.; Martín-Díaz, María Dolores

2015-01-01

In this paper the relationship between emotional intelligence (EI) and health is examined. The current work investigated the dimensions of EI are sufficient to explain various components of physical and mental health, and various categories of health-related behaviors. A sample of 855 participants completed two measures of EI, the Trait Meta-Mood Scale and trait emotional intelligence questionnaire, a measure of health, the Health Survey SF-36 Questionnaire (SF-36); and a measure of health-related behaviors, the health behavior checklist. The results show that the EI dimensions analyzed are better predictors of mental health than of physical health. The EI dimensions that positively explain the Mental Health Component are Well-Being, Self-Control and Sociability, and negatively, Attention. Well-Being, Self-Control and Sociability positively explain the Physical Health Component. EI dimensions predict a lower percentage of health-related behaviors than they do health components. Emotionality and Repair predict the Preventive Health Behavior category, and only one dimension, Self-Control, predicts the Risk Taking Behavior category. Older people carry out more preventive behaviors for health. PMID:25859229

[Robots and intellectual property].

PubMed

Larrieu, Jacques

2013-12-01

This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

NASA Technical Reports Server (NTRS)

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.

Intelligent navigation and accurate positioning of an assist robot in indoor environments

NASA Astrophysics Data System (ADS)

Hua, Bin; Rama, Endri; Capi, Genci; Jindai, Mitsuru; Tsuri, Yosuke

2017-12-01

Intact robot's navigation and accurate positioning in indoor environments are still challenging tasks. Especially in robot applications, assisting disabled and/or elderly people in museums/art gallery environments. In this paper, we present a human-like navigation method, where the neural networks control the wheelchair robot to reach the goal location safely, by imitating the supervisor's motions, and positioning in the intended location. In a museum similar environment, the mobile robot starts navigation from various positions, and uses a low-cost camera to track the target picture, and a laser range finder to make a safe navigation. Results show that the neural controller with the Conjugate Gradient Backpropagation training algorithm gives a robust response to guide the mobile robot accurately to the goal position.

Detection of Subtle Context-Dependent Model Inaccuracies in High-Dimensional Robot Domains.

PubMed

Mendoza, Juan Pablo; Simmons, Reid; Veloso, Manuela

2016-12-01

Autonomous robots often rely on models of their sensing and actions for intelligent decision making. However, when operating in unconstrained environments, the complexity of the world makes it infeasible to create models that are accurate in every situation. This article addresses the problem of using potentially large and high-dimensional sets of robot execution data to detect situations in which a robot model is inaccurate-that is, detecting context-dependent model inaccuracies in a high-dimensional context space. To find inaccuracies tractably, the robot conducts an informed search through low-dimensional projections of execution data to find parametric Regions of Inaccurate Modeling (RIMs). Empirical evidence from two robot domains shows that this approach significantly enhances the detection power of existing RIM-detection algorithms in high-dimensional spaces.

Autonomous robot software development using simple software components

NASA Astrophysics Data System (ADS)

Burke, Thomas M.; Chung, Chan-Jin

2004-10-01

Developing software to control a sophisticated lane-following, obstacle-avoiding, autonomous robot can be demanding and beyond the capabilities of novice programmers - but it doesn"t have to be. A creative software design utilizing only basic image processing and a little algebra, has been employed to control the LTU-AISSIG autonomous robot - a contestant in the 2004 Intelligent Ground Vehicle Competition (IGVC). This paper presents a software design equivalent to that used during the IGVC, but with much of the complexity removed. The result is an autonomous robot software design, that is robust, reliable, and can be implemented by programmers with a limited understanding of image processing. This design provides a solid basis for further work in autonomous robot software, as well as an interesting and achievable robotics project for students.

Robot Manipulator Technologies for Planetary Exploration

NASA Technical Reports Server (NTRS)

Das, H.; Bao, X.; Bar-Cohen, Y.; Bonitz, R.; Lindemann, R.; Maimone, M.; Nesnas, I.; Voorhees, C.

1999-01-01

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

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

NASA Technical Reports Server (NTRS)

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

1992-01-01

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.

RCTA capstone assessment

NASA Astrophysics Data System (ADS)

Lennon, Craig; Bodt, Barry; Childers, Marshal; Dean, Robert; Oh, Jean; DiBerardino, Chip; Keegan, Terence

2015-05-01

The Army Research Laboratory's Robotics Collaborative Technology Alliance (RCTA) is a program intended to change robots from tools that soldiers use into teammates with which soldiers can work. This requires the integration of fundamental and applied research in perception, artificial intelligence, and human-robot interaction. In October of 2014, the RCTA assessed progress towards integrating this research. This assessment was designed to evaluate the robot's performance when it used new capabilities to perform selected aspects of a mission. The assessed capabilities included the ability of the robot to: navigate semantically outdoors with respect to structures and landmarks, identify doors in the facades of buildings, and identify and track persons emerging from those doors. We present details of the mission-based vignettes that constituted the assessment, and evaluations of the robot's performance in these vignettes.

Emerging interdisciplinary fields in the coming intelligence/convergence era

NASA Astrophysics Data System (ADS)

Noor, Ahmed K.

2012-09-01

Dramatic advances are in the horizon resulting from rapid pace of development of several technologies, including, computing, communication, mobile, robotic, and interactive technologies. These advances, along with the trend towards convergence of traditional engineering disciplines with physical, life and other science disciplines will result in the development of new interdisciplinary fields, as well as in new paradigms for engineering practice in the coming intelligence/convergence era (post-information age). The interdisciplinary fields include Cyber Engineering, Living Systems Engineering, Biomechatronics/Robotics Engineering, Knowledge Engineering, Emergent/Complexity Engineering, and Multiscale Systems engineering. The paper identifies some of the characteristics of the intelligence/convergence era, gives broad definition of convergence, describes some of the emerging interdisciplinary fields, and lists some of the academic and other organizations working in these disciplines. The need is described for establishing a Hierarchical Cyber-Physical Ecosystem for facilitating interdisciplinary collaborations, and accelerating development of skilled workforce in the new fields. The major components of the ecosystem are listed. The new interdisciplinary fields will yield critical advances in engineering practice, and help in addressing future challenges in broad array of sectors, from manufacturing to energy, transportation, climate, and healthcare. They will also enable building large future complex adaptive systems-of-systems, such as intelligent multimodal transportation systems, optimized multi-energy systems, intelligent disaster prevention systems, and smart cities.

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Dummy Cup Helps Robot-Welder Programmers

NASA Technical Reports Server (NTRS)

Gordon, Stephen S.

1990-01-01

Dummy gas cup used on torch of robotic welder during programming and practice runs. Made of metal or plastic, dummy cup inexpensive and durable. Withstands bumps caused by programming errors, and is sized for special welding jobs within limited clearances. After robot satisfactorily programmed, replaced by ceramic cup of same dimensions for actual welding.

Virtual reality for intelligent and interactive operating, training, and visualization systems

NASA Astrophysics Data System (ADS)

Freund, Eckhard; Rossmann, Juergen; Schluse, Michael

2000-10-01

Virtual Reality Methods allow a new and intuitive way of communication between man and machine. The basic idea of Virtual Reality (VR) is the generation of artificial computer simulated worlds, which the user not only can look at but also can interact with actively using data glove and data helmet. The main emphasis for the use of such techniques at the IRF is the development of a new generation of operator interfaces for the control of robots and other automation components and for intelligent training systems for complex tasks. The basic idea of the methods developed at the IRF for the realization of Projective Virtual Reality is to let the user work in the virtual world as he would act in reality. The user actions are recognized by the Virtual reality System and by means of new and intelligent control software projected onto the automation components like robots which afterwards perform the necessary actions in reality to execute the users task. In this operation mode the user no longer has to be a robot expert to generate tasks for robots or to program them, because intelligent control software recognizes the users intention and generated automatically the commands for nearly every automation component. Now, Virtual Reality Methods are ideally suited for universal man-machine-interfaces for the control and supervision of a big class of automation components, interactive training and visualization systems. The Virtual Reality System of the IRF-COSIMIR/VR- forms the basis for different projects starting with the control of space automation systems in the projects CIROS, VITAL and GETEX, the realization of a comprehensive development tool for the International Space Station and last but not least with the realistic simulation fire extinguishing, forest machines and excavators which will be presented in the final paper in addition to the key ideas of this Virtual Reality System.

Parents' Judgments of the Acceptability and Importance of Socially Interactive Robots for Intervening with Young Children with Disabilities. Social Robots Research Reports, Number 1

ERIC Educational Resources Information Center

Dunst, Carl J.; Trivette, Carol M.; Prior, Jeremy; Hamby, Deborah W.; Embler, Davon

2013-01-01

A number of different types of socially interactive robots are being used as part of interventions with young children with disabilities to promote their joint attention and language skills. Parents' judgments of two dimensions (acceptance and importance) of the social validity of four different social robots were the focus of the study described…

2016 Summer Series - Terry Fong - Planetary Exploration Reinvented

NASA Image and Video Library

2016-07-07

The allure of deep space drives humanity’s curiosity to further explore the universe, but the risks associated with spaceflight are still limiting. Technological advancements in robotics and data processing are pushing the envelope of Human planetary exploration and habitation. Dr. Terry Fong from the NASA Ames’ Intelligent Robotics Group will describe how we are reinventing the approach to explore the universe.

2015 Marine Corps Security Environment Forecast: Futures 2030-2045

DTIC Science & Technology

2015-01-01

The technologies that make the iPhone “smart” were publically funded—the Internet, wireless networks, the global positioning system, microelectronics...Energy Revolution (63 percent);  Internet of Things (ubiquitous sensors embedded in interconnected computing devices) (50 percent);  “Sci-Fi...Neuroscience & artificial intelligence - Sensors /control systems -Power & energy -Human-robot interaction Robots/autonomous systems will become part of the

NASA Technology Transfer - Human Robot Teaming

NASA Image and Video Library

2016-12-23

Produced for Intelligent Robotics Group to show at January 2017 Consumer Electronics Show (CES). Highlights development of VERVE (Visual Environment for Remote Virtual Exploration) software used on K-10, K-REX, SPHERES and AstroBee projects for 3D awareness. Also mentions transfer of software to Nissan for their development in their Autonomous Vehicle project. Video includes Nissan's self-driving car around NASA Ames.

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Sorry Dave, I’m Afraid I Can’t Do That: Explaining Unachievable Robot Tasks using Natural Language

DTIC Science & Technology

2013-06-24

processing components used by Brooks et al. [6]: the Bikel parser [3] combined with the null element (understood subject) restoration of Gabbard et al...Intelligent Robots and Systems (IROS), pages 1988 – 1993, 2010. [12] Ryan Gabbard , Mitch Marcus, and Seth Kulick. Fully parsing the Penn Treebank. In Human

Integrated Intelligence: Robot Instruction via Interactive Grounded Learning

DTIC Science & Technology

2016-02-14

ADDRESS (ES) U.S. Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 Robotics; Natural Language Processing ; Grounded Language ...Logical Forms for Referring Expression Generation, Emperical Methods in Natural Language Processing (EMNLP). 18-OCT-13, . : , Tom Kwiatkowska, Eunsol...Choi, Yoav Artzi, Luke Zettlemoyer. Scaling Semantic Parsers with On-the-fly Ontology Matching, Emperical Methods in Natural Langauge Processing

Space station as a vital focus for advancing the technologies of automation and robotics

NASA Technical Reports Server (NTRS)

Varsi, Giulio; Herman, Daniel H.

1988-01-01

A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

Intelligent, self-contained robotic hand

DOEpatents

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.

Research and Development of Target Recognition and Location Crawling Platform based on Binocular Vision

NASA Astrophysics Data System (ADS)

Xu, Weidong; Lei, Zhu; Yuan, Zhang; Gao, Zhenqing

2018-03-01

The application of visual recognition technology in industrial robot crawling and placing operation is one of the key tasks in the field of robot research. In order to improve the efficiency and intelligence of the material sorting in the production line, especially to realize the sorting of the scattered items, the robot target recognition and positioning crawling platform based on binocular vision is researched and developed. The images were collected by binocular camera, and the images were pretreated. Harris operator was used to identify the corners of the images. The Canny operator was used to identify the images. Hough-chain code recognition was used to identify the images. The target image in the image, obtain the coordinates of each vertex of the image, calculate the spatial position and posture of the target item, and determine the information needed to capture the movement and transmit it to the robot control crawling operation. Finally, In this paper, we use this method to experiment the wrapping problem in the express sorting process The experimental results show that the platform can effectively solve the problem of sorting of loose parts, so as to achieve the purpose of efficient and intelligent sorting.

Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

NASA Technical Reports Server (NTRS)

Montague, Gilbert

2014-01-01

The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

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

NASA Technical Reports Server (NTRS)

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.

Artificial Immune Algorithm for Subtask Industrial Robot Scheduling in Cloud Manufacturing

NASA Astrophysics Data System (ADS)

Suma, T.; Murugesan, R.

2018-04-01

The current generation of manufacturing industry requires an intelligent scheduling model to achieve an effective utilization of distributed manufacturing resources, which motivated us to work on an Artificial Immune Algorithm for subtask robot scheduling in cloud manufacturing. This scheduling model enables a collaborative work between the industrial robots in different manufacturing centers. This paper discussed two optimizing objectives which includes minimizing the cost and load balance of industrial robots through scheduling. To solve these scheduling problems, we used the algorithm based on Artificial Immune system. The parameters are simulated with MATLAB and the results compared with the existing algorithms. The result shows better performance than existing.

Fifth Conference on Artificial Intelligence for Space Applications

NASA Technical Reports Server (NTRS)

Odell, Steve L. (Compiler)

1990-01-01

The Fifth Conference on Artificial Intelligence for Space Applications brings together diverse technical and scientific work in order to help those who employ AI methods in space applications to identify common goals and to address issues of general interest in the AI community. Topics include the following: automation for Space Station; intelligent control, testing, and fault diagnosis; robotics and vision; planning and scheduling; simulation, modeling, and tutoring; development tools and automatic programming; knowledge representation and acquisition; and knowledge base/data base integration.

Mid-sized omnidirectional robot with hydraulic drive and steering

NASA Astrophysics Data System (ADS)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

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 positionmore » 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.« less

Experiences with a Barista Robot, FusionBot

NASA Astrophysics Data System (ADS)

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.

The Adam and Eve Robot Scientists for the Automated Discovery of Scientific Knowledge

NASA Astrophysics Data System (ADS)

King, Ross

A Robot Scientist is a physically implemented robotic system that applies techniques from artificial intelligence to execute cycles of automated scientific experimentation. A Robot Scientist can automatically execute cycles of hypothesis formation, selection of efficient experiments to discriminate between hypotheses, execution of experiments using laboratory automation equipment, and analysis of results. The motivation for developing Robot Scientists is to better understand science, and to make scientific research more efficient. The Robot Scientist `Adam' was the first machine to autonomously discover scientific knowledge: both form and experimentally confirm novel hypotheses. Adam worked in the domain of yeast functional genomics. The Robot Scientist `Eve' was originally developed to automate early-stage drug development, with specific application to neglected tropical disease such as malaria, African sleeping sickness, etc. We are now adapting Eve to work with on cancer. We are also teaching Eve to autonomously extract information from the scientific literature.

Relationship between emotional intelligence and organizational citizenship behavior.

PubMed

Turnipseed, David L; Vandewaa, Elizabeth A

2012-06-01

This study evaluated hypothesized positive linkages between organizational citizenship behavior and the emotional intelligence dimensions of perception, using emotion, understanding emotion, and management of emotion, involving two samples. Sample 1 comprised 334 employed college students, 52% male, with a mean age of 23.4 yr., who worked an average of 29.6 hr. per week. Sample 2 comprised 72 professors, 81% female, with a mean age of 47 yr. Measures were the Emotional Intelligence Scale and the Organizational Citizenship Behavior Scale. Results of hierarchical multiple regressions indicated a positive link between organizational citizenship behavior and emotional intelligence. There were differences between the samples. In Sample 1, each of the emotional intelligence dimensions were positively linked to citizenship behavior: using and managing emotion were the greatest contributors. In Sample 2, managing emotion was the only contributor. Emotional intelligence had the strongest relationship with citizenship behavior directed at individuals.

The dynamic lift of developmental process.

PubMed

Smith, Linda B; Breazeal, Cynthia

2007-01-01

What are the essential properties of human intelligence, currently unparalleled in its power relative to other biological forms and relative to artificial forms of intelligence? We suggest that answering this question depends critically on understanding developmental process. This paper considers three principles potentially essential to building human-like intelligence: the heterogeneity of the component processes, the embedding of development in a social world, and developmental processes that change the cognitive system as a function of the history of soft-assemblies of these heterogeneous processes in specific tasks. The paper uses examples from human development and from developmental robotics to show how these processes also may underlie biological intelligence and enable us to generate more advanced forms of artificial intelligence.

Programmed to Think.

ERIC Educational Resources Information Center

Edelson, Edward

1980-01-01

Described are the historical uses and research involving the discipline of artifical intelligence. Topics discussed include: symbol manipulation; knowledge engineering; cognitive modeling; and language, vision and robotics. (Author/DS)

Study on robot motion control for intelligent welding processes based on the laser tracking sensor

NASA Astrophysics Data System (ADS)

Zhang, Bin; Wang, Qian; Tang, Chen; Wang, Ju

2017-06-01

A robot motion control method is presented for intelligent welding processes of complex spatial free-form curve seams based on the laser tracking sensor. First, calculate the tip position of the welding torch according to the velocity of the torch and the seam trajectory detected by the sensor. Then, search the optimal pose of the torch under constraints using genetic algorithms. As a result, the intersection point of the weld seam and the laser plane of the sensor is within the detectable range of the sensor. Meanwhile, the angle between the axis of the welding torch and the tangent of the weld seam meets the requirements. The feasibility of the control method is proved by simulation.

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

NASA Technical Reports Server (NTRS)

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.

Identification of key factors in consumers' adoption behavior of intelligent medical terminals based on a hybrid modified MADM model for product improvement.

PubMed

Liu, Yupeng; Chen, Yifei; Tzeng, Gwo-Hshiung

2017-09-01

As a new application technology of the Internet of Things (IoT), intelligent medical treatment has attracted the attention of both nations and industries through its promotion of medical informatisation, modernisation, and intelligentisation. Faced with a wide variety of intelligent medical terminals, consumers may be affected by various factors when making purchase decisions. To examine and evaluate the key influential factors (and their interrelationships) of consumer adoption behavior for improving and promoting intelligent medical terminals toward achieving set aspiration level in each dimension and criterion. A hybrid modified Multiple Attribute Decision-Making (MADM) model was used for this study, based on three components: (1) the Decision-Making Trial and Evaluation Laboratory (DEMATEL) technique, to build an influential network relationship map (INRM) at both 'dimensions' and 'criteria' levels; (2) the DEMATEL-based analytic network process (DANP) method, to determine the interrelationships and influential weights among the criteria and identify the source-influential factors; and (3) the modified Vlse Kriterijumska Optimizacija I Kompromisno Resenje (VIKOR) method, to evaluate and improve for reducing the performance gaps to meet the consumers' needs for continuous improvement and sustainable products-development. First, a consensus on the influential factors affecting consumers' adoption of intelligent medical terminals was collected from experts' opinion in practical experience. Next, the interrelationships and influential weights of DANP among dimensions/criteria based on the DEMATEL technique were determined. Finally, two intelligent medicine bottles (AdhereTech, A 1 alternative; and Audio/Visual Alerting Pillbox, A 2 alternative) were reviewed as the terminal devices to verify the accuracy of the MADM model and evaluate its performance on each criterion for improving the total certification gaps by systematics according to the modified VIKOR method based on an INRM. In this paper, the criteria and dimensions used to improve the evaluation framework are validated. The systematic evaluation in index system is constructed on the basis of five dimensions and corresponding ten criteria. Influential weights of all criteria ranges from 0.037 to 0.152, which shows the rank of criteria importance. The evaluative framework were validated synthetically and scientifically. INRM (influential network relation map) was obtained from experts' opinion through DEMATEL technique shows complex interrelationship among factors. At the dimension level, the environmental dimension influences other dimensions the most, whereas the security dimension is most influenced by others. So the improvement order of environmental dimension is prior to security dimension. The newly constructed approach was still further validated by the results of the empirical case, where performance gap improvement strategies were analyzed for decision-makers. The modified VIKOR method was especially validated for solving real-world problems in intelligent medical terminal improvement processes. For this paper, A 1 performs better than A 2 , however, promotion mix, brand factor, and market environment are shortcomings faced by both A 1 and A 2 . In addition, A 2 should be improved in the wireless network technology, and the objective contact with a high degree of gaps. Based on the evaluation index system and the integrated model proposed here, decision-makers in enterprises can identify gaps when promoting intelligent medical terminals, from which they can get valuable advice to improve consumer adoption. Additionally, an INRM and the influential weights of DANP can be combined using the modified VIKOR method as integrated weightings to determine how to reduce gaps and provide the best improvement strategies for reaching set aspiration levels. Copyright © 2017 Elsevier B.V. All rights reserved.

The Ugly Truth About Ourselves and Our Robot Creations: The Problem of Bias and Social Inequity.

PubMed

Howard, Ayanna; Borenstein, Jason

2017-09-21

Recently, there has been an upsurge of attention focused on bias and its impact on specialized artificial intelligence (AI) applications. Allegations of racism and sexism have permeated the conversation as stories surface about search engines delivering job postings for well-paying technical jobs to men and not women, or providing arrest mugshots when keywords such as "black teenagers" are entered. Learning algorithms are evolving; they are often created from parsing through large datasets of online information while having truth labels bestowed on them by crowd-sourced masses. These specialized AI algorithms have been liberated from the minds of researchers and startups, and released onto the public. Yet intelligent though they may be, these algorithms maintain some of the same biases that permeate society. They find patterns within datasets that reflect implicit biases and, in so doing, emphasize and reinforce these biases as global truth. This paper describes specific examples of how bias has infused itself into current AI and robotic systems, and how it may affect the future design of such systems. More specifically, we draw attention to how bias may affect the functioning of (1) a robot peacekeeper, (2) a self-driving car, and (3) a medical robot. We conclude with an overview of measures that could be taken to mitigate or halt bias from permeating robotic technology.

Scalability of Robotic Controllers: Effects of Progressive Autonomy on Intelligence, Surveillance, and Reconnaissance Robotic Tasks

DTIC Science & Technology

2012-09-01

away from the MOCU. The semi-autonomous mode was preferred over the teleoperated mode for multitasking , maintaining SA, avoiding obstacles, and...0 23 Software with icons 0 0 0 0 2 25 Pull-down menu * 0 0 0 0 3 24 Graphics/drawing features in software packages* 3 8 1 4 3 8 Email 1 0 0 0 1...r. Navigate to the next waypoint or set of hash lines 5.27 5.08 6.25 s. Ability to multitask (operate/monitor robot and communicate on the radio

Real time AI expert system for robotic applications

NASA Technical Reports Server (NTRS)

Follin, John F.

1987-01-01

A computer controlled multi-robot process cell to demonstrate advanced technologies for the demilitarization of obsolete chemical munitions was developed. The methods through which the vision system and other sensory inputs were used by the artificial intelligence to provide the information required to direct the robots to complete the desired task are discussed. The mechanisms that the expert system uses to solve problems (goals), the different rule data base, and the methods for adapting this control system to any device that can be controlled or programmed through a high level computer interface are discussed.

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

NASA Technical Reports Server (NTRS)

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.

Acquisition of Basic Behaviors through Teleoperation using Robonaut

NASA Technical Reports Server (NTRS)

Campbell, Christina

2004-01-01

My area of research is in artificial intelligence and robotics. The major platform of this research is NASA's Robonaut. This humanoid robot is located at the Johnson Space Center. Prior to receiving this grant, I was able to spend two summers in Houston working with the Robonaut team, which is headed by Rob Ambrose. My work centered on teaching Robonaut to grasp a wrench based on data gathered as a human teleoperated the robot. I tried to make the procedure as general as possible so that many different motions could be taught using this method.

Implementing Speed and Separation Monitoring in Collaborative Robot Workcells.

PubMed

Marvel, Jeremy A; Norcross, Rick

2017-04-01

We provide an overview and guidance for the Speed and Separation Monitoring methodology as presented in the International Organization of Standardization's technical specification 15066 on collaborative robot safety. Such functionality is provided by external, intelligent observer systems integrated into a robotic workcell. The SSM minimum protective distance function equation is discussed in detail, with consideration for the input values, implementation specifications, and performance expectations. We provide analytical analyses and test results of the current equation, discuss considerations for implementing SSM in human-occupied environments, and provide directions for technological advancements toward standardization.

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

NASA Technical Reports Server (NTRS)

1991-01-01

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity.

Implementing Speed and Separation Monitoring in Collaborative Robot Workcells

PubMed Central

Marvel, Jeremy A.; Norcross, Rick

2016-01-01

We provide an overview and guidance for the Speed and Separation Monitoring methodology as presented in the International Organization of Standardization's technical specification 15066 on collaborative robot safety. Such functionality is provided by external, intelligent observer systems integrated into a robotic workcell. The SSM minimum protective distance function equation is discussed in detail, with consideration for the input values, implementation specifications, and performance expectations. We provide analytical analyses and test results of the current equation, discuss considerations for implementing SSM in human-occupied environments, and provide directions for technological advancements toward standardization. PMID:27885312

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation

NASA Astrophysics Data System (ADS)

Trivedi, Mohan M.; Chen, ChuXin; Marapane, Suresh

1989-02-01

Vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. Vision systems are uti-lized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful for tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed.

Psychopathy: Relations with three conceptions of intelligence.

PubMed

Watts, Ashley L; Salekin, Randall T; Harrison, Natalie; Clark, Abby; Waldman, Irwin D; Vitacco, Michael J; Lilienfeld, Scott O

2016-07-01

Psychopathy is often associated with heightened intelligence in the eyes of clinicians and laypersons despite mixed research support for this possibility. We adopted a fine-grained approach to studying the relations among psychopathy and multiple indices of intelligence, including both cognitively based intelligence (CBI) and emotional intelligence (EI), in a large sample of undergraduates (N = 1,257, 70% female, 82% Caucasian). We found no clear support for marked associations between psychopathy and CB I measures, with the magnitudes of these relations being small. With the exception of the dimensions of Fearless Dominance (FD) and Coldheartedness (C), psychopathy dimensions were negatively associated with (EI). In contrast, we found some support for the hypothesis that intelligence served as a protective factor against antisocial behavior among individuals with high levels of psychopathy. On balance, our findings show weak relations between psychopathy and intelligence, suggesting that the link between them may be less robust than theoretical models portray, at least among undergraduates. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

PubMed Central

Mateo, Carlos M.; Gil, Pablo; Torres, Fernando

2016-01-01

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments. PMID:27164102

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.

PubMed

Mateo, Carlos M; Gil, Pablo; Torres, Fernando

2016-05-05

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object's surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand's fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Spatial Data Structures for Robotic Vehicle Route Planning

DTIC Science & Technology

1988-12-01

goal will be realized in an intelligent Spatial Data Structure Development System (SDSDS) intended for use by Terrain Analysis applications...from the user the details of representation and to permit the infrastructure itself to decide which representations will be most efficient or effective ...to intelligently predict performance of algorithmic sequences and thereby optimize the application (within the accuracy of the prediction models). The

Simultaneous Planning and Control for Autonomous Ground Vehicles

DTIC Science & Technology

2009-02-01

these applications is called A * ( A -star), and it was originally developed by Hart, Nilsson, and Raphael [HAR68]. Their research presented the formal...sequence, rather than a dynamic programming approach. A * search is a technique originally developed for Artificial Intelligence 43 applications ... developed at the Center for Intelligent Machines and Robotics, serves as a platform for the implementation and testing discussed. autonomous

Automatic Synthesis of Fine-Motion Strategies for Robots.

DTIC Science & Technology

1983-12-01

ADA-A39 532 AUTOMATI CSYNTHESISOF FNE-MOTIONSTRATEGIESFORa R080 S(U) MASSACHUSETTS INS OF TECH CAMBRIDOE ARTIFCIAL INTELLGENCE LAB IOZANO-PEREZ DEC...N00014-82-K-0334 9. PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT. PROJECT. TASK Artificial Intelligence Laboratory AREA...provides correct- ness criteria for compliant motion strategies. MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. MEMO 759

Robots and service innovation in health care.

PubMed

Oborn, Eivor; Barrett, Michael; Darzi, Ara

2011-01-01

Robots have long captured our imagination and are being used increasingly in health care. In this paper we summarize, organize and criticize the health care robotics literature and highlight how the social and technical elements of robots iteratively influence and redefine each other. We suggest the need for increased emphasis on sociological dimensions of using robots, recognizing how social and work relations are restructured during changes in practice. Further, we propose the usefulness of a 'service logic' in providing insight as to how robots can influence health care innovation. The Royal Society of Medicine Press Ltd 2011.

Integration of task level planning and diagnosis for an intelligent robot

NASA Technical Reports Server (NTRS)

Gerstenfeld, Arthur

1988-01-01

The use of robots in the future must go beyond present applications and will depend on the ability of a robot to adapt to a changing environment and to deal with unexpected scenarios (i.e., picking up parts that are not exactly where they were expected to be). The objective of this research is to demonstrate the feasibility of incorporating high level planning into a robot enabling it to deal with anomalous situations in order to minimize the need for constant human instruction. The heuristics can be used by a robot to apply information about previous actions towards accomplishing future objectives more efficiently. The system uses a decision network that represents the plan for accomplishing a task. This enables the robot to modify its plan based on results of previous actions. The system serves as a method for minimizing the need for constant human instruction in telerobotics. This paper describes the integration of expert systems and simulation as a valuable tool that goes far beyond this project. Simulation can be expected to be used increasingly as both hardware and software improve. Similarly, the ability to merge an expert system with simulation means that we can add intelligence to the system. A malfunctioning space satellite is described. The expert system uses a series of heuristics in order to guide the robot to the proper location. This is part of task level planning. The final part of the paper suggests directions for future research. Having shown the feasibility of an expert system embedded in a simulation, the paper then discusses how the system can be integrated with the MSFC graphics system.

Autonomy in robots and other agents.

PubMed

Smithers, T

1997-06-01

The word "autonomous" has become widely used in artificial intelligence, robotics, and, more recently, artificial life and is typically used to qualify types of systems, agents, or robots: we see terms like "autonomous systems," "autonomous agents," and "autonomous robots." Its use in these fields is, however, both weak, with no distinctions being made that are not better and more precisely made with other existing terms, and varied, with no single underlying concept being involved. This ill-disciplined usage contrasts strongly with the use of the same term in other fields such as biology, philosophy, ethics, law, and human rights, for example. In all these quite different areas the concept of autonomy is essentially the same, though the language used and the aspects and issues of concern, of course, differ. In all these cases the underlying notion is one of self-law making and the closely related concept of self-identity. In this paper I argue that the loose and varied use of the term autonomous in artificial intelligence, robotics, and artificial life has effectively robbed these fields of an important concept. A concept essentially the same as we find it in biology, philosophy, ethics, and law, and one that is needed to distinguish a particular kind of agent or robot from those developed and built so far. I suggest that robots and other agents will have to be autonomous, i.e., self-law making, not just self-regulating, if they are to be able effectively to deal with the kinds of environments in which we live and work: environments which have significant large scale spatial and temporal invariant structure, but which also have large amounts of local spatial and temporal dynamic variation and unpredictability, and which lead to the frequent occurrence of previously unexperienced situations for the agents that interact with them.

JPRS Report Science & Technology Japan Space Artificial Intelligence/Robotics/Automation Symposium.

DTIC Science & Technology

1989-12-28

Kazuya Kaku, et al. ] 28 Spacecraft Automatic Monitoring System [Kazuya Kaku, et al. ] 36 Autonomous Space Robot, Related Computer ...type space vehicle Space station , orbital sup - lport systems Transport systems Ground Systems 1 et»*:«..,..... ri,(rn™ Communciations ...axis torque sensor. Motorola’s VME-10 is used as the computer . 5. Experimental Results To investigate the state of separation between the external

Heartless and cunning? Intelligence in adolescents with antisocial behavior and psychopathic traits.

PubMed

Allen, Jennifer L; Briskman, Jacqueline; Humayun, Sajid; Dadds, Mark R; Scott, Stephen

2013-12-30

Clinical theory predicts that individuals high in psychopathic traits possess average or above average intelligence; however findings in adult and child samples have been mixed. The present study aimed to investigate (1) the relationship between verbal and nonverbal intelligence and the three dimensions of psychopathy (callous-unemotional (CU) traits, narcissism, impulsivity); and (2) whether these dimensions moderate the association between verbal and nonverbal intelligence and the severity of antisocial behavior. Participants were 361 adolescents aged 9-18 years (68% boys) and their parents, drawn from four samples with different levels of risk for antisocial behavior. Families were disadvantaged and 25% were from an ethnic minority. Verbal intelligence was unrelated to parent-reported CU traits, narcissism or impulsivity after controlling for gender, sociodemographic disadvantage, sample, antisocial behavior and hyperactivity. Narcissism, but not CU traits or impulsivity, was significantly related to lower nonverbal IQ. None of the three psychopathic trait dimensions moderated the relationship between verbal or nonverbal IQ and antisocial behavior. CU traits, narcissism, hyperactivity and inclusion in the very high or high risk samples were significantly related to more severe antisocial behavior. Results contradict the widely held view that psychopathic traits are associated with better than average verbal or nonverbal intelligence. Crown Copyright © 2013 Published by Elsevier Ireland Ltd. All rights reserved.

Characterization Parameters for a Three Degree of Freedom Mobile Robot

DTIC Science & Technology

2013-12-01

DARc’s dimensions which contributed to the inertia, force, torque and position equa- tions. We calculated body inertia as 1.93kg·m2 and wheel inertia...separation .316 Wheel Radius Outer/Inner .127 m .085cm Wheel Mass .7055 kg Body Mass 13.542 kg Table 4.1: DAR-C Dimensions The force on each wheel...which used ackeman steering, a technique where wheels are able to rotate relative the robot body . The easiest example of a differentially steered

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

NASA Technical Reports Server (NTRS)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Soft Robotics: from scientific challenges to technological applications

NASA Astrophysics Data System (ADS)

Laschi, C.

2016-05-01

Soft robotics is a recent and rapidly growing field of research, which aims at unveiling the principles for building robots that include soft materials and compliance in the interaction with the environment, so as to exploit so-called embodied intelligence and negotiate natural environment more effectively. Using soft materials for building robots poses new technological challenges: the technologies for actuating soft materials, for embedding sensors into soft robot parts, for controlling soft robots are among the main ones. This is stimulating research in many disciplines and many countries, such that a wide community is gathering around initiatives like the IEEE TAS TC on Soft Robotics and the RoboSoft CA - A Coordination Action for Soft Robotics, funded by the European Commission. Though still in its early stages of development, soft robotics is finding its way in a variety of applications, where safe contact is a main issue, in the biomedical field, as well as in exploration tasks and in the manufacturing industry. And though the development of the enabling technologies is still a priority, a fruitful loop is growing between basic research and application-oriented research in soft robotics.

Robot Wars: US Empire and geopolitics in the robotic age

PubMed Central

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Robots are not just tools

NASA Astrophysics Data System (ADS)

Prescott, Tony J.

2017-04-01

The EPSRC principles of robotics make a number of commitments about the ontological status of robots such as that robots are "just tools" or can give only "an impression or real intelligence". This commentary proposes that this assumes, all too easily, that we know the boundary conditions of future robotics development, and argues that progress towards a more useful set of principles could begin by thinking carefully about the ontological status of robots. Whilst most robots are currently little more than tools, we are entering an era where there will be new kinds of entities that combine some of the properties of tools with psychological capacities that we had previously thought were reserved for complex biological organisms such as humans. The ontological status of robots might be best described as liminal - neither living nor simply mechanical. There is also evidence that people will treat robots as more than just tools regardless of the extent to which their machine nature is transparent. Ethical principles need to be developed that recognise these ontological and psychological issues around the nature of robots and how they are perceived.

Robot Wars: US Empire and geopolitics in the robotic age.

PubMed

Shaw, Ian Gr

2017-10-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots - driven by leaps in artificial intelligence and swarming - are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence - revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy.

Mobile robots exploration through cnn-based reinforcement learning.

PubMed

Tai, Lei; Liu, Ming

2016-01-01

Exploration in an unknown environment is an elemental application for mobile robots. In this paper, we outlined a reinforcement learning method aiming for solving the exploration problem in a corridor environment. The learning model took the depth image from an RGB-D sensor as the only input. The feature representation of the depth image was extracted through a pre-trained convolutional-neural-networks model. Based on the recent success of deep Q-network on artificial intelligence, the robot controller achieved the exploration and obstacle avoidance abilities in several different simulated environments. It is the first time that the reinforcement learning is used to build an exploration strategy for mobile robots through raw sensor information.

Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics

PubMed Central

Herrero, Héctor; Outón, Jose Luis; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele

2017-01-01

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques. PMID:28561750

FPGA-based fused smart sensor for dynamic and vibration parameter extraction in industrial robot links.

PubMed

Rodriguez-Donate, Carlos; Morales-Velazquez, Luis; Osornio-Rios, Roque Alfredo; Herrera-Ruiz, Gilberto; de Jesus Romero-Troncoso, Rene

2010-01-01

Intelligent robotics demands the integration of smart sensors that allow the controller to efficiently measure physical quantities. Industrial manipulator robots require a constant monitoring of several parameters such as motion dynamics, inclination, and vibration. This work presents a novel smart sensor to estimate motion dynamics, inclination, and vibration parameters on industrial manipulator robot links based on two primary sensors: an encoder and a triaxial accelerometer. The proposed smart sensor implements a new methodology based on an oversampling technique, averaging decimation filters, FIR filters, finite differences and linear interpolation to estimate the interest parameters, which are computed online utilizing digital hardware signal processing based on field programmable gate arrays (FPGA).

Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics.

PubMed

Herrero, Héctor; Outón, Jose Luis; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele

2017-05-31

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.

FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links

PubMed Central

Rodriguez-Donate, Carlos; Morales-Velazquez, Luis; Osornio-Rios, Roque Alfredo; Herrera-Ruiz, Gilberto; de Jesus Romero-Troncoso, Rene

2010-01-01

Intelligent robotics demands the integration of smart sensors that allow the controller to efficiently measure physical quantities. Industrial manipulator robots require a constant monitoring of several parameters such as motion dynamics, inclination, and vibration. This work presents a novel smart sensor to estimate motion dynamics, inclination, and vibration parameters on industrial manipulator robot links based on two primary sensors: an encoder and a triaxial accelerometer. The proposed smart sensor implements a new methodology based on an oversampling technique, averaging decimation filters, FIR filters, finite differences and linear interpolation to estimate the interest parameters, which are computed online utilizing digital hardware signal processing based on field programmable gate arrays (FPGA). PMID:22319345

Task allocation among multiple intelligent robots

NASA Technical Reports Server (NTRS)

Gasser, L.; Bekey, G.

1987-01-01

Researchers describe the design of a decentralized mechanism for allocating assembly tasks in a multiple robot assembly workstation. Currently, the approach focuses on distributed allocation to explore its feasibility and its potential for adaptability to changing circumstances, rather than for optimizing throughput. Individual greedy robots make their own local allocation decisions using both dynamic allocation policies which propagate through a network of allocation goals, and local static and dynamic constraints describing which robots are elibible for which assembly tasks. Global coherence is achieved by proper weighting of allocation pressures propagating through the assembly plan. Deadlock avoidance and synchronization is achieved using periodic reassessments of local allocation decisions, ageing of allocation goals, and short-term allocation locks on goals.

Applications of artificial intelligence to space station and automated software techniques: High level robot command language

NASA Technical Reports Server (NTRS)

Mckee, James W.

1989-01-01

The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

Person-like intelligent systems architectures for robotic shared control and automated operations

NASA Technical Reports Server (NTRS)

Erickson, Jon D.; Aucoin, Paschal J., Jr.; Ossorio, Peter G.

1992-01-01

An approach to rendering robotic systems as 'personlike' as possible to achieve needed capabilities is outlined. Human characteristics such as knowledge, motivation, know-how, performance, achievement and individual differences corresponding to propensities and abilities can be supplied, within limits, with computing software and hardware to robotic systems provided with sufficiently rich sensory configurations. Pushing these limits is the developmental path for more and more personlike robotic systems. The portions of the Person Concept that appear to be most directly relevant to this effort are described in the following topics: reality concepts (the state-of-affairs system and descriptive formats, behavior as intentional action, individual persons (person characteristics), social patterns of behavior (social practices), and boundary conditions (status maxims). Personlike robotic themes and considerations for a technical development plan are also discussed.

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

The 1991 Goddard Conference on Space Applications of Artificial Intelligence

NASA Technical Reports Server (NTRS)

Rash, James L. (Editor)

1991-01-01

The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The papers in this proceeding fall into the following areas: Planning and scheduling, fault monitoring/diagnosis/recovery, machine vision, robotics, system development, information management, knowledge acquisition and representation, distributed systems, tools, neural networks, and miscellaneous applications.

Automated planning for intelligent machines in energy-related applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weisbin, C.R.; de Saussure, G.; Barhen, J.

1984-01-01

This paper discusses the current activities of the Center for Engineering Systems Advanced Research (CESAR) program related to plan generation and execution by an intelligent machine. The system architecture for the CESAR mobile robot (named HERMIES-1) is described. The minimal cut-set approach is developed to reduce the tree search time of conventional backward chaining planning techniques. Finally, a real-time concept of an Intelligent Machine Operating System is presented in which planning and reasoning is embedded in a system for resource allocation and process management.

Integrated Artificial Intelligence Approaches for Disease Diagnostics.

PubMed

Vashistha, Rajat; Chhabra, Deepak; Shukla, Pratyoosh

2018-06-01

Mechanocomputational techniques in conjunction with artificial intelligence (AI) are revolutionizing the interpretations of the crucial information from the medical data and converting it into optimized and organized information for diagnostics. It is possible due to valuable perfection in artificial intelligence, computer aided diagnostics, virtual assistant, robotic surgery, augmented reality and genome editing (based on AI) technologies. Such techniques are serving as the products for diagnosing emerging microbial or non microbial diseases. This article represents a combinatory approach of using such approaches and providing therapeutic solutions towards utilizing these techniques in disease diagnostics.

Intelligence with representation.

PubMed

Steels, Luc

2003-10-15

Behaviour-based robotics has always been inspired by earlier cybernetics work such as that of W. Grey Walter. It emphasizes that intelligence can be achieved without the kinds of representations common in symbolic AI systems. The paper argues that such representations might indeed not be needed for many aspects of sensory-motor intelligence but become a crucial issue when bootstrapping to higher levels of cognition. It proposes a scenario in the form of evolutionary language games by which embodied agents develop situated grounded representations adapted to their needs and the conventions emerging in the population.

A computer architecture for intelligent machines

NASA Technical Reports Server (NTRS)

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.

Intelligent Agent Architectures: Reactive Planning Testbed

NASA Technical Reports Server (NTRS)

Rosenschein, Stanley J.; Kahn, Philip

1993-01-01

An Integrated Agent Architecture (IAA) is a framework or paradigm for constructing intelligent agents. Intelligent agents are collections of sensors, computers, and effectors that interact with their environments in real time in goal-directed ways. Because of the complexity involved in designing intelligent agents, it has been found useful to approach the construction of agents with some organizing principle, theory, or paradigm that gives shape to the agent's components and structures their relationships. Given the wide variety of approaches being taken in the field, the question naturally arises: Is there a way to compare and evaluate these approaches? The purpose of the present work is to develop common benchmark tasks and evaluation metrics to which intelligent agents, including complex robotic agents, constructed using various architectural approaches can be subjected.

Intelligent Articulated Robot

NASA Astrophysics Data System (ADS)

Nyein, Aung Kyaw; Thu, Theint Theint

2008-10-01

In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Weisbin, C.R.; Pin, F.G.

1989-01-01

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude bymore » summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.« less

Biomimetics and the Development of Humanlike Robots as the Ultimate Challenge

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph

2011-01-01

Evolution led to effective solutions to nature's challenges and they were improved over millions of years. Humans have always made efforts to use nature as a model for innovation and problems solving. These efforts became more intensive in recent years where systematic studies of nature are being made towards better understanding and applying more sophisticated capabilities. Making humanlike robots, including the appearance, functions and intelligence, poses the ultimate challenges to biomimetics. For many years, making such robots was considered science fiction, but as a result of significant advances in biologically inspired technologies, such robots are increasingly becoming an engineering reality. There are already humanlike robots that walk, talk, interpret speech, make eye-contact and facial expressions, as well as perform many other humanlike functions. In this paper, the state-of-the-art of humanlike robots, potential applications and issues of concern will be reviewed.

Deep ART Neural Model for Biologically Inspired Episodic Memory and Its Application to Task Performance of Robots.

PubMed

Park, Gyeong-Moon; Yoo, Yong-Ho; Kim, Deok-Hwa; Kim, Jong-Hwan; Gyeong-Moon Park; Yong-Ho Yoo; Deok-Hwa Kim; Jong-Hwan Kim; Yoo, Yong-Ho; Park, Gyeong-Moon; Kim, Jong-Hwan; Kim, Deok-Hwa

2018-06-01

Robots are expected to perform smart services and to undertake various troublesome or difficult tasks in the place of humans. Since these human-scale tasks consist of a temporal sequence of events, robots need episodic memory to store and retrieve the sequences to perform the tasks autonomously in similar situations. As episodic memory, in this paper we propose a novel Deep adaptive resonance theory (ART) neural model and apply it to the task performance of the humanoid robot, Mybot, developed in the Robot Intelligence Technology Laboratory at KAIST. Deep ART has a deep structure to learn events, episodes, and even more like daily episodes. Moreover, it can retrieve the correct episode from partial input cues robustly. To demonstrate the effectiveness and applicability of the proposed Deep ART, experiments are conducted with the humanoid robot, Mybot, for performing the three tasks of arranging toys, making cereal, and disposing of garbage.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Cepollina, Frank J. (Inventor); Corbo, James E. (Inventor); Burns, Richard D. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR, and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time as well as the ability to intervene using manual override to teleoperate the robot.

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

Reprogramming the articulated robotic arm for glass handling by using Arduino microcontroller

NASA Astrophysics Data System (ADS)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Kadir, Mohd Asmadi Akmal; Daud, Mohd Hisam

2017-09-01

The application of articulated robotic arm in industries is raised due to the expansion of using robot to replace human task, especially for the harmful tasks. However a few problems happen with the program use to schedule the arm, Thus the purpose of this project is to design, fabricate and integrate an articulated robotic arm by using Arduino microcontroller for handling glass sorting system. This project was designed to segregate glass and non-glass waste which would be pioneer step for recycling. This robotic arm has four servo motors to operate as a whole; three for the body and one for holding mechanism. This intelligent system is controlled by Arduino microcontroller and build with optical sensor to provide the distinguish objects that will be handled. Solidworks model was used to produce the detail design of the robotic arm and make the mechanical properties analysis by using a CAD software.

A study of the passive gait of a compass-like biped robot: Symmetry and chaos

DOE Office of Scientific and Technical Information (OSTI.GOV)

Goswami, A.; Espiau, B.; Thuilot, B.

1998-12-01

The focus of this work is a systematic study of the passive gait of a compass-like planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the hip joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. The authors show that in response to a continuous change in any one of its parameters, the symmetric and steady stable gait of the unpowered robot gradually evolves through a regime of bifurcations characterized bymore » progressively complicated asymmetric gaits, eventually arriving at an apparently chaotic gait where not two steps are identical. The robot can maintain this gait indefinitely. A necessary (but not sufficient) condition for the stability of such gaits is the contraction of the phase-fluid volume. For this frictionless robot, the volume contraction, which the authors compute, is caused by the dissipative effects of the ground-impact model. In the chaotic regime, the fractal dimension of the robot`s strange attractor (2.07) compared to its state-space dimension (4) also reveals strong contraction. The authors present a novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos. Additional passive dissipative elements in the robot joint results in a significant improvement in the stability and the versatility of the gait, and provide a rich repertoire for simple controls laws.« less

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

PubMed

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

Emotional intelligence, emotional labor, and job satisfaction among physicians in Greece.

PubMed

Psilopanagioti, Aristea; Anagnostopoulos, Fotios; Mourtou, Efstratia; Niakas, Dimitris

2012-12-17

There is increasing evidence that psychological constructs, such as emotional intelligence and emotional labor, play an important role in various organizational outcomes in service sector. Recently, in the "emotionally charged" healthcare field, emotional intelligence and emotional labor have both emerged as research tools, rather than just as theoretical concepts, influencing various organizational parameters including job satisfaction. The present study aimed at investigating the relationships, direct and/or indirect, between emotional intelligence, the surface acting component of emotional labor, and job satisfaction in medical staff working in tertiary healthcare. Data were collected from 130 physicians in Greece, who completed a series of self-report questionnaires including: a) the Wong Law Emotional Intelligence Scale, which assessed the four dimensions of emotional intelligence, i.e. Self-Emotion Appraisal, Others' Emotion Appraisal, Use of Emotion, and Regulation of Emotion, b) the General Index of Job Satisfaction, and c) the Dutch Questionnaire on Emotional Labor (surface acting component). Emotional intelligence (Use of Emotion dimension) was significantly and positively correlated with job satisfaction (r=.42, p<.001), whereas a significant negative correlation between surface acting and job satisfaction was observed (r=-.39, p<.001). Furthermore, Self-Emotion Appraisal was negatively correlated with surface acting (r=-.20, p<.01). Self-Emotion Appraisal was found to influence job satisfaction both directly and indirectly through surface acting, while this indirect effect was moderated by gender. Apart from its mediating role, surface acting was also a moderator of the emotional intelligence-job satisfaction relationship. Hierarchical multiple regression analysis revealed that surface acting could predict job satisfaction over and above emotional intelligence dimensions. The results of the present study may contribute to the better understanding of emotion-related parameters that affect the work process with a view to increasing the quality of service in the health sector.

Design and control of active vision based mechanisms for intelligent robots

NASA Technical Reports Server (NTRS)

Wu, Liwei; Marefat, Michael M.

1994-01-01

In this paper, we propose a design of an active vision system for intelligent robot application purposes. The system has the degrees of freedom of pan, tilt, vergence, camera height adjustment, and baseline adjustment with a hierarchical control system structure. Based on this vision system, we discuss two problems involved in the binocular gaze stabilization process: fixation point selection and vergence disparity extraction. A hierarchical approach to determining point of fixation from potential gaze targets using evaluation function representing human visual behavior to outside stimuli is suggested. We also characterize different visual tasks in two cameras for vergence control purposes, and a phase-based method based on binarized images to extract vergence disparity for vergence control is presented. A control algorithm for vergence control is discussed.

Computational Intelligence Techniques for Tactile Sensing Systems

PubMed Central

Gastaldo, Paolo; Pinna, Luigi; Seminara, Lucia; Valle, Maurizio; Zunino, Rodolfo

2014-01-01

Tactile sensing helps robots interact with humans and objects effectively in real environments. Piezoelectric polymer sensors provide the functional building blocks of the robotic electronic skin, mainly thanks to their flexibility and suitability for detecting dynamic contact events and for recognizing the touch modality. The paper focuses on the ability of tactile sensing systems to support the challenging recognition of certain qualities/modalities of touch. The research applies novel computational intelligence techniques and a tensor-based approach for the classification of touch modalities; its main results consist in providing a procedure to enhance system generalization ability and architecture for multi-class recognition applications. An experimental campaign involving 70 participants using three different modalities in touching the upper surface of the sensor array was conducted, and confirmed the validity of the approach. PMID:24949646

Computational intelligence techniques for tactile sensing systems.

PubMed

Gastaldo, Paolo; Pinna, Luigi; Seminara, Lucia; Valle, Maurizio; Zunino, Rodolfo

2014-06-19

Tactile sensing helps robots interact with humans and objects effectively in real environments. Piezoelectric polymer sensors provide the functional building blocks of the robotic electronic skin, mainly thanks to their flexibility and suitability for detecting dynamic contact events and for recognizing the touch modality. The paper focuses on the ability of tactile sensing systems to support the challenging recognition of certain qualities/modalities of touch. The research applies novel computational intelligence techniques and a tensor-based approach for the classification of touch modalities; its main results consist in providing a procedure to enhance system generalization ability and architecture for multi-class recognition applications. An experimental campaign involving 70 participants using three different modalities in touching the upper surface of the sensor array was conducted, and confirmed the validity of the approach.

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 1: Executive Summary

NASA Technical Reports Server (NTRS)

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

1982-01-01

Potential applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and to their related ground support functions are explored. The specific tasks which will be required by future space projects are identified. ARAMIS options which are candidates for those space project tasks and the relative merits of these options are defined and evaluated. Promising applications of ARAMIS and specific areas for further research are identified. The ARAMIS options defined and researched by the study group 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.

What else can brains do?

PubMed

Sloman, Aaron

2013-06-01

The approach Clark labels "action-oriented predictive processing" treats all cognition as part of a system of on-line control. This ignores other important aspects of animal, human, and robot intelligence. He contrasts it with an alleged "mainstream" approach that also ignores the depth and variety of AI/Robotic research. I don't think the theory presented is worth taking seriously as a complete model, even if there is much that it explains.

Center of Excellence in Aerospace Manufacturing Automation

DTIC Science & Technology

1983-11-01

affiliated industrial companies, who will pi,)vide financial support and ongoing guidance to the Institute. SIMA will encompass the design and management ...tactile sensing, intelligent systems for robot task management , and computer vision for robot management . We are addressing the question of how to provide...than anything today’s control systems could stably manage . To do this we have begun to develop a sequen- tial family of new manipulators that are

Future Soldiers: Analysis of Entry-Level Performance Requirements and Their Predictors

DTIC Science & Technology

2005-09-01

these future missions; "* New technology such as weapons, tools, and vehicles (e.g., robotics ) and the effect of technological change on personnel...Clusters 1. Close Combat 2. Non Line-of-Sight Fire 3. Surveillance, Intelligence, and Communications 4. Unmanned Vehicle/ Robotics Operator 5. Security...minimized with (a) new materials for ballistic protection, (b) new lethalities, and (c) exoskeletons /artificial muscles. • Infantrymen will experience better

Humanoid Robots: A New Kind of Tool

DTIC Science & Technology

2000-01-01

Breazeal (Ferrell), R. Irie, C. C. Kemp, M. J. Marjanovic , B. Scassellati, M. M. Williamson, Alternate Essences of Intelligence, AAAI 1998. 2 R. A. Brooks, C...Breazeal, M. J. Marjanovic , B. Scassellati, M. M. Williamson, The Cog Project: Building a Humanoid Robot, Computation fbr Metaphors, Analogy and...Functions, Vol. 608, 1990, New York Academy of Sciences, pp. 637-676. 7 M. J. Marjanovic , B. Scassellati, M. M. Williamson, Self-Taught Visually-Guided

Intelligent robots for planetary exploration and construction

NASA Technical Reports Server (NTRS)

Albus, James S.

1992-01-01

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Improving Cognitive Skills of the Industrial Robot

NASA Astrophysics Data System (ADS)

Bezák, Pavol

2015-08-01

At present, there are plenty of industrial robots that are programmed to do the same repetitive task all the time. Industrial robots doing such kind of job are not able to understand whether the action is correct, effective or good. Object detection, manipulation and grasping is challenging due to the hand and object modeling uncertainties, unknown contact type and object stiffness properties. In this paper, the proposal of an intelligent humanoid hand object detection and grasping model is presented assuming that the object properties are known. The control is simulated in the Matlab Simulink/ SimMechanics, Neural Network Toolbox and Computer Vision System Toolbox.

Optimization of the computational load of a hypercube supercomputer onboard a mobile robot.

PubMed

Barhen, J; Toomarian, N; Protopopescu, V

1987-12-01

A combinatorial optimization methodology is developed, which enables the efficient use of hypercube multiprocessors onboard mobile intelligent robots dedicated to time-critical missions. The methodology is implemented in terms of large-scale concurrent algorithms based either on fast simulated annealing, or on nonlinear asynchronous neural networks. In particular, analytic expressions are given for the effect of singleneuron perturbations on the systems' configuration energy. Compact neuromorphic data structures are used to model effects such as prec xdence constraints, processor idling times, and task-schedule overlaps. Results for a typical robot-dynamics benchmark are presented.

The neuroscience of vision-based grasping: a functional review for computational modeling and bio-inspired robotics.

PubMed

Chinellato, Eris; Del Pobil, Angel P

2009-06-01

The topic of vision-based grasping is being widely studied in humans and in other primates using various techniques and with different goals. The fundamental related findings are reviewed in this paper, with the aim of providing researchers from different fields, including intelligent robotics and neural computation, a comprehensive but accessible view on the subject. A detailed description of the principal sensorimotor processes and the brain areas involved is provided following a functional perspective, in order to make this survey especially useful for computational modeling and bio-inspired robotic applications.

Artificial intelligence planning applications for space exploration and space robotics

NASA Technical Reports Server (NTRS)

Rokey, Mark; Grenander, Sven

1986-01-01

Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.

Optimization of the computational load of a hypercube supercomputer onboard a mobile robot

NASA Technical Reports Server (NTRS)

Barhen, Jacob; Toomarian, N.; Protopopescu, V.

1987-01-01

A combinatorial optimization methodology is developed, which enables the efficient use of hypercube multiprocessors onboard mobile intelligent robots dedicated to time-critical missions. The methodology is implemented in terms of large-scale concurrent algorithms based either on fast simulated annealing, or on nonlinear asynchronous neural networks. In particular, analytic expressions are given for the effect of single-neuron perturbations on the systems' configuration energy. Compact neuromorphic data structures are used to model effects such as precedence constraints, processor idling times, and task-schedule overlaps. Results for a typical robot-dynamics benchmark are presented.

Coronary Heart Disease and Emotional Intelligence.

PubMed

Vlachaki, Chrisanthy; Maridaki Kassotaki, Katerina

2013-09-23

Coronary Heart Disease (CHD) is associated with emotions, especially negative ones, namely anxiety and depression. Emotional Intelligence (EI) is a psychological model that consists of a variety of emotional skills. The aim of the present study was to examine the relation between different dimensions of Emotional Intelligence and coronary heart disease. A total of 300 participants were studied during a 3-year period in an attempt to partially replicate and further expand a previous study conducted in Greece among CHD patients, which indicated a strong association between certain dimensions of Emotional Intelligence and the incidence of CHD. All participants completed a self-report questionnaire, assessing several aspects of Emotional Intelligence. The results showed that there is a link between the regulation of emotions and the occurrence of CHD. The evidence reported in the present study makes stronger the claim that EI plays a significant role in the occurrence of CHD.

Coronary Heart Disease and Emotional Intelligence

PubMed Central

Vlachaki, Chrisanthy P.; Maridaki-Kassotaki, Katerina

2013-01-01

Background: Coronary Heart Disease (CHD) is associated with emotions, especially negative ones, namely anxiety and depression. Emotional Intelligence (EI) is a psychological model that consists of a variety of emotional skills. Aims: The aim of the present study was to examine the relation between different dimensions of Emotional Intelligence and coronary heart disease. Methods: A total of 300 participants were studied during a 3-year period in an attempt to partially replicate and further expand a previous study conducted in Greece among CHD patients, which indicated a strong association between certain dimensions of Emotional Intelligence and the incidence of CHD. All participants completed a self-report questionnaire, assessing several aspects of Emotional Intelligence. Findings: The results showed that there is a link between the regulation of emotions and the occurrence of CHD. Conclusions: The evidence reported in the present study makes stronger the claim that EI plays a significant role in the occurrence of CHD. PMID:24171883

Forum outlines top emerging technologies

NASA Astrophysics Data System (ADS)

Extance, Andy

2015-04-01

Additive manufacturing, next-generation robotics, "sense and avoid" drones that fly themselves, artificial intelligence and "neuromorphic" computing have all made it into the World Economic Forum's top 10 emerging technologies for 2015.

Robots Make Intelligent Teachers

ERIC Educational Resources Information Center

Trotter, Robert J.

1973-01-01

Discussion of the use of teaching machines to help a child learn the basics of geometry. Fully developed educational modules for such subjects as physics, biology, physiology and linguistics are forth-coming. (EB)

Variety Wins: Soccer-Playing Robots and Infant Walking.

PubMed

Ossmy, Ori; Hoch, Justine E; MacAlpine, Patrick; Hasan, Shohan; Stone, Peter; Adolph, Karen E

2018-01-01

Although both infancy and artificial intelligence (AI) researchers are interested in developing systems that produce adaptive, functional behavior, the two disciplines rarely capitalize on their complementary expertise. Here, we used soccer-playing robots to test a central question about the development of infant walking. During natural activity, infants' locomotor paths are immensely varied. They walk along curved, multi-directional paths with frequent starts and stops. Is the variability observed in spontaneous infant walking a "feature" or a "bug?" In other words, is variability beneficial for functional walking performance? To address this question, we trained soccer-playing robots on walking paths generated by infants during free play and tested them in simulated games of "RoboCup." In Tournament 1, we compared the functional performance of a simulated robot soccer team trained on infants' natural paths with teams trained on less varied, geometric paths-straight lines, circles, and squares. Across 1,000 head-to-head simulated soccer matches, the infant-trained team consistently beat all teams trained with less varied walking paths. In Tournament 2, we compared teams trained on different clusters of infant walking paths. The team trained with the most varied combination of path shape, step direction, number of steps, and number of starts and stops outperformed teams trained with less varied paths. This evidence indicates that variety is a crucial feature supporting functional walking performance. More generally, we propose that robotics provides a fruitful avenue for testing hypotheses about infant development; reciprocally, observations of infant behavior may inform research on artificial intelligence.

Development of the HERMIES III mobile robot research testbed at Oak Ridge National Laboratory

DOE Office of Scientific and Technical Information (OSTI.GOV)

Manges, W.W.; Hamel, W.R.; Weisbin, C.R.

1988-01-01

The latest robot in the Hostile Environment Robotic Machine Intelligence Experiment Series (HERMIES) is now under development at the Center for Engineering Systems Advanced Research (CESAR) in the Oak Ridge National Laboratory. The HERMIES III robot incorporates a larger than human size 7-degree-of-freedom manipulator mounted on a 2-degree-of-freedom mobile platform including a variety of sensors and computers. The deployment of this robot represents a significant increase in research capabilities for the CESAR laboratory. The initial on-board computer capacity of the robot exceeds that of 20 Vax 11/780s. The navigation and vision algorithms under development make extensive use of the on-boardmore » NCUBE hypercube computer while the sensors are interfaced through five VME computers running the OS-9 real-time, multitasking operating system. This paper describes the motivation, key issues, and detailed design trade-offs of implementing the first phase (basic functionality) of the HERMIES III robot. 10 refs., 7 figs.« less

A Demonstrator Intelligent Scheduler For Sensor-Based Robots

NASA Astrophysics Data System (ADS)

Perrotta, Gabriella; Allen, Charles R.; Shepherd, Andrew J.

1987-10-01

The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.

Technical review of the da Vinci surgical telemanipulator.

PubMed

Freschi, C; Ferrari, V; Melfi, F; Ferrari, M; Mosca, F; Cuschieri, A

2013-12-01

The da Vinci robotic surgical telemanipulator has been utilized in several surgical specialties for varied procedures, and the users' experiences have been widely published. To date, no detailed system technical analyses have been performed. A detailed review was performed of all publications and patents about the technical aspects of the da Vinci robotic system. Published technical literature on the da Vinci system highlight strengths and weaknesses of the robot design. While the system facilitates complex surgical operations and has a low malfunction rate, the lack of haptic (especially tactile) feedback and collisions between the robotic arms remain the major limitations of the system. Accurate, preplanned positioning of access ports is essential. Knowledge of the technical aspects of the da Vinci robot is important for optimal use. We confirmed the excellent system functionality and ease of use for surgeons without an engineering background. Research and development of the surgical robot has been predominant in the literature. Future trends address robot miniaturization and intelligent control design. Copyright © 2012 John Wiley & Sons, Ltd.

Mobile robots: motor challenges and materials solutions.

PubMed

Madden, John D

2007-11-16

Bolted-down robots labor in our factories, performing the same task over and over again. Where are the robots that run and jump? Equaling human performance is very difficult for many reasons, including the basic challenge of demonstrating motors and transmissions that efficiently match the power per unit mass of muscle. In order to exceed animal agility, new actuators are needed. Materials that change dimension in response to applied voltage, so-called artificial muscle technologies, outperform muscle in most respects and so provide a promising means of improving robots. In the longer term, robots powered by atomically perfect fibers will outrun us all.

Functional genomic hypothesis generation and experimentation by a robot scientist.

PubMed

King, Ross D; Whelan, Kenneth E; Jones, Ffion M; Reiser, Philip G K; Bryant, Christopher H; Muggleton, Stephen H; Kell, Douglas B; Oliver, Stephen G

2004-01-15

The question of whether it is possible to automate the scientific process is of both great theoretical interest and increasing practical importance because, in many scientific areas, data are being generated much faster than they can be effectively analysed. We describe a physically implemented robotic system that applies techniques from artificial intelligence to carry out cycles of scientific experimentation. The system automatically originates hypotheses to explain observations, devises experiments to test these hypotheses, physically runs the experiments using a laboratory robot, interprets the results to falsify hypotheses inconsistent with the data, and then repeats the cycle. Here we apply the system to the determination of gene function using deletion mutants of yeast (Saccharomyces cerevisiae) and auxotrophic growth experiments. We built and tested a detailed logical model (involving genes, proteins and metabolites) of the aromatic amino acid synthesis pathway. In biological experiments that automatically reconstruct parts of this model, we show that an intelligent experiment selection strategy is competitive with human performance and significantly outperforms, with a cost decrease of 3-fold and 100-fold (respectively), both cheapest and random-experiment selection.

Intelligent vehicle control: Opportunities for terrestrial-space system integration

NASA Technical Reports Server (NTRS)

Shoemaker, Charles

1994-01-01

For 11 years the Department of Defense has cooperated with a diverse array of other Federal agencies including the National Institute of Standards and Technology, the Jet Propulsion Laboratory, and the Department of Energy, to develop robotics technology for unmanned ground systems. These activities have addressed control system architectures supporting sharing of tasks between the system operator and various automated subsystems, man-machine interfaces to intelligent vehicles systems, video compression supporting vehicle driving in low data rate digital communication environments, multiple simultaneous vehicle control by a single operator, path planning and retrace, and automated obstacle detection and avoidance subsystem. Performance metrics and test facilities for robotic vehicles were developed permitting objective performance assessment of a variety of operator-automated vehicle control regimes. Progress in these areas will be described in the context of robotic vehicle testbeds specifically developed for automated vehicle research. These initiatives, particularly as regards the data compression, task sharing, and automated mobility topics, also have relevance in the space environment. The intersection of technology development interests between these two communities will be discussed in this paper.

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

NASA Astrophysics Data System (ADS)

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%.

A Theory of Intra-Agent Replanning

DTIC Science & Technology

2013-06-01

1972] Fikes, R.; Hart, P.; and Nils- son, N. 1972. Learning and executing generalized robot plans. Artificial intelligence 3:251–288. [Fox et al. 2006...2003] Gerevini, A.; Saetti, A.; and Serina, I. 2003. Planning through stochastic local search and temporal action graphs in lpg. J. Artif . Intell. Res...order planning. In Proceedings of the National Conference on Artificial Intelligence , 1004–1009. [Kambhampati 1990] Kambhampati, S. 1990. Mapping and

Autonomous development and learning in artificial intelligence and robotics: Scaling up deep learning to human-like learning.

PubMed

Oudeyer, Pierre-Yves

2017-01-01

Autonomous lifelong development and learning are fundamental capabilities of humans, differentiating them from current deep learning systems. However, other branches of artificial intelligence have designed crucial ingredients towards autonomous learning: curiosity and intrinsic motivation, social learning and natural interaction with peers, and embodiment. These mechanisms guide exploration and autonomous choice of goals, and integrating them with deep learning opens stimulating perspectives.

Resource allocation and supervisory control architecture for intelligent behavior generation

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Moore, Kevin L.; Flann, Nicholas S.; Martin, Jason

2003-09-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) was funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). As part of our research, we presented the use of a grammar-based approach to enabling intelligent behaviors in autonomous robotic vehicles. With the growth of the number of available resources on the robot, the variety of the generated behaviors and the need for parallel execution of multiple behaviors to achieve reaction also grew. As continuation of our past efforts, in this paper, we discuss the parallel execution of behaviors and the management of utilized resources. In our approach, available resources are wrapped with a layer (termed services) that synchronizes and serializes access to the underlying resources. The controlling agents (called behavior generating agents) generate behaviors to be executed via these services. The agents are prioritized and then, based on their priority and the availability of requested services, the Control Supervisor decides on a winner for the grant of access to services. Though the architecture is applicable to a variety of autonomous vehicles, we discuss its application on T4, a mid-sized autonomous vehicle developed for security applications.

CMMAD Usability Case Study in Support of Countermine and Hazard Sensing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Victor G. Walker; David I. Gertman

2010-04-01

During field trials, operator usability data were collected in support of lane clearing missions and hazard sensing for two robot platforms with Robot Intelligence Kernel (RIK) software and sensor scanning payloads onboard. The tests featured autonomous and shared robot autonomy levels where tasking of the robot used a graphical interface featuring mine location and sensor readings. The goal of this work was to provide insights that could be used to further technology development. The efficacy of countermine systems in terms of mobility, search, path planning, detection, and localization were assessed. Findings from objective and subjective operator interaction measures are reviewedmore » along with commentary from soldiers having taken part in the study who strongly endorse the system.« less

Human-Robot Interaction: Status and Challenges.

PubMed

Sheridan, Thomas B

2016-06-01

The current status of human-robot interaction (HRI) is reviewed, and key current research challenges for the human factors community are described. Robots have evolved from continuous human-controlled master-slave servomechanisms for handling nuclear waste to a broad range of robots incorporating artificial intelligence for many applications and under human supervisory control. This mini-review describes HRI developments in four application areas and what are the challenges for human factors research. In addition to a plethora of research papers, evidence of success is manifest in live demonstrations of robot capability under various forms of human control. HRI is a rapidly evolving field. Specialized robots under human teleoperation have proven successful in hazardous environments and medical application, as have specialized telerobots under human supervisory control for space and repetitive industrial tasks. Research in areas of self-driving cars, intimate collaboration with humans in manipulation tasks, human control of humanoid robots for hazardous environments, and social interaction with robots is at initial stages. The efficacy of humanoid general-purpose robots has yet to be proven. HRI is now applied in almost all robot tasks, including manufacturing, space, aviation, undersea, surgery, rehabilitation, agriculture, education, package fetch and delivery, policing, and military operations. © 2016, Human Factors and Ergonomics Society.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots.

PubMed

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots

PubMed Central

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers. PMID:26999614

Modeling Leadership Styles in Human-Robot Team Dynamics

NASA Technical Reports Server (NTRS)

Cruz, Gerardo E.

2005-01-01

The recent proliferation of robotic systems in our society has placed questions regarding interaction between humans and intelligent machines at the forefront of robotics research. In response, our research attempts to understand the context in which particular types of interaction optimize efficiency in tasks undertaken by human-robot teams. It is our conjecture that applying previous research results regarding leadership paradigms in human organizations will lead us to a greater understanding of the human-robot interaction space. In doing so, we adapt four leadership styles prevalent in human organizations to human-robot teams. By noting which leadership style is more appropriately suited to what situation, as given by previous research, a mapping is created between the adapted leadership styles and human-robot interaction scenarios-a mapping which will presumably maximize efficiency in task completion for a human-robot team. In this research we test this mapping with two adapted leadership styles: directive and transactional. For testing, we have taken a virtual 3D interface and integrated it with a genetic algorithm for use in &le-operation of a physical robot. By developing team efficiency metrics, we can determine whether this mapping indeed prescribes interaction styles that will maximize efficiency in the teleoperation of a robot.

Human-tracking strategies for a six-legged rescue robot based on distance and view

NASA Astrophysics Data System (ADS)

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

2016-03-01

Human tracking is an important issue for intelligent robotic control and can be used in many scenarios, such as robotic services and human-robot cooperation. Most of current human-tracking methods are targeted for mobile/tracked robots, but few of them can be used for legged robots. Two novel human-tracking strategies, view priority strategy and distance priority strategy, are proposed specially for legged robots, which enable them to track humans in various complex terrains. View priority strategy focuses on keeping humans in its view angle arrange with priority, while its counterpart, distance priority strategy, focuses on keeping human at a reasonable distance with priority. To evaluate these strategies, two indexes(average and minimum tracking capability) are defined. With the help of these indexes, the view priority strategy shows advantages compared with distance priority strategy. The optimization is done in terms of these indexes, which let the robot has maximum tracking capability. The simulation results show that the robot can track humans with different curves like square, circular, sine and screw paths. Two novel control strategies are proposed which specially concerning legged robot characteristics to solve human tracking problems more efficiently in rescue circumstances.

Modeling and simulating human teamwork behaviors using intelligent agents

NASA Astrophysics Data System (ADS)

Fan, Xiaocong; Yen, John

2004-12-01

Among researchers in multi-agent systems there has been growing interest in using intelligent agents to model and simulate human teamwork behaviors. Teamwork modeling is important for training humans in gaining collaborative skills, for supporting humans in making critical decisions by proactively gathering, fusing, and sharing information, and for building coherent teams with both humans and agents working effectively on intelligence-intensive problems. Teamwork modeling is also challenging because the research has spanned diverse disciplines from business management to cognitive science, human discourse, and distributed artificial intelligence. This article presents an extensive, but not exhaustive, list of work in the field, where the taxonomy is organized along two main dimensions: team social structure and social behaviors. Along the dimension of social structure, we consider agent-only teams and mixed human-agent teams. Along the dimension of social behaviors, we consider collaborative behaviors, communicative behaviors, helping behaviors, and the underpinning of effective teamwork-shared mental models. The contribution of this article is that it presents an organizational framework for analyzing a variety of teamwork simulation systems and for further studying simulated teamwork behaviors.