Progress in Robotics (eBook)

FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009.

Jong-Hwan Kim et al. (Autor)

eBook Download: PDF

2009 | 1. Auflage
XIV, 404 Seiten
Springer-Verlag
978-3-642-03986-7 (ISBN)

Infos

This volume is a selection of papers of six international conferences that are held under the umbrella of the 12th FIRA RoboWorld congress, in Incheon, Korea, August 16-18, 2009. From the 115 contributed papers 44 papers are included in the volume, which is organized into 6 sections: humanoid robotics, human robot interaction, education and entertainment, cooperative robotics, robotic system design, and learning, optimization, communication. The volume is intended to provide readers with the recent technical progresses in robotics, human robot interactions, cooperative robotics and the related fields.

Inhalt

Title Page 2
Preface 5
Organization 6
Table of Contents 9
Humanoid Robotics 9
Time-Varying Affective Response for Humanoid Robots 13
Introduction 13
Related Work 13
Cognitive Basis of TAME 14
Overview 14
Psychological and Mathematical Foundations 15
Architectural Design and Implementation 19
References 20
The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink 22
Introduction 22
The Control System Model of Humanoid Robot 22
Humanoid Robot Model 23
Robot Reality 23
Entironment of Robot 25
Controller of Robot 25
The Motion Trajectory Planning of Humanoid Robot 26
The Design of Adaptive Controller of Humanoid Robot 27
The Simulation Example of Adaptive Controller 28
Conclusions 29
References 30
From RoboNova to HUBO: Platforms for Robot Dance 31
Introduction 31
Prior Work 32
Beat Predictor 32
Robot Platforms 33
Experiment 35
Future Work 35
Conclusion 36
References 36
BunnyBot: Humanoid Platform for Research and Teaching 37
Introduction 37
Purpose 37
Overview of BunnyBot 38
Distributed Processing 38
Mainboard Cluster 39
Sensors and Actuators 40
Novel Foot Pressure Sensor 40
Inertial Measurement Unit with Complementary Filter 41
Robust Gripper Design 43
Kinematic Model 43
Conclusion 44
References 44
Teen Sized Humanoid Robot: Archie 46
Introduction 46
Hardware Description 47
Modular Joint Design 47
Brush-Less Motor Controller 49
DC Motor Controller 49
Decentralized Controller 49
Spinal Processing Unit (SPU) 50
Communication Protocol 51
Position Encoders on Start Up 51
Contact-Free Position Encoders for Brushless Motors 52
Conclusion 53
References 53
Interdisciplinary Construction and Implementation of a Human Sized Humanoid Robot by Master Students 54
Introduction 54
Management 55
Mechanical Construction 56
Kinematic and Inverse Dynamic Analyses 56
Force Torque Sensor (FTS) 58
Constructions 59
Electrical Instrumentation and Modeling 59
Data Infrastructure 59
Program Structure 61
Modeling and Verification 61
Verification, Planning and Control 61
Educational Findings 62
Conclusion 62
References 63
Human Robot Interaction 9
Safety Aspects in a Human-Robot Interaction Scenario: A Human Worker Is Co-operating with an Industrial Robot 65
Introduction 65
Initial Situation, Objectives and Approach 66
Motivation 67
Setup Description 68
Hardware Setup 68
Assembly Product Description 69
Assembly Process 70
Safety Aspects 71
Conclusion and Outlook 73
References 73
Integration of a RFID System in a Social Robot 75
Introduction 75
Maggie: The Social Robot 76
Software Architecture 76
RFID Skills in a Social Robot 78
Hardware Requirements 78
Software Requirements 78
Software Architecture of RFID Skills 79
Reading Skill {/tt CRFID_ReadSkill} 80
Writing {/tt Skill CRFID WriteSkill} 80
Experimental Results 81
Tags Detection and Data Reception 81
Application of RFID Skills in the Social Robot Maggie: Medicines Recognition 82
Conclusions 83
References 83
A Practical Study on the Design of a User-Interface Robot Application 86
Introduction 86
Designing an RUI 87
Natural Interaction 87
Balancing Framework 88
Balance the Dimensions for an RUI 89
Case Stidies 91
Conversation Bot 91
Waiter Application 93
Discussion 95
Conclusion 96
References 96
Infrared Remote Control with a Social Robot 98
Introduction 98
Related Previous Works 99
Goals 100
Frame of the Work 100
Automatic-Deliberative Architecture 101
System Implementation 101
Human-Robot Interface 102
Robot-Appliance Interface 102
Integration in AD Architecture 103
Testing the System 105
Conclusions 105
References 106
BlogRobot: Mobile Terminal for Blog Browse Using Physical Representation 108
Introduction 108
Playback the Blog by a Robot 109
Effectiveness of a Robot and Gestures 109
Design Consideration of BlogRobot 109
Dynamic Content Generating by TENORI 110
System Configuration of TENORI 110
Implementation of BlogRobot 111
Add-Up 112
Future Work 112
References 113
An Exploratory Investigation into the Effects of Adaptation in Child-Robot Interaction 114
Introduction 114
Roball - The Robot 115
Distinguishing a Child’s Interaction 116
Interaction Modes 116
Experimental Approach and Settings 117
Analysis and Results 118
Conclusions 120
References 121
Devious Chatbots - Interactive Malware with a Plot 122
Introduction 122
A New Online Infection 123
Interactive Malware 123
Future Research 127
Conclusion 128
References 128
Towards Better Human Robot Interaction: Understand Human Computer Interaction in Social Gaming Using a Video-Enhanced Diary Method 131
Introduction 131
Video-Enhanced Diary Method 132
Experimental Results 135
Human Behavior Analysis 135
Gamer’s Decision Making Process 135
Future Directions and Conclusion 137
References 138
Promotion of Efficient Cooperation by Sharing Environment with an Agent Having a Body in Real World 140
Introduction 140
Real-World Based Interaction 141
Experiment 141
Participants and Task 142
Conditions 143
Hypothesis 143
Results 144
Consideration 144
Conclusion 145
References 145
Interaction Design for a Pet-Like Remote Control 146
Introduction 146
Pet-Like Remote Control Agent 147
Familiarity 147
Stroke Operation 148
TV Remote Agent 148
Stroke Operation 148
Discussions 150
Conclusion 150
References 151
Experiences with a Barista Robot, FusionBot 152
Introduction 152
FusionBot the Barista Robot 153
Software Architecture 154
Speech Recognition 154
Vision Understanding 155
Navigation Control 156
Smart Device Gateway 156
Experiment Setup 157
Results 158
Respondent Characteristics 158
Robot Experience 158
Satisfaction on Tasks 159
Suggestion/Comments on the FusionBot 160
Discussion and Conclusions 161
References 162
Mutually Augmented Cognition 164
Introduction 164
Challenge Scenarios 165
Mutually Augmented Cognition 166
Presentation of Cognitive Systems’ State 168
Online Analysis and Optimization of Human-Machine Interaction 168
Derivation of Knowledge and Learning from the Experience 168
Perception-Cognition-Action Loop 168
State of the Art 169
Computer Science / Plan-Based Control 169
Human Factors and Ergonomics 169
Preliminary Results 171
Conclusion and Outlook 171
References 172
How Humans Optimize Their Interaction with the Environment: The Impact of Action Context on Human Perception 174
Introduction 174
Experimental Paradigm 176
Participants 176
Stimuli and Apparatus 176
Procedure 178
Data Analysis 179
Results 179
Discussion 180
Implication for Robotics 182
Conclusions 183
References 184
Development of a Virtual Presence Sharing System Using a Telework Chair 185
Introduction 185
Avatar-Mediated Interaction 186
Presence Sharing System for a Telework: Ghatcha 187
Concept of the System 187
Development of the Prototype System Using CG 188
Evaluation of the Experiment 188
Experimental Setup 188
Sensory Evaluation 189
Consideration 190
Conclusion 190
References 190
PLEXIL-DL: Language and Runtime for Context-Aware Robot Behaviour 191
Introduction 191
Description Logic 192
PLEXIL 193
Semantics 193
PLEXIL-DL 194
Semantics 194
Runtime 195
Conclusions 197
References 197
Ambient Intelligence in a Smart Home for Energy Efficiency and Eldercare 199
Introduction 199
Energy Efficient Smart Home Technologies 200
Experiment Setup 201
Video Sensor Based Event Recognition 203
Audio Sensor Based Event Detection 203
Results 204
Conclusions 205
References 206
Education and Entertainment 10
Intelligent Technologies for Edutainment Using Multiple Robots 207
Introduction 207
Multiple Robots for Edutainment 208
Robot Edutainment 208
Mobile Robots 209
Human Interface 209
Intelligent Control of Mobile Robots 210
Experimental Results 211
Tele-operation of Soccer Robots 211
Tele-operation of Human-Like Robots 212
Summary 214
Reference 215
Remote Education Based on Robot Edutainment 216
Introduction 216
Robots Used for Edutainment 217
Android Receptionist Robot: SAYA 217
Partner Robots: MOBiMac 219
Remote Education System 220
Remote Control System 220
Lecture Mode for the Remote Education 222
Interaction Mode in the Remote Education 222
Experimental Results 223
Summary 224
References 224
Not Just “Teaching Robotics” but “Teaching through Robotics” 226
Introduction 226
Robots and Robotics - A Brief History 226
The UK National Curriculum - An Example Curriculum 227
Cross-Curriculum Teaching - Valuable Opportunity or Yet Another Set of Good Intentions ? 230
Attempts and Developments to Make Robotics, Computing, Modelling and Computer Game Programming and AI More Accessible - Cricket Logo, Arduino, Scratch 230
Examples and Suggestions for Teaching through Robotics Opportunities in a Range of Subjects 232
Robots and Teaching Those with Special Needs - Using Autism as an Example 233
References 234
A Proposal of Autonomous Robotic Systems Educative Environment 236
Introduction 236
Robots, Languages and Tools 238
Autonomous Toys, Programming Languages and Tools 239
An Application Case between Robots and Autonomous Toys 240
Autonomous Robot System Development Laboratory 241
Conclusions and Future Research Lines 242
References 242
Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts 244
Introduction 244
Proposed Course Model 245
Design 245
Simulation 246
Control 246
Prototype 247
Testing and Evaluation 247
Case Study 248
Method/Theory 248
Experiment Setup 250
Results and Discussion 251
Conclusions 251
References 251
Fostering Development of Students’ Collective and Self-efficacy in Robotics Projects 252
Introduction 252
Collective and Self-efficacy 253
Pilot Study, 2006-2007 254
Primary Study, 2007-2008 255
Collective Efficacy 257
Conclusion 258
References 259
From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops 260
Introduction 260
Robotics Education in Science Museums 260
Learning Activities 261
Educational Study 262
Findings 263
Commitment to Team Success in Achieving the Common Goal 263
Collective Responsibility for Performing the Team Assignment 264
Inclination to Partnership within the Same Gender and Cultural Background 264
Pleasable Experience in the Museum Environment 264
Wish to Work Together and Make Collective Decisions 265
Conclusions 265
References 266
Teaching Electronics through Constructing Sensors and Operating Robots 267
Introduction 267
Didactical Principles of Teaching Mechatronics 268
Course Syllabus and Activities 269
Educational Study 270
Findings 271
Conclusion 273
References 273
Learning from Analogies between Robotic World and Natural Phenomena 274
Introduction 274
The Construction Kit 275
Modeling Natural Phenomena with PicoCricket 276
Heliotropism: A Sunflower Functional Model 276
Homeostasis of the Eye: An Iris Functional Model 278
Educational Study 279
Findings 280
Conclusion 281
References 281
Integrating Robot Design Competitions into the Curriculum and K-12 Outreach Activities 283
Introduction 283
Robot Design Competitions 284
Robo-Hoops Robot Competition 284
Firefighting Robot Competition 284
Mini Grand Challenge 285
Integration into Curriculum and K-12 Outreach Activities 286
Assessment of Robot Contests 287
Summary and Conclusions 289
References 290
Teamwork and Robot Competitions in the Undergraduate Program at the Copenhagen University College of Engineering 291
Introduction 291
Objectives of the Robot-Project 292
The Compulsory Task 292
Some Design Details 294
An Example of the Free Task Design 296
The Evaluations and the Competition 296
Conclusions 297
References 298
Cooperative Robotics 11
Multiagents System with Dynamic Box Change for MiroSot 299
Introduction 299
The Structure of the MAS for MiroSot 300
Dynamic Box Change of Identities of Agents and Their Existence 300
Action - "Total Defensive" 301
Action - "Attack" 304
Conclusion 304
References 304
Multi Block Localization of Multiple Robots 305
Introduction 305
Indoor Global-Localizaiton(IGS) 306
iGS Basic Principle 306
Position Measurement 306
Localization of Multiple Robots 307
Localization of Multiple Robots 307
Master and Slave Method 308
Master and Slave Method 309
Simulation 310
Conclusion 311
References 311
Soty-Segment: Robust Color Patch Design to Lighting Condition Variation 312
Introduction 312
Previous Color Patch Designs 313
Soty-Segment Color Patch Design 314
Preprocessing 314
Algorithm of Color Patch Recognition 316
Color Demarcation 318
Experiments 318
Revision of Distortion 319
Color Patch Recognition 319
Conclusion 320
References 320
Task-Based Flocking Algorithm for Mobile Robot Cooperation 322
Introduction 322
Task-Based Flocking Algorithm 323
Task-Based Flocking Algorithm 323
Flocking Model 324
Task and Switching Criteria 326
Performance Feedback Criterion 327
Algorithm Analysis and Implement 327
Stability Analysis 327
Rule of Task 328
Algorithm Implement 329
Experiment 330
Experiment Setup 330
Experiment Results 330
Conclusion 332
References 332
Analysis of Spatially Limited Local Communication for Multi-Robot Foraging 334
Introduction 334
Concepts 335
Hardware Robots 335
Simulation 336
Landmark-Based Navigation 336
Communication 337
Program Concept 337
Evaluation Scenarios 338
Results 339
Conclusion 342
References 343
AMiRESot – A New Robot Soccer League with Autonomous Miniature Robots 344
Introduction 344
AMiRESot Rules 345
The Field of Play and the Ball 345
The Players 346
The Player’s Equipment 346
The Referee 347
Duration of the Match 347
Start and Restart of Play 348
The Ball In and Out of Play 348
Method of Scoring 348
Offside 349
Fouls and Misconduct 349
Free Kicks 349
Robot Platform 350
Robot Chassis 350
Robot Drive 351
Robot Sensors 351
Robot Information Processing 353
Software: Operating System and Simulation 354
Tournaments 354
Conclusion 356
References 356
Robotic System Design 12
BeBot: A Modular Mobile Miniature Robot Platform Supporting Hardware Reconfiguration and Multi-standard Communication 358
Introduction 358
Platform 359
Software Environment 361
Special Features 362
Wireless Communication 362
Dynamic Reconfiguration 363
Applications 364
Mechatronic Seminar 364
Image Processing Project 365
Research Project Guardians 365
Conclusion 367
References 367
System Design for Semi-automatic AndroSot 369
Introduction 369
Computer Vision 370
Strategy 370
Communication 370
Humanoid Robot 371
Computer Vision Subsystem 371
Strategy Subsystem 371
Communication Subsystem 372
PC Side Communication Module 372
Humanoid Robot Side Communication Module 373
Humanoid Robot 373
Main Feature of Humanoid Robot in the Market 373
Sensor for the Robot 374
Conclusion and Future Development 374
References 375
Learning, Optimization, Communication 12
Extended TA Algorithm for Adapting a Situation Ontology 376
Introduction 376
Ontology Based Situation Recognition 377
Definition of Situation Recognition Process 378
Situation-Aggregation-Tree (SAT) 378
Basic Principle of TAA 379
Improvement 381
Conclusion 382
References 383
An Integer-Coded Chaotic Particle Swarm Optimization for Traveling Salesman Problem 384
Introduction 384
The Mathematical Model of TSP 385
General Mathematical Model 385
TSP Model Based on Permutation and Combination 386
ICPSO Algorithm for Solving TSP 386
Particle Encoding 386
Velocity-Position Model 386
The Definition of Fitness Function 388
The Solving Process of TSP Based on ICPSO 388
Simulation Experiment and Analysis 389
Conclusion 391
References 391
USAR Robot Communication Using ZigBee Technology 392
Introduction 392
Attenuation of RF Signal in Rubble 393
Link Margin for ZigBee Device 393
Link Margin for WiFi Access Point 393
WIFI versus ZIGBEE 393
Experiment Equipments 394
Soil Environment 395
Attenuation of Materials 395
Construction of Artificial Rubble 397
Data Routing Experiments 398
Experiment Setup 398
Monitoring Program 398
Experiment Description and Results 398
Routing Reconnection Tests 399
Conclusions 401
References 401
Author Index 403

Produkt-Details

• Erscheint lt. Verlag: 1.1.2009
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: AMiRE • Autonomous Systems • CIRAS • Communication • Computational Intelligence • entertainment robots • FIRA • HCI • humanoid robots • ICAHRR • ICER • ICSR • industrial robots • IREF • learning • minirobots • Optimization • RFID • robosoccer • robot • Robotics • roboworld • social robots • virtual presence
• ISBN-10: 3-642-03986-3 / 3642039863
• ISBN-13: 978-3-642-03986-7 / 9783642039867