检索结果-南通市图书馆

human-robot Interface for Unmanned Aerial Vehicle via a Leap Motion

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Beijing Institute of Technology 2019年第1期28卷 1-7页

作者： Mingxuan Chen Caibing Liu Guanglong Du Ping Zhang School of Computer Science and Engineering South China University of Technology

The unmanned aircraft vehicles industry is in the ascendant while traditional interaction ways for an unmanned aerial vehicle(UAV)are not intuitive enough.It is difficult for a beginner to control a UAV,therefore natural interaction methods are preferred.This paper presents a novel interactive control method for a UAV through operator's gesture,and explores the natural interaction method for the UAV.The proposed system uses the leap motion controller as an input device acquiring the gesture position and orientation data.It is found that the proposed human-robot interface can track the movement of the operator with satisfactory accuracy.The biggest advantage of the proposed method is its capability to control the UAV by just one hand instead of a joystick.A series of experiments verified the feasibility of the proposed human-robot interface.The results demonstrate that non-professional operators can easily operate a remote UAV by just using this system.

关键词： human-robot interface unmanned aerial vehicle(UAV) gesture control scheme autoadaption leap motion

Synthesizing robot Programs with Interactive Tutor Mode

在线全文

学校读者我要写书评

暂无评论

International Journal of Automation and computing 2019年第4期16卷 462-474页

作者： Hao Li Yu-Ping Wang Tai-Jiang Mu Tsinghua National Laboratory for Information Science and Technology(TNList) Department of Computer Science and TechnologyTsinghua University

With the rapid development of the robotic industry, domestic robots have become increasingly popular. As domestic robots are expected to be personal assistants, it is important to develop a natural language-based human-robot interactive system for end-users who do not necessarily have much programming knowledge. To build such a system, we developed an interactive tutoring framework, named " Holert”, which can translate task descriptions in natural language to machine-interpretable logical forms automatically. Compared to previous works, Holert allows users to teach the robot by further explaining their intentions in an interactive tutor mode. Furthermore, Holert introduces a semantic dependency model to enable the robot to " understand” similar task descriptions. We have deployed Holert on an open-source robot platform, Turtlebot 2. Experimental results show that the system accuracy could be significantly improved by 163.9% with the support of the tutor mode. This system is also efficient. Even the longest task session with 10 sentences can be handled within 0.7 s.

关键词： human-robot interaction semantic parsing program synthesis intelligent robotic systems natural language unders-tanding

Autonomous flying blimp interaction with human in an indoor space

在线全文

学校读者我要写书评

暂无评论

Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 45-59页

作者： Ning-shi YAO Qiu-yang TAO Wei-yu LIU Zhen LIU Ye TIAN Pei-yu WANG Timothy LI Fumin ZHANG School of Electrical and Computer Engineering Georgia Institute of Technology College of Computing Georgia Institute of Technology

We present the Georgia Tech Miniature Autonomous Blimp(GT-MAB), which is designed to support human-robot interaction experiments in an indoor space for up to two hours. GT-MAB is safe while flying in close proximity to humans. It is able to detect the face of a human subject, follow the human, and recognize hand gestures. GT-MAB employs a deep neural network based on the single shot multibox detector to jointly detect a human user's face and hands in a real-time video stream collected by the onboard camera. A human-robot interaction procedure is designed and tested with various human users. The learning algorithms recognize two hand waving gestures. The human user does not need to wear any additional tracking device when interacting with the flying blimp. Vision-based feedback controllers are designed to control the blimp to follow the human and fly in one of two distinguishable patterns in response to each of the two hand gestures. The blimp communicates its intentions to the human user by displaying visual symbols. The collected experimental data show that the visual feedback from the blimp in reaction to the human user significantly improves the interactive experience between blimp and human.The demonstrated success of this procedure indicates that GT-MAB could serve as a flying robot that is able to collect human data safely in an indoor environment.

关键词： robotic blimp human-robot interaction Deep learning Face detection Gesture recognition

Building a Plutchik's Wheel Inspired Affective Model for Social robots

在线全文

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2019年第2期16卷 209-221页

作者： Xianyu Qi Wei Wang Lei Guo Mingbo Li Xiaoyu Zhang Ran Wei robotics Institute Beihang UniversityBeijing 100191China Beijing Evolver robotics Technology Co. LtdBeijing 100192China

As more and more social robots are applied in human-populated environments,they need an affective model to communicate with human beings naturally and believably.In addition,the model should be flexible to be applied in different areas,such as entertainment and education,and can be easily understood and operated by robot designers.To meet these requirements,we propose an affective model including emotions,moods and personality traits for social robots to mimic the affect changes of human beings.Inspired by the Plutchik's Wheel of Emotions,we first construct an affective space which can simultaneously represent the affective concepts.According to the affective space,the model can be visualized vividly and easily understood.We then describe the interaction among these concepts to change the robot states to make the robot interact with human beings naturally and believably.By tuning the parameters of the model,it can be flexibly applied in different areas.We evaluate the proposed model in simulation and human-robot interaction experiments and the experimental results show that the model is effective.

关键词： human-robot interaction social robots affective model emotions moods personality traits

Empathizing with Emotional robot Based on Cognition Reappraisal

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

China Communications 2017年第9期14卷 100-113页

作者： Xin Liu Lun Xie Zhiliang Wang School of Computer and Communication Engineering University of Science and Technology Beijing

This paper proposes a continuous cognitive emotional regulation model for robot in the case of external emotional stimulus from interactive person's expressions. It integrates a guiding cognitive reappraisal strategy into the HMM(Hidden Markov Model) emotional interactive model for empathizing between robot and person. The emotion is considered as a source in the 3D space(Arousal, Valence, and Stance). State transition and emotion intensity can be quantitatively analyzed in the continuous space. This cognition-emotion interactive model have been verified by the expression and behavior robot. Empathizing is the main distinguishing feature of our work, and it is realized by the emotional regulation which operated in a continuous 3D emotional space enabling a wide range of intermediate emotions. The experiment results provide evidence with acceptability, accuracy, richness, fluency, interestingness, friendliness and exaggeration that the robot with cognition and emotional control ability could be better accepted in the human-robot interaction(HRI).

关键词： emotional robot human-robot in-teraction guiding cognitive reappraisal emo-tional regulation active field emotion space

Standardization of robot Instruction Elements Based on Conditional Random Fields and Word Embeddin

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2019年第5期26卷 32-40页

作者： Hengsheng Wang Zhengang Zhang Jin Ren Tong Liu College of Mechanical & Electrical Engineering Central South University Changsha 410083 China State Key Laboratory for High Performance Complex Manufacturing Changsha 410083 China

Natural language processing has got great progress recently. Controlling robots with spoken natural language has become expectable. With the reliability problem of this kind of control in mind a confirmation process of natural language instruction should be included before carried out by the robot autonomously and the prototype dialog system was designed thus the standardization problem was raised for the natural and understandable language interaction. In the application background of remotely navigating a mobile robot inside a building with Chinese natural spoken language considering that as an important navigation element in instructions a place name can be expressed with different lexical terms in spoken language this paper proposes a model for substituting different alternatives of a place name with a standard one (called standardization). First a CRF (Conditional Random Fields) model is trained to label the term required be standardized then a trained word embedding model is to represent lexical terms as digital vectors. In the vector space similarity of lexical terms is defined and used to find out the most similar one to the term picked out to be standardized. Experiments show that the method proposed works well and the dialog system responses to confirm the instructions are natural and understandable.

关键词： word embedding Conditional Random Fields ( CRFs ) standardization interaction Chinese Natural Spoken Language (CNSL) Natural Language Processing (NLP) human-robot

human Detection by robotic Urban Search and Rescue Using Image Processing and Neural Networks

在线全文

学校读者我要写书评

暂无评论

International Journal of Intelligence Science 2014年第2期4卷 39-53页

作者： Fahed Awad Rufaida Shamroukh Depatment of Computer Engineering Jordan University of Science & Technology Irbid Jordan Depatment of Network Engineering & Security Jordan University of Science & Technology Irbid Jordan

This paper proposes a new approach for detecting human survivors in destructed environments using an autonomous robot. The proposed system uses a passive infrared sensor to detect the existence of living humans and a low-cost camera to acquire snapshots of the scene. The images are fed into a feed-forward neural network, trained to detect the existence of a human body or part of it within an obstructed environment. This approach requires a relatively small number of images to be acquired and processed during the rescue operation, which considerably reduces the cost of image processing, data transmission, and power consumption. The results of the conducted experiments demonstrated that this system has the potential to achieve high performance in detecting living humans in obstructed environments relatively quickly and cost-effectively. The detection accuracy ranged between 79% and 91% depending on a number of factors such as the body position, the light intensity, and the relative color matching between the body and the surrounding environment.

关键词： Urban Search and Rescue human-robot Interaction Autonomous Systems Intelligent Interface Neural Networks

Exploration and Cooperation robotics on the Moon

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Signal and Information Processing 2013年第3期4卷 253-258页

作者： Mohammad Alfraheed Abdullah O. Al-Zaghameem Department of Mathematics and Computer Science Tafila Technical University Tafila Jordan

Space robotics are the development of general purpose machines that is capable of surviving (for a time, at least) in the rigors of the space environment, and performing exploration, assembly, construction, maintenance, servicing. Space robots can perform tasks less expensively or on an accelerated schedule, with less risk and occasionally with improved performance while humans doing the same tasks. The moon is the natural next step in the exploration of our own universe. Understanding moon better will help us understand our neighbors in the solar system. In this paper, a concept of exploration and cooperation robotics on the moon is discussed. The concept requires not only to extend the exploration mission on the moon surface but also to address a way to integrate the developed robotics with each other. Sharing the information between robots is one of a concept’s features to reduce lime and power consumption in the exploration process. Moreover, several challenges are discussed here, which prevent the concept from developing in outer space or on moon.

关键词： Space robotics Exploration robotics human-robot Cooperation Wheel Slippage of Planetary robots