关键词： ROBOTICS   NONFICTION  

关键词： Simulation   Cancellation task   Neural networks   Neurorobots   Evolutionary robotics  

摘要： Mainstream approaches to modelling cognitive processes have typically focused on (1) reproducing their neural underpinning, without regard to sensory-motor systems and (2) producing a single, ideal computational model. Evolutionary robotics is an alternative possibility to bridge the gap between neural substrate and behavior by means of a sensory-motor apparatus, and a powerful tool to build a population of individuals rather than a single model. We trained 4 populations of neurorobots, equipped with a pan/tilt/zoom camera, and provided with different types of motor control in order to perform a cancellation task, often used to tap spatial cognition. Neurorobots’ eye movements were controlled by (a) position, (b) velocity, (c) simulated muscles and (d) simulated muscles with fixed level of zoom. Neurorobots provided with muscle and velocity control showed better performances than those controlled in position. This is an interesting result since muscle control can be considered a particular type of position control. Finally, neurorobots provided with muscle control and zoom outperformed those without zooming ability.

关键词： facial animation  

摘要： A person's emotions and state of mind are apparent in their face and eyes. As a Latin proverb states: 'The face is the portrait of the mind;the eyes, its informers'. This presents a significant challenge for Computer Graphics researchers who generate artificial entities that aim to replicate the movement and appearance of the human eye, which is so important in human-human interactions. This review article provides an overview of the efforts made on tackling this demanding task. As with many topics in computer graphics, a cross-disciplinary approach is required to fully understand the workings of the eye in the transmission of information to the user. We begin with a discussion of the movement of the eyeballs, eyelids and the head from a physiological perspective and how these movements can be modelled, rendered and animated in computer graphics applications. Furthermore, we present recent research from psychology and sociology that seeks to understand higher level behaviours, such as attention and eye gaze, during the expression of emotion or during conversation. We discuss how these findings are synthesized in computer graphics and can be utilized in the domains of Human-Robot Interaction and Human-Computer Interaction for allowing humans to interact with virtual agents and other artificial entities. We conclude with a summary of guidelines for animating the eye and head from the perspective of a character animator.

关键词： Robot dynamics   Parallel kinematics machines   Approximated model   System identification  

摘要： This paper presents the identification of an approximated polynomial model for the dynamics of a parallel kinematics machine. The case study of a specific translational Cartesian manipulator is faced. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the actual behaviour of the robot prototype. The seek of the coefficients of the interpolating polynomials has been constrained taking advantage of robot peculiarities, such as symmetry and intrinsic properties of multibody systems dynamics. The effectiveness of the proposed simplification is then verified by comparison with robot behaviour. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： SURGICAL robots   RESEARCH   COMPUTER algorithms   DIGITAL cameras   LAPAROSCOPIC surgery  

摘要： The article discusses the study which aims to develop an algorithm for autonomous operation in surgical robotics. The study involved the Raven II surgical robotic system from robotic firm Applied Dexterity Inc. and Point Grey Bumblebee2 camera. The results reportedly led to the development of a fully autonomous algorithm for transferring the simulating laparoscopic surgical tissue manipulation.

关键词： Adaptive observer   Function approximation   Unknown skidding and slipping   Mobile robots  

摘要： This paper addresses an adaptive-observer-based control design problem for path tracking of a class of wheeled mobile robots in the presence of unknown slippage effects. The linear and angular velocities of mobile robots are assumed to be unmeasurable. This causes nonlinear coupling terms between the unmeasurable velocities and unknown skidding and slipping effects in the robot dynamics, making the design of an adaptive observer difficult. An adaptive observer is presented to estimate unmeasured velocities of the mobile robots and to compensate for the skidding and slipping effects. Then, a simple adaptive controller at the dynamic level is derived using dynamic surface design methodology. Fuzzy logic systems are employed to overcome the coupling problems between the unmeasurable velocities and unknown skidding and slipping effects in the controller design procedure. From Lyapunov stability analysis, the stability of the controlled closed-loop system is analyzed under slippage conditions.

关键词： levy   Random   Random walk   Pheromones   Moth   Byways   flight characteristics   Smell   Crosswinds   Odor   plume   Optimal   wind direction  

摘要： Synopsis Male moths locate females by navigating along her pheromone plume, often flying hundreds of meters en route. As the first male to find a calling female is most apt to be her mate, this can be termed "a race to find the female" and it is assumed to be under strong selective pressure for efficiency and rapidity. Locating a distant, odor-linked resource involves two strategies. The first is to contact the outer envelope of the odor plume. When wind direction is relatively invariant, the plume stretches and then crosswind flights may be favored, although when wind direction shifts over 608, upwind and downwind paths may be optimal. Alternatively, the path may be random with respect to the direction of wind flow, with periodic changes in direction, as in either Levy or Random Walks. After first detecting the pheromone, a second strategy follows: moths navigate along the plume by heading upwind when the pheromone is detected, with crosswind casting to re-establish contact if the plume is lost. This orientation path is not straightforward in nature, however, because atmospheric turbulence fragments the plume, thereby creating large odor gaps. Furthermore, a shifting wind direction can lead the responder out of the plume. One way to explore which strategies are optimal for enabling initial contact with the plume and subsequent navigation is through modeling of plumes' dispersal and of insects' flight strategies. Our simulations using the flight characteristics of the male gypsy moth (Lymantria dispar) suggest that search strategies similar to Levy Walks are most apt to result in a high probability of contact with plumes. Although a searching trajectory aimed predominately crosswind performed almost as well as those with a random orientation when wind direction was relatively stable, downwind biased trajectories were least successful. A random orientation with respect to immediate wind flow, as used in our simulations of Levy and Random Walks, seems optimal both for

关键词： SURGICAL robots   COMPUTER software   INTERNETWORKING (Telecommunication)   SOFTWARE architecture   ROBOTICS in medicine   ROBOTICS -- Software  

摘要： The article examines the modular interoperability of computer software for surgical robots. A background of the use of robots in surgery is provided which was started in early 1990s that led to minimally invasive procedures. Other topics include the typical system and software architectures of surgical robots as well as its system layers and interfaces.

关键词： Robotics   Copyright law   Bing  

摘要： Jon Bing was not only a pioneer in the field of artificial intelligence and law and the legal regulation of technology. He was also an accomplished author of fiction, with an oeuvre spanning from short stories and novels to theatre plays and even an opera. As reality catches up with the imagination of science fiction writers who have anticipated a world shared by humans and non-human intelligences of their creation, some of the copyright issues he has discussed in his academic capacity take on new resonance. How will we regulate copyright when robots are producers and consumers of art? This paper tries to give a sketch of the problem and hints at possible answers that are to a degree inspired by Bing's academic and creative writing.