Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367681
Takashi Gomi, Joseph Ulvr
Although some researchers claim that emotion is unique to mammals, this paper describes a notion of artificial emotion as a phenomenon resulting from a series of modifications to emergent behaviors generated by a behavior-based artificial intelligence (AI) approach. Such modifications to behaviors are caused by stimuli (including those from humans) which a robot receives from its environment. The paper describes a series of experiments to generate and test artificial emotion using subsumption architecture (SA) robot platforms developed by the Massachusetts Institute of Technology (MIT). A "hormone mechanism", which is part of the behavior definition language, was used to generate artificial emotion. In addition, the action selection dynamics (ASD) paradigm proposed by Pattie Maes as a way to implement computational reflection was also tried. The latter is expected to permit the authors to investigate more profound ontological issues associated with artificial emotion as part of the experiments in computational reflection.<>
{"title":"Artificial emotions as emergent phenomena","authors":"Takashi Gomi, Joseph Ulvr","doi":"10.1109/ROMAN.1993.367681","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367681","url":null,"abstract":"Although some researchers claim that emotion is unique to mammals, this paper describes a notion of artificial emotion as a phenomenon resulting from a series of modifications to emergent behaviors generated by a behavior-based artificial intelligence (AI) approach. Such modifications to behaviors are caused by stimuli (including those from humans) which a robot receives from its environment. The paper describes a series of experiments to generate and test artificial emotion using subsumption architecture (SA) robot platforms developed by the Massachusetts Institute of Technology (MIT). A \"hormone mechanism\", which is part of the behavior definition language, was used to generate artificial emotion. In addition, the action selection dynamics (ASD) paradigm proposed by Pattie Maes as a way to implement computational reflection was also tried. The latter is expected to permit the authors to investigate more profound ontological issues associated with artificial emotion as part of the experiments in computational reflection.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131387872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367715
H. Masubuchi, H. Kobayashi
In this paper, we investigate the possibility of using emergency screams as an emergency stop button. Conventional emergency stop systems are not feasible when machines are operated by nonengineers, because they do not anything except crying in such case. We adopt wavelet transformation for pre-processing the screams, and we use a neural network for detecting abnormalities in the processed data. This paper shows several numerical experiments to demonstrate the ability of the system.<>
{"title":"An acoustic abnormal detection system","authors":"H. Masubuchi, H. Kobayashi","doi":"10.1109/ROMAN.1993.367715","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367715","url":null,"abstract":"In this paper, we investigate the possibility of using emergency screams as an emergency stop button. Conventional emergency stop systems are not feasible when machines are operated by nonengineers, because they do not anything except crying in such case. We adopt wavelet transformation for pre-processing the screams, and we use a neural network for detecting abnormalities in the processed data. This paper shows several numerical experiments to demonstrate the ability of the system.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"47 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114051029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367712
M. Kitamura, H. Furukawa, M. Sakuma, T. Washio
Importance of credibility information supplied by multiple agents, each conducting a diagnostic task based on mutually dissimilar functioning principle, was examined in terms of diagnostic performance of a machine-intelligent system. The aim of the system is to provide dependable assistance to operators of a large-scale complex artifact in a complicated and inexperienced abnormal situation. The validity of the proposed design was evaluated through numerical experiments with a simulation code of a nuclear power plant. In spite of the complexity of the abnormal events, the diagnostic system demonstrated satisfactory performance by taking the credibility information into consideration.<>
{"title":"Combining advisory and credibility information as communication message from intelligent machine for efficient man-machine cooperation","authors":"M. Kitamura, H. Furukawa, M. Sakuma, T. Washio","doi":"10.1109/ROMAN.1993.367712","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367712","url":null,"abstract":"Importance of credibility information supplied by multiple agents, each conducting a diagnostic task based on mutually dissimilar functioning principle, was examined in terms of diagnostic performance of a machine-intelligent system. The aim of the system is to provide dependable assistance to operators of a large-scale complex artifact in a complicated and inexperienced abnormal situation. The validity of the proposed design was evaluated through numerical experiments with a simulation code of a nuclear power plant. In spite of the complexity of the abnormal events, the diagnostic system demonstrated satisfactory performance by taking the credibility information into consideration.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116228376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367738
T. Araki, S. Ikehara, J. Tuchihase
As Japanese sentences are usually written using thousand kinds of characters especially "kanji" characters, it is not easy to input them into computer files. There has been much research on the method which translates the non-segmented "kana" sentences into the "kanji-kana" sentences. However, the amount of computer memory required for the translating processing explodes in many times, because the number of the combinations of candidates for "kanji-kana" words grows rapidly in proportion to the increasing of the length of the sentence. The memory explosion can be prevented if a sentence is separated into "bunsetsu" This paper proposes a new method of finding provisional boundaries of "bunsetsu" of non-segmented "kana" sentences using 2nd-order Markov chain probabilities. "Relevance factor" P and "Recall factor" R for provisional boundaries of "bunsetsu" determined by this method, were evaluated by experiment using the statistical data for 70 issues of a daily Japanese newspaper.<>
{"title":"A new method of finding provisional boundaries of \"bunsetsu\" using 2nd-order Markov model","authors":"T. Araki, S. Ikehara, J. Tuchihase","doi":"10.1109/ROMAN.1993.367738","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367738","url":null,"abstract":"As Japanese sentences are usually written using thousand kinds of characters especially \"kanji\" characters, it is not easy to input them into computer files. There has been much research on the method which translates the non-segmented \"kana\" sentences into the \"kanji-kana\" sentences. However, the amount of computer memory required for the translating processing explodes in many times, because the number of the combinations of candidates for \"kanji-kana\" words grows rapidly in proportion to the increasing of the length of the sentence. The memory explosion can be prevented if a sentence is separated into \"bunsetsu\" This paper proposes a new method of finding provisional boundaries of \"bunsetsu\" of non-segmented \"kana\" sentences using 2nd-order Markov chain probabilities. \"Relevance factor\" P and \"Recall factor\" R for provisional boundaries of \"bunsetsu\" determined by this method, were evaluated by experiment using the statistical data for 70 issues of a daily Japanese newspaper.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129453866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367702
T. Morita, S. Aramaki, S. Kurono, K. Kagekawa
The present study deals with the case in which a robot teaches the knowledge to another robot through questions and answers. In this case, the expression format of the necessary knowledge and the knowledge transmission method are proposed. Both robots must hold the minimum level of knowledge so that the teaching side robot must know in advance what types of knowledge are possessed by the taught side robot while the taught side robot may previously understand what the teaching side robot desires to teach. The same format of knowledge possessed by the respective robots must be shared for the sake of standardization of knowledge. The transmission of knowledge means writing the letter string into the counterpart robot's database. The processing inside the counterpart robot's database is entirely done in conceptual dependency (CD) mode. Using this CD mode simplifies the transmission and processing of knowledge and the development into a lower ranking robot language. Furthermore, the conformity with various robots which are being developed using the CD mode can also be improved. A teacher robot could teach the procedures of assembling work to a work robot using this system.<>
{"title":"A knowledge representation for the communication between robots","authors":"T. Morita, S. Aramaki, S. Kurono, K. Kagekawa","doi":"10.1109/ROMAN.1993.367702","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367702","url":null,"abstract":"The present study deals with the case in which a robot teaches the knowledge to another robot through questions and answers. In this case, the expression format of the necessary knowledge and the knowledge transmission method are proposed. Both robots must hold the minimum level of knowledge so that the teaching side robot must know in advance what types of knowledge are possessed by the taught side robot while the taught side robot may previously understand what the teaching side robot desires to teach. The same format of knowledge possessed by the respective robots must be shared for the sake of standardization of knowledge. The transmission of knowledge means writing the letter string into the counterpart robot's database. The processing inside the counterpart robot's database is entirely done in conceptual dependency (CD) mode. Using this CD mode simplifies the transmission and processing of knowledge and the development into a lower ranking robot language. Furthermore, the conformity with various robots which are being developed using the CD mode can also be improved. A teacher robot could teach the procedures of assembling work to a work robot using this system.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130270534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367683
R. Pfeifer
Investigates the role emotions might play in robot design. It is argued that if one wants to deal with this problem one first has to develop a profound understanding of the mechanisms underlying behaviors which are called emotional. To investigate the relation between behavior and mechanism the "New Fungus Eater" approach is proposed, which is a minimalist bottom-up approach. It is shown that often one can achieve certain desired behaviors with surprisingly cheap designs if the dynamics of the system-environment interaction is appropriately taken into account. The authors conclude by pointing out major differences between traditional and robot programming.<>
{"title":"Emotions in robot design","authors":"R. Pfeifer","doi":"10.1109/ROMAN.1993.367683","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367683","url":null,"abstract":"Investigates the role emotions might play in robot design. It is argued that if one wants to deal with this problem one first has to develop a profound understanding of the mechanisms underlying behaviors which are called emotional. To investigate the relation between behavior and mechanism the \"New Fungus Eater\" approach is proposed, which is a minimalist bottom-up approach. It is shown that often one can achieve certain desired behaviors with surprisingly cheap designs if the dynamics of the system-environment interaction is appropriately taken into account. The authors conclude by pointing out major differences between traditional and robot programming.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127569207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367749
H. Ashida
Temporal tuning of the motion aftereffect (MAE) with flickering test stimuli was examined. Using sinusoidal gratings of several spatial frequencies (SF), the MAE strength was measured for various adapting temporal frequency (TF). Plotted as a function of TF, the peak varied with conditions. However, when plotted as a function of velocity, each line showed a similar reversed U-shaped function with the peak at approximately 5-8 degree. This result differs from the TF dependency of traditional static MAE, showing a discrepancy between the two MAEs. The MAE with flickering test might reflect the higher levels of processing underlying motion perception, in contrast with relatively lower levels underlying the traditional MAE.<>
{"title":"Velocity tuning of the motion aftereffect with flickering test stimuli","authors":"H. Ashida","doi":"10.1109/ROMAN.1993.367749","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367749","url":null,"abstract":"Temporal tuning of the motion aftereffect (MAE) with flickering test stimuli was examined. Using sinusoidal gratings of several spatial frequencies (SF), the MAE strength was measured for various adapting temporal frequency (TF). Plotted as a function of TF, the peak varied with conditions. However, when plotted as a function of velocity, each line showed a similar reversed U-shaped function with the peak at approximately 5-8 degree. This result differs from the TF dependency of traditional static MAE, showing a discrepancy between the two MAEs. The MAE with flickering test might reflect the higher levels of processing underlying motion perception, in contrast with relatively lower levels underlying the traditional MAE.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128399033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367694
R. Hsu, M. Kageyama, H. Fukui, Y. Nakaya, H. Harashima
Analysis/synthesis image coding is potentially a powerful technique for compressing scenes dominated by the head-shoulder images, as in a videotelephone scene with a closeup of the human upper-body. In this paper, we propose a novel approach to image coding of the human arm, based on kinematic modeling of the human arm and motion analysis of the head-shoulder image sequences. The main characteristics of this approach are that i) it relies on the assumption that the human arm can be modeled as a kinematic linkage connected by movable joints, ii) it approximates the 3-D kinematic arm motion from the 2-D image velocities, and iii) it synthesizes shoulder image sequences from one frame of texture image, the wire-frame arm model, and estimated kinematic motion. We evaluated our approach in simulations involving a grayscale monocular image sequence of a moving arm.<>
{"title":"Human arm modeling for analysis/synthesis image coding","authors":"R. Hsu, M. Kageyama, H. Fukui, Y. Nakaya, H. Harashima","doi":"10.1109/ROMAN.1993.367694","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367694","url":null,"abstract":"Analysis/synthesis image coding is potentially a powerful technique for compressing scenes dominated by the head-shoulder images, as in a videotelephone scene with a closeup of the human upper-body. In this paper, we propose a novel approach to image coding of the human arm, based on kinematic modeling of the human arm and motion analysis of the head-shoulder image sequences. The main characteristics of this approach are that i) it relies on the assumption that the human arm can be modeled as a kinematic linkage connected by movable joints, ii) it approximates the 3-D kinematic arm motion from the 2-D image velocities, and iii) it synthesizes shoulder image sequences from one frame of texture image, the wire-frame arm model, and estimated kinematic motion. We evaluated our approach in simulations involving a grayscale monocular image sequence of a moving arm.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130634273","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367720
S. Shimizu, S. Ino, M. Sato, T. Odagawa, T. Izumi, M. Takahashi, T. Ifukube
A new method of a force display is proposed for presenting the sense of force to an elbow joint using a metal hydride (MH) actuator to be used in artificial reality and tele-existence robot. An MH actuator is very suitable for the force display because it works smoothly without any noise. In addition, the actuator is compact, light weight, and it has an adequate compliance. From simple tests, it was found that the actuator could raise a load of 10 kg up to a height of 50 mm at a speed of 9 mm/sec using a 6 g MH alloy. A force display made by the MH actuator was attached to a human elbow joint and two psychophysical experiments were carried out to investigate whether or not the actuator is useful for the force display to create an artificial reality.<>
{"title":"A basic study of a force display using a metal hydride actuator","authors":"S. Shimizu, S. Ino, M. Sato, T. Odagawa, T. Izumi, M. Takahashi, T. Ifukube","doi":"10.1109/ROMAN.1993.367720","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367720","url":null,"abstract":"A new method of a force display is proposed for presenting the sense of force to an elbow joint using a metal hydride (MH) actuator to be used in artificial reality and tele-existence robot. An MH actuator is very suitable for the force display because it works smoothly without any noise. In addition, the actuator is compact, light weight, and it has an adequate compliance. From simple tests, it was found that the actuator could raise a load of 10 kg up to a height of 50 mm at a speed of 9 mm/sec using a 6 g MH alloy. A force display made by the MH actuator was attached to a human elbow joint and two psychophysical experiments were carried out to investigate whether or not the actuator is useful for the force display to create an artificial reality.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116271597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367713
H. Nakamura, K. Nomura, Y. Sakai
Describes an experience-based, i.e., human-operator-like, methodology for regulation of plant state. It includes mental image pattern formation and conceptualization of phenomena. This fact makes it easy to construct a control system.<>
{"title":"A methodology for automatization of human operator's skill under uncertainly-informed operating environment","authors":"H. Nakamura, K. Nomura, Y. Sakai","doi":"10.1109/ROMAN.1993.367713","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367713","url":null,"abstract":"Describes an experience-based, i.e., human-operator-like, methodology for regulation of plant state. It includes mental image pattern formation and conceptualization of phenomena. This fact makes it easy to construct a control system.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128627097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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