Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into ...Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.展开更多
In this study, “homeostasis”, the function by which living things keep their constancy, was emulated as a lighting control for a building space. The algorithm we developed mimics the mechanisms of the endocrine and ...In this study, “homeostasis”, the function by which living things keep their constancy, was emulated as a lighting control for a building space. The algorithm we developed mimics the mechanisms of the endocrine and immune systems. The endocrine system transmits information entirely, whereas the immune system transmits information with a concentration gradient. A lighting control system using the proposed algorithm was evaluated in a simulation and experiment using a sensor agent robot. In this algorithm, a robot recognizes a person’s behavior and uses it to decide his or her preference as to the illuminance. The results indicate that the algorithm can be used to realize a comfortable lighting control in several situations.展开更多
A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The prop...A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.展开更多
Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physica...Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.展开更多
文摘Presents a multi robot cooperative assembly system (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an omni directional vehicle, PUMA 760 and Adept I and organized into a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.
文摘In this study, “homeostasis”, the function by which living things keep their constancy, was emulated as a lighting control for a building space. The algorithm we developed mimics the mechanisms of the endocrine and immune systems. The endocrine system transmits information entirely, whereas the immune system transmits information with a concentration gradient. A lighting control system using the proposed algorithm was evaluated in a simulation and experiment using a sensor agent robot. In this algorithm, a robot recognizes a person’s behavior and uses it to decide his or her preference as to the illuminance. The results indicate that the algorithm can be used to realize a comfortable lighting control in several situations.
文摘A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.
文摘Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
