This is a non-technical personal view paper describing how I arrived to the field of fuzzy sets and systems, getting around on the roads opened by Professor Zadeh. Then it is followed by some comments on fuzziness and on the future. The first time I heard of fuzzy sets was during a seminar of Arnold Kaufmann (later on I also read an interview of L.A. Zadeh, called "Les ensembles Flous - un concept precis", in l'lnformatique, 1970) while he was presenting Zadeh's theory and his own research. He was carrying with him the manuscript of his first book on the subject.

关键词：模糊集；机器人；系统

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This paper addresses the problem of finding several different solutions with the same optimum performance in single objective real-world engineering problems. In this paper a parallel robot design is proposed. Thereby, this paper presents a genetic algorithm to optimize uni-objective problems with an infinite number of optimal solutions. The algorithm uses the maximin concept and e-dominance to promote diversity over the admissible space. The performance of the proposed algorithm is analyzed with three well-known test functions and a function obtained from practical real-world engineering optimization problems. A spreading analysis is performed showing that the solutions drawn by the algorithm are well dispersed.

关键词：算法；机器人；函数；性能

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Until ~2010, the only astronaut data available to researchers was de-identified or grouped data archived within the Life Sciences Data Archive (LSDA).

关键词：生命科学；国际空间站；航天医学；生物医学数据

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A technology which enables us to share haptic information between remote several systems is required. Multilateral control system is an effective system which can implement the technology. However, haptic information tends to deteriorate under communication delay because haptic information is bilateral. Since multilateral control connects all subsystems to share information, the information is greatly affected by time delay. Selecting the communication link is one way of the solving the problem, however there were no means to know the strength of the link. Therefore, two things are proposed in this paper. Firstly, the index which is named "information volume" to quantify the amount of information that each subsystem has is proposed. This index can be applied to a system which has time delay in communication links. Using the index, the importance of each communication link which includes delay time can be quantified. Secondly, the algorithm to select the communication links is proposed based on the information volume. The target relationship regarding the information volumes is set and the links which are unnecessary are to be removed. The validity of the proposal is confirmed by experiments, and the results show that the degradation of haptic sensation under communication delay is prevented.

关键词：多边控制系统;邻接矩阵图;最大特征值;系统连接;通信延迟

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This paper presents a framework for controlling multiple robots connected by communication networks. Instead of making multiple robots pursue several tasks simultaneously, the framework makes mobile software agents migrate from one robot to another to perform the tasks. Since mobile software agents can migrate to arbitrary robots by wireless communication networks, they can find the most suitably equipped and/or the most suitably located robots to perform their task. In this paper, we propose a multiple robot control approach based on mobile agents for searching targets as one of the effective examples. Though it is a simple task, it can be extended to any other more prac-tial examples, or be used as an element of a real application because of its simplicity. We have conducted two kinds of experiments in order to demonstrate the effectiveness of our approach. One is an actual system with three real robots, and the other is a simulation system with a larger number of robots. The results of these experiments show that our approach achieves reducing the total time cost consumed by all robots while suppressing the energy consumption.

关键词：移动代理;动态软件组成;智能机器人控制

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Machines that perform intelligent tasks interacting with humans in a seamless manner are becoming a reality. A key element in their design is their ability to make decisions based on a reasonable value system, and the perception of the surrounding environment, including the incumbent persons. In this chapter, we provide a model that supports the decision making process of an autonomous agent that imperfectly perceives its environment and the actions performed by a person, which we shall designate user. The approach has a decision analytic flavour, but includes models forecasting the user's behaviour and its impact over the surrounding environment. We describe the implementation of the model with an edutainment robot with sensors that capture information about the world around it, which may serve as a cognitive personal assistant, may be used with kids for educational, recreational and therapeutic purposes and with elderly people for companion purposes.

关键词：机器人；智能；决策分析；模型

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In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases: the" delay between the design of the vehicle and its production is often important, moreover, the virtual modeling presents a non realistic aspect of the real robot and vehicle, so this factor could introduce localization inacurracies in performing trajectories. Our work is registered as a part of TRI project (Teleteaching Industrial Robots) which aims to realize a demonstrator showing the interaction of industrial robots with virtual components and allowing to train users to perform successfully their tasks on a virtual representation of a production entity. In this project we make use of Augmented Reality (AR) techniques to overlay virtual objects onto the real world in order to enhance the user's perception and interaction while performing a specific industrial task. The idea is to allow the real robot to teach trajectories of an automotive task thanks to vehicle virtual model. The pose accuracy is prerequisite of our application since it allows a reliable teaching of the real trajectory. Therefore, we survey some vision-based pose computation algorithms and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. Our aim is to determine the performance of these pose estimation methods in term of errors and distance evaluation. The evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows the performance of algorithms in term of accuracy, stability and convergence.

关键词：增强现实;姿态估计;工业机器人;计算机视觉;实时跟踪

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Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot teleoperation and contact with different objects are analyzed and discussed.

关键词：触觉界面；机器人；虚拟

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This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram(EMG)signals as input signals for command generation based on functionally different effective muscle(FEM)theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist(or an ankle)and muscles of limbs. Thus, the proposed interface can realize the intuitive operation. Experimental results evaluate the utility of the proposed control interface.

关键词：运动控制;肌电信号;有限元理论;命令生成;移动机器人

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In this paper a new concept of Mobile Spatial Assistive Intelligence (MSAI) applied for the control and supervision of web connected mobile robots is introduced. Mobile Intelligence is implemented as MSAS (Mobile Spatial Assistance System) - a mobile robot available to perform Qualitative Spatio-Temporal Representation and Reasoning (QSTRR). Taking up this subject is justified by the need of developing new methods for the control, supervision and integration of existing modules (inspection robots, autonomous robots, mobile base station). The research problem comprises the web connected mobile robots system development structure with the exemplification based on the inspection-intervention system. Using QSTRR for supervision and control of robotics system is a novel approach and I believe that this framework can decrease the cognitive load for a human operator. The main task for MSAS is to build the semantic model of the structured environment based on its observations. This semantic model is used by a qualitative reasoner - an important component of MSAI, to perform spatial entities' supervision based on the spatial relations and the spatio-temporal events. The experiments' results obtained using the prototype of MSAS in real indoor environment are also discussed. This approach can be used for the design of the intelligent human machine interface that can help in controlling the robot during the risky scenarios.

关键词：语义映射;机器人系统;监督;定性表示和推理

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