关键词：移动机器人；视觉信息；视觉系统

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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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An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

关键词：任务规划;不确定性;博弈论;多机器人

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When realizing gestural interaction in a typical living environment there often is an offset between user-perceived and machine-perceived direction of pointing, which can hinder reliable selection of elements in the surroundings. This work presents a support system that provides visual feedback to a freely gesturing user; thus enabling reliable selection of and interaction with reactive elements in intelligent environments. We have created a prototype that is showcasing this feedback method based on gesture recognition using the Microsoft Kinect and visual support provision using a custom built laser-robot. Finally an evaluation has been performed, in order to prove the efficiency of such a system, acquire usability feedback and determine potential learning effects for gesture-based interaction.

关键词：机器人；人机交互；信息反馈；环境智能

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In this chapter we shall discuss how a low-cost robot can be indigenously developed in the laboratory with special functionalities. Especially, the development of two types of PIC microcontroller based sensor systems that can be integrated with a robot will be discussed in detail in this regard. One of them will be the development of an IR range finder system that can be developed with dynamic range enhancement capability. The second one will be the development of an optical proximity detector system which utilizes the principle of switching mode synchronous detection technique.

关键词：机器人；特殊功能；微控制器

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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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This paper describes the optimization of an Integrator control block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction respectively.

关键词：机器人；导航控制系统；模糊推理系统

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Novel care-technologies possess a transformational potential. Future care and support may be provided via monitoring technologies such as smart devices, sensors, actors (robots) and Information and Communication Technologies. Such technologies enable care provision outside traditional care institutions, for instance in the homes of patients. Health monitoring may become "personalized" i.e. tailored to the needs of individual care recipients' but may also alter relations between care providers and care recipents, shape and form the care environment and influence values central to health-care. Starting out from a social constructivist theory of technology, an interactive ethical assessment-model is offered. The suggested model supplements a traditional analysis based on normative ethical theory (top-down approach) with interviews including relevant stakeholders (a bottom-up approach). This method has been piloted by small-scale interviews encircling stakeholder perspectives on three emerging technologies: Careousel, a smart medicine-management device, Robot Giraff, an interactive and mobile communication-device and I-Care, a care-software that combines alarm and register system. By incorporating stakeholder perspectives into the analysis, the interactive ethical assessment model provides a richer understanding of the impact of PHM-technologies on ethical values than a traditional top-down model. If the assessment is conducted before the technology has reached the market - preferably in close interaction with developers and users - ethically sound technologies may be obtained.

关键词：护理;护理伦理;机器人;医疗保健

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This chapter describes a novel methodology for behavior learning of an agent, called Coaching. The proposed method is an interactive and iterative learning method which allows a human trainer to give a subjective evaluation to the robotic agent in real time, and the agent can update the reward function dynamically based on this evaluation simultaneously. We demonstrated that the agent is capable of learning the desired behavior by receiving simple and subjective instructions such as positive and negative. The proposed approach is also effective when it is difficult to determine a suitable reward function for the learning situation in advance. We have conducted several experiments with a simulated and a real robot arm system, and the advantage of the proposed method is verified throughout those experiments.

关键词：机器人；手臂系统；模拟

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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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