1,721,208 research outputs found
An ontology-based hybrid architecture for planning and robust execution in tabletop scenarios
No full textA biologically plausible, neural-inspired planning approach which does not solve ‘The gourd, the monkey, and the rice’ puzzle
No full textThis article describes research work aimed at designing a biologically inspired, neural network based computational model for planning. The article extends our previous work (Mastrogiovanni et al. (2010) International Journal of Machine Consciousness, 3, 91–114) by solving problems making the previous approach hard to apply in real-world scenarios. The proposed solution is based on two conjectures on the way the cognitive capabilities of living beings have evolved, and purposely ignores the human-level skills required for solving complex puzzles. In this spirit, we take inspiration from ethology to introduce a new puzzle, henceforth referred to as the ‘The gourd, the monkey, and the rice’: then, we argue that our planning approach fails to solve the puzzle as well as the real monkeys fail to solve it, and we suggest a biologically plausible explanation for the reason why this happens
A behaviour sequencing and composition architecture based on ontologies for entertainment humanoid robots
No full textResearch in Human-Robot interaction stresses the importance of non verbal behaviours in order
to enforce credibility and believability in robots. When using small and cheap entertainment
robots, verbal cues are very limited, gaze and facial gestures can be absent, whereas body gestures
comprise – as a matter of fact – only stereotyped behaviours. The main contribution of this
article is an evaluation study about the effects of pure body gestures when entertainment robots
are observed by humans in an interaction process. Robots are required to execute a sequence of
behaviours, as if they were playing on a stage. To this aim, a model for composing behaviour
primitives for entertainment humanoid robots using AND/OR graphs is presented. Both single
and multi robot scenarios are considered. The framework can sequence robot behaviours using
complex scripts, which can be easily programmed using standard ontology-based knowledge
representation mechanisms. Procedures are used to operate on the ontology representation in order
to execute behaviours in a fully hierarchical and recursive fashion. Experimental validation
with an interview campaign has been carried out using toy Kondo robots
An open framework to develop and validate techniques for speech analysis
No full textThis paper presents the Concept-Action Grammar Generator (CAGG) system, which is an open source framework for natural speech-based interaction to be used in the semantic analysis of sentences. The goal of our framework is two-fold: i) to deliver a formalism associating a context-aware semantics to the words in a sentence; ii) to provide a common framework to benchmark different implementations of evaluators with the aim of improving speech-based interaction. To this aim, CAGG includes a specifically designed formalism for grammars definition as well as parsing mechanisms to automatically create and evaluate their structure. CAGG implements a deterministic evaluator which provisional performance related to a number of natural queries is discussed in terms of correct semantic associations and computational time
Handbook of research on ambient Intelligence and smart environments: trends and perspectives
No full text
APPARATO DI RILEVAZIONE E TRACCIAMENTO DELLA POSTURA E/O DELLA DEFORMAZIONE DI UN ORGANO CORPOREO
No full textIl compito tecnico che si propone la presente invenzione è, pertanto, quello di realizzare un apparato ed un metodo di rilevazione e tracciamento della postura e della deformazione di un organo corporeo in un contesto intra-operatorio, ad esempio nel corso di procedure chirurgiche, che consenta di eliminare gli inconvenienti tecnici lamentati della tecnica nota.
Nell’ambito di questo compito tecnico uno scopo dell’invenzione è quello di realizzare un apparato di rilevazione e tracciamento della postura e della deformazione di un organo corporeo in un contesto intra-operatorio, ad esempio durante procedure chirurgiche, che consenta di associare una immagine olografica tridimensionale di tale organo a detta rappresentazione della sua postura e/o della sua deformazione, in modo semplice, efficace e sicuro.
Un altro scopo dell’invenzione è quello di realizzare un apparato di rilevazione e tracciamento della postura e della deformazione di un organo corporeo in un contesto intra-operatorio, ad esempio nel corso di procedure chirurgiche, che consenta di guidare l’orientamento intra-corporeo assistito nel corso di procedure chirugiche
Towards the creation of tactile maps for robots and their use in robot contact motion control
No full textSemantic-aware real-time scheduling in robotics
No full textThis paper introduces semantic-aware real-time (SeART), an extension to conventional operating systems, which deals with complex real-time robotics applications. SeART addresses the problem of selecting a subset of tasks to be scheduled depending on the current operating context: mission objectives, other tasks currently executed, the availability or unavailability of sensors and other resources, as well as temporal constraints. Toward this end, SeART is able to represent the semantics of tasks to be scheduled, i.e., what tasks are meant for, and to use this information in the scheduling process. This paper describes in detail the SeART architecture by focusing on representations and reasoning procedures, and presenting a case-study which is related to mobile robotics for autonomous objects transportation
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