Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Role of opinion sharing on the emergency evacuation dynamics

Emergency evacuation is a critical research topic and any improvement to the existing evacuation models will help in improving the safety of the evacuees. Currently, there are evacuation models that have either an accurate movement model or a sophisticated decision model. Individuals in a crowd tend to share and propagate their opinion. This opinion sharing part is either implicitly modeled or entirely overlooked in most of the existing models. Thus, one of the overarching goal of this research is to the study the effect of opinion evolution through an evacuating crowd. First, the opinion evolution in a crowd was modeled mathematically. Next, the results from the analytical model were validated with a simulation model having a simple motion model. To improve the fidelity of the evacuation model, a more realistic movement and decision model were incorporated and the effect of opinion sharing on the evacuation dynamics was studied extensively. Further, individuals with strong inclination towards particular route were introduced and their effect on overall efficiency was studied. Current evacuation guidance algorithms focuses on efficient crowd evacuation. The method of guidance delivery is generally overlooked. This important gap in guidance delivery is addressed next. Additionally, a virtual reality based immersive experiment is designed to study factors affecting individuals\u27 decision making during emergency evacuation

On microelectronic self-learning cognitive chip systems

After a brief review of machine learning techniques and applications, this Ph.D. thesis examines several approaches for implementing machine learning architectures and algorithms into hardware within our laboratory. From this interdisciplinary background support, we have motivations for novel approaches that we intend to follow as an objective of innovative hardware implementations of dynamically self-reconfigurable logic for enhanced self-adaptive, self-(re)organizing and eventually self-assembling machine learning systems, while developing this new particular area of research. And after reviewing some relevant background of robotic control methods followed by most recent advanced cognitive controllers, this Ph.D. thesis suggests that amongst many well-known ways of designing operational technologies, the design methodologies of those leading-edge high-tech devices such as cognitive chips that may well lead to intelligent machines exhibiting conscious phenomena should crucially be restricted to extremely well defined constraints. Roboticists also need those as specifications to help decide upfront on otherwise infinitely free hardware/software design details. In addition and most importantly, we propose these specifications as methodological guidelines tightly related to ethics and the nowadays well-identified workings of the human body and of its psyche

A Hierarchical, Fuzzy Inference Approach to Data Filtration and Feature Prioritization in the Connected Manufacturing Enterprise

The current big data landscape is one such that the technology and capability to capture and storage of data has preceded and outpaced the corresponding capability to analyze and interpret it. This has led naturally to the development of elegant and powerful algorithms for data mining, machine learning, and artificial intelligence to harness the potential of the big data environment. A competing reality, however, is that limitations exist in how and to what extent human beings can process complex information. The convergence of these realities is a tension between the technical sophistication or elegance of a solution and its transparency or interpretability by the human data scientist or decision maker. This dissertation, contextualized in the connected manufacturing enterprise, presents an original Fuzzy Approach to Feature Reduction and Prioritization (FAFRAP) approach that is designed to assist the data scientist in filtering and prioritizing data for inclusion in supervised machine learning models. A set of sequential filters reduces the initial set of independent variables, and a fuzzy inference system outputs a crisp numeric value associated with each feature to rank order and prioritize for inclusion in model training. Additionally, the fuzzy inference system outputs a descriptive label to assist in the interpretation of the feature’s usefulness with respect to the problem of interest. Model testing is performed using three publicly available datasets from an online machine learning data repository and later applied to a case study in electronic assembly manufacture. Consistency of model results is experimentally verified using Fisher’s Exact Test, and results of filtered models are compared to results obtained by the unfiltered sets of features using a proposed novel metric of performance-size ratio (PSR)

Towards perceptual intelligence : statistical modeling of human individual and interactive behaviors

Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Architecture, 2000.Includes bibliographical references (p. 279-297).This thesis presents a computational framework for the automatic recognition and prediction of different kinds of human behaviors from video cameras and other sensors, via perceptually intelligent systems that automatically sense and correctly classify human behaviors, by means of Machine Perception and Machine Learning techniques. In the thesis I develop the statistical machine learning algorithms (dynamic graphical models) necessary for detecting and recognizing individual and interactive behaviors. In the case of the interactions two Hidden Markov Models (HMMs) are coupled in a novel architecture called Coupled Hidden Markov Models (CHMMs) that explicitly captures the interactions between them. The algorithms for learning the parameters from data as well as for doing inference with those models are developed and described. Four systems that experimentally evaluate the proposed paradigm are presented: (1) LAFTER, an automatic face detection and tracking system with facial expression recognition; (2) a Tai-Chi gesture recognition system; (3) a pedestrian surveillance system that recognizes typical human to human interactions; (4) and a SmartCar for driver maneuver recognition. These systems capture human behaviors of different nature and increasing complexity: first, isolated, single-user facial expressions, then, two-hand gestures and human-to-human interactions, and finally complex behaviors where human performance is mediated by a machine, more specifically, a car. The metric that is used for quantifying the quality of the behavior models is their accuracy: how well they are able to recognize the behaviors on testing data. Statistical machine learning usually suffers from lack of data for estimating all the parameters in the models. In order to alleviate this problem, synthetically generated data are used to bootstrap the models creating 'prior models' that are further trained using much less real data than otherwise it would be required. The Bayesian nature of the approach let us do so. The predictive power of these models lets us categorize human actions very soon after the beginning of the action. Because of the generic nature of the typical behaviors of each of the implemented systems there is a reason to believe that this approach to modeling human behavior would generalize to other dynamic human-machine systems. This would allow us to recognize automatically people's intended action, and thus build control systems that dynamically adapt to suit the human's purposes better.by Nuria M. Oliver.Ph.D

Artificial general intelligence: Proceedings of the Second Conference on Artificial General Intelligence, AGI 2009, Arlington, Virginia, USA, March 6-9, 2009

Artificial General Intelligence (AGI) research focuses on the original and ultimate goal of AI – to create broad human-like and transhuman intelligence, by exploring all available paths, including theoretical and experimental computer science, cognitive science, neuroscience, and innovative interdisciplinary methodologies. Due to the difficulty of this task, for the last few decades the majority of AI researchers have focused on what has been called narrow AI – the production of AI systems displaying intelligence regarding specific, highly constrained tasks. In recent years, however, more and more researchers have recognized the necessity – and feasibility – of returning to the original goals of the field. Increasingly, there is a call for a transition back to confronting the more difficult issues of human level intelligence and more broadly artificial general intelligence