Flexible attention-based cognitive architecture for robots

University of Technology Sydney. Faculty of Engineering and Information Technology.Robots have been working in factories to achieve tasks autonomously with little human intervention for some time. Even though robots are commonly found as vacuum cleaners in homes and assistants in hospitals, by comparison with factory robots, service robots have not been widely deployed in society because there remains several challenges deploying robots to achieve complex tasks in open, unstructured, uncontrolled and complex environments. Critical research gaps arise from the lack of cognitive architectures that support robots to undertake tasks in open and complex environments. Throughout the history of AI, researchers have developed various algorithms, representations and mechanisms, to solve specific tasks. However, each of these techniques has different strengths and weaknesses when applied to particular problems. A cognitive architecture provides a unifying infrastructure that can integrate various techniques to solve open and complex tasks. However, four important issues become apparent when current cognitive architectures are applied to service robotic tasks. First, they are not capable of managing robot resources and as a result robotic developers must take responsibility for managing the resources manually. Second, they are not capable of integrating independently developed techniques, which are often needed to solve problems. Third, they are inflexible, unable to adapt to design changes and require considerable time and effort to modify. Fourth, they are inadequate for supporting the necessary capabilities required by robots such as multiple goals, reliability and maintainability. These issues are confirmed when cognitive architectures are applied to a standard benchmark problem in AI: the autonomous robot soccer problem. The purpose of this dissertation is to address these significant gaps so as to accelerate the development, deployment and adoption of service robots undertaking tasks in open and complex environments. This dissertation develops a novel bio-inspired cognitive architecture (called ASMO) that has been designed and developed to address all four identified shortcomings of current cognitive architectures. In ASMO, intelligent behaviours to solve open and complex tasks is a result of the emergence of constituent processes, rather than from careful top-down control engineering. Minsky has argued in his Society of Mind that intelligent behaviours can emerge from the interaction of many simple processes, even though each process may lack `intelligence' in isolation. In addition, Anderson argued that an emergent system produces more complex behaviours and properties that cannot be reduced to the sum of its components. ASMO has attention, emotion and learning mechanisms that are inspired by human intelligence. It treats each action as a concurrent, independent and self-governed black box process that competes for the robot's attention to perform actions. The attention mechanism is used to mediate the competition among processes, which correspond to the set of potential actions. The emotion mechanism is used to bias the attention demanded by the processes. The learning mechanisms are used to modify the attention in order to improve robots' performances. Combining concurrent, independent and self-governed black-box processes with attention and emergent approaches allows ASMO to address the four shortcomings of current cognitive architectures. First, the attention mechanism manages resources explicitly. Second, the black-box design allows any kind of independently developed technique to be integrated without the need to know its internal algorithm, representation or mechanism. Third, attention weighted values enables various techniques to be (re)integrated or (re)structured on the fly with considerably less time and effort. Fourth, the concurrent, independent and self-governed designs support the capabilities required by robots by allowing processes to (i) achieve multiple goals concurrently, (ii) fail without causing the whole system to fail and (iii) be maintained in isolation. ASMO is evaluated using two robotic problems: (i) the RoboCup soccer standard benchmark problem is used to demonstrate proof-of-concept that a team of robots can be supported by ASMO. In particular, a real robot can be governed by ASMO's attention mechanism to undertake complex tasks. (ii) a companion robot problem is used to demonstrate that ASMO's attention, emotion and learning mechanisms overcome the four identified shortcomings of current state-of-the-art cognitive architectures. This dissertation presents ASMO, an innovative cognitive architecture that addresses the four shortcomings of current state-of-the-art cognitive architectures, and that can also accelerate the development, deployment and adoption of service robots. ASMO provides a more natural and easier approach to programming robots based on a novel bio-inspired attention management system. ASMO allows researchers and robot system developers to focus on developing new capabilities as processes rather than having to be concerned about integrating new capabilities into a cognitive architecture

IMPLEMENTATION PID IN THE SYSTEM CONTROL SPACE HEATER BASED MICROCONTROLLER ATMega 8535

Final project aims to make hardware and software space heaters as a PID control system automatically controls heating control room and to know the performance of PID control applications using microcontroller ATmega 8535. In designing the PID implementation In Space Heater Control System Based Microcontroller ATMega 8535. The author uses several hardware components that support the operation of this instrument, namely a temperature sensor LM35, optotriac MOC 3021, TRIAC BT136, microcontroller ATMega 8535, as well as a heated indoor measuring 30cm x 30cm x 30cm. For authors use software components to help codevision AVR C programming language, while the facility in microcontroller ATMega 8535 used is the external interrupt 0, timer 0, timer 1, and ADC. With the above design of this tool may be run according to expectations. Performance of PID control system to control this whole space heaters can work well. Results of testing and discussion of PID parameters, shows the value of the temperature within the ideal temperature range hatch eggs. So this tool with the PID parameters such as testing, it can be used or applied as an egg incubator. Keywords: PID Control, Space Heaters, Microcontroller ATmega 853

Upaya Penanggulangan yang Dilakukan oleh Kepolisian dalam Memberantas Tindak Pidana Peredaran Narkoba Dikalangan Narapidana (Studi di Polisi Resort Malang Kota)

Si: Penulisan penelitian ini membahas mengenai upaya Kepolisian dalam menanggulangi peredaran narkoba dikalangan narapidana. Narapidana yang seharusnya dibina untuk dapat dikembalikan lagi kedalam masyarakat tidak seharusnya melakukan tindak pidana lagi ketika dirinya dalam proses dipidana kurungan penjara. Perlunya penanggulangan yang dilakukan untuk mencegah dampak yang lebih jauh dari jaringan yang terbentuk yang semakin mengakar. Metode yang digunakan adalah metode pendekatan yuridis sosiologis. Pendekatan yuridis dimaksudkan untuk mengkaji atau menganalisa dari segi keilmuan hukum berdasarkan peraturan hukum yang berlaku, sedangkan pendekatan sosiologis digunakan untuk mengkaji efektifitas penerapan hukum yang bersangkutan berdasarkan Kenyataan atau fakta yang ada pada masyarakat. Data yang diperoleh kemudian di olah dengan teknik deskriptif analitis, yaitu menggambarkan data yang kemudian dianalisa dengan rujukan pustaka yang didalamnya ada teori mengenai keilmuan hukum. Hasil yang didapat bahwa upaya Kepolisian dalam menanggulangi peredaran narkoba dikalangan narapidana ada dua, yaitu upaya represif dalam bentuk koordinasi terbuka dan upaya represif dan preventif dalam bentuk koordinasi tertutup. Koordinasi terbuka dilakukan dengan berkoordinasi langsung dengan Kalapas sedangkan koordinasi tertutup dilakukan dengan cara pihak Kepolisian bergerak sendiri menelusuri jaringan peredaran narkoba melalui media SMS. Upaya perbaikan dari penanggulangan yang telah dilakukan berupa pembenahan dari kendala yang dihadapi selama proses penelusuran dan pengembangan kasus peredaran narkoba dikalangan narapidana. Kendala yang dihadapi menjadi tolak ukur keberhasilan Kepolisian dalam mengungkap kasus. Serta faktor pendorong narapidana melakukan tindak pidana peredaran narkoba dijadikan acuan untuk terus menjalankan kinerja menegakkan hukum

The role of attention in robot self-awareness

A robot may not be truly self-aware even though it can have some characteristics of self-awareness, such as having emotional states or the ability to recognize itself in the mirror. We define self-awareness in robots to be characterized by the capacity to direct attention toward their own mental state. This paper explores robot self-awareness and the role that attention plays in the achievement self-awareness. We propose a new attention based approach to self-awareness called ASMO and conduct a comparative analysis of approaches that highlights the innovation and benefits of ASMO. We then describe how our attention based self-awareness can be designed and used to develop self-awareness in state-of-the-art humanoidal robots. © 2009 IEEE

A Hierarchical Emotion Regulated Sensorimotor Model: Case Studies

Inspired by the hierarchical cognitive architecture and the perception-action model (PAM), we propose that the internal status acts as a kind of common-coding representation which affects, mediates and even regulates the sensorimotor behaviours. These regulation can be depicted in the Bayesian framework, that is why cognitive agents are able to generate behaviours with subtle differences according to their emotion or recognize the emotion by perception. A novel recurrent neural network called recurrent neural network with parametric bias units (RNNPB) runs in three modes, constructing a two-level emotion regulated learning model, was further applied to testify this theory in two different cases.Comment: Accepted at The 5th International Conference on Data-Driven Control and Learning Systems. 201

Pengaruh Keputusan Keuangan, Struktur Kepemilikan, dan Tingkat Suku Bunga terhadap Nilai Perusahaan Property dan Real Estate yang Go Public

The companys value is related to the stock price, showing the value that investors are willing to pay. To increase the stock price, the company should make good financial decisions and ownership structure. In addition, external factors also need to be consi-dered, one of which is the interest rate. This study aimed to examine the effect of finan-cial decisions, ownership structure, and the interest rate on the value of go public property and real estate companies. The sample consists of 45 property and real esate companies listed on Indonesia Stock Exchange in 2009-2013 periods. It uses purposive sampling method in determining the sample and multiple linear regression analysis for analyzing the effect of independent variables on the dependent variable. The results indicate that investment decisions are measured by Total Assets Growth insignificant positive effect on the companys value. Financing decision is measured by Debt to Eq-uity Ratio, dividend policy is measured by the Dividend Payout Ratio, and institu-tional ownership has significant positive effect on the companys value, while mana-gerial ownership and interest rate have insignificant and negative effect on the compa-nys value

Manajemen User dan Bandwidth pada Hotspot di Kantor BUMD Provinsi Bangka Belitung Menggunakan Router Mikrotik

Untuk membangun jaringan pada kantor BUMD, dibutuhkan perangkat- perangkat jaringan seperti Router, Modem, Access Point, kabel UTP agar kebutuhan jaringan terpenuhi. Router digunakan untuk mengatur lalulintas jaringan seperti management bandwidth, pemberian IP (DHCP), authentication user. Modem sebagai koneksi ke ISP, dan Access Point sebagai koneksi wireless ke client. Dalam penyelesaian proyek ini beberapa tahap yang harus diselesaikan yaitu : menentukan area akses jaringan, menentukan topologi jaringan, menentukan alat –alat yang dibutuhkan, menentukan spesifikasi alat-alat yang dibutuhkan, dan menetukan IP yang digunakan sesuai dengan kebutuhan jaringan, dan pengujian terhadap jaringan (implementasi). Hasil yang diharapkan adalah dapat memberi suatu fasilitas yang berfungsi untuk sharing koneksi internet dan dapat menekan biaya agar lebih hemat, dan juga dapat dikembangkan penggunaannya untuk penggunaan atau manfaat lain pada jaringan

Nilai-Nilai Pendidikan Fiqih Dalam Kitab Nurul Burhan Karya Syaikh Muslih Bin Abdurrahman Al Maraqi

Kitab Nurul Burhan adalah kitab yang ditulis oleh Syaikh Muslih bin Abdurrahman Al Maraqi yang merupakan seorang ulama dari Mranggen, Demak, Jawa Tengah. Kitab Nurul Burhan merupakan syarah dari kitab Maulid Al-Lujjainid Dani karya Syaikh Ja’far bin Hasan bin Abdul Karim Al-Barzanji yang berisi tentang kisah perjalanan hidup seorang ulama sekaligus waliyullah yaitu Syekh Abdul Qodir Al-Jailani. Dimana dalam kisah perjalanan hidup beliau tersebut terdapat beberapa nilai-nilai pendidikan Fiqih yang dapat diteladani dan dapat dijadikan pedoman dalam pendidikan Islam. Rumusan masalah dalam penelitian ini yaitu mengenai apa saja nilai-nilai pendidikan Fiqih dalam Kitab Nurul Burhan karya Syaikh Muslih bin Abdurrahman Al-Maraqi. Penelitian ini bertujuan untuk mengetahui apa saja nilai-nilai pendidikan Fiqih dalam Kitab Nurul Burhan karya Syaikh Muslih bin Abdurrahman Al-Maraqi terbitan Toha Semarang. Adapun kegunaan penelitian ini (1) Secara teoritis untuk menambah khasanah keilmuan serta dapat dijadikan pedoman bagi masyarakat dalam memahami nilai-nilai pendidikan Fiqih dalam Kitab Nurul Burhan karya Syaikh Mushlih bin Abdurrahman Al-Maraqi. (2) Secara praktis yaitu, sebagai referensi bagi peneliti lain yang bermaksud melakukan penelitian lebih lanjut. Jenis penelitian ini adalah penelitian kepustakaan (library research), yang menggunakan sumber data primer berupa Kitab Nurul Burhan Karya Syaikh Muslih bin Abdurrahman Al- Maraqi terbitan Toha Semarang. Sedangkan untuk data sekunder peneliti memakai buku pendukung, artikel, jurnal dan dokumen lain yang terkait dengan judul penelitian. Keabsahan data di uji melalui peningkatan ketekunan dan analisis data dilakukan dengan content analysis atau analisis isi dalam bentuk deskriptif. Nilai-nilai pendidikan Fiqih berkaitan erat dengan filosofi, hikmah, dan maqashhudy syari’ah dari pendidikan Fiqih yang biasa di lakukan seseorang setiap harinya. Setelah ditelaah lebih jauh, terdapat nilai-nilai pendidikan Fiqih yang dimukan dalam kitab Nurul Burhan Karya Syaikh Muslih bin Abdurrahman Al- Maraqi berupa: membiasakan diri untuk menjaga kesucian diri maupun pakaian dari hadats ataupun najis, senantiasa mengerjakan amal sholeh dan menepati nadzar

Analisa Metode Median Pada Penentuan Titik Tengah Di Google Maps

Information technology to used facilitate the lives of humans in performing activities have come to the stage of the hand grip. The intent of this grip is a form of computer that is small and can be hand held adult human hand, for example in the form of smartphones, laptops, and tablets. This equipment can help people to access the internet that provide maps and location services on earth . With the internet user will easily dig resources with ease. Thus with the internet it is essential for human life until the source of the future. Problems that arise in the world of internet or computer network often arise and prevent the problem. Limitations of resources based on google maps is very necessary for a person to get the intended location. This system will help a person in getting the distance of the intersection to a point latitude and longitude coordinates by calculating the midpoint of the user, and then calculate the distance between the midpoint of the location suggested by the system so that the user gets close location to conduct meetings. To specify the system location data using Google Place API to obtain complete data locations along the coordinates of latitude and longitude of a location