Search results for "Robotic"

Multi-agent control architecture for RFID cyberphysical robotic systems initial validation of tagged objects detection and identification using Playe…

2016

International audience; The objective of this paper is to describe and validate a multi-agent architecture proposed to control RFID Cyber-Physical Robotic Systems. This environment may contain human operators, robots (mobiles, manipulators, mobile manipulators, etc.), places (workrooms, walls, etc.) and other objects (tables, chairs, etc.). The proposed control architecture is composed of two types of agents dispatched on two levels. We find at the Organization level a Supervisory agent to allow operators to configure, manage and interact with the overall control system. At the Control level, we distinguish the Robots agents, to each robot (mobiles, manipulators or mobile manipulators) is a…

Action simulation in the human brain: Twelve questions

2013

Although the idea of action simulation is nowadays popular in cognitive science, neuroscience and robotics, many aspects of the simulative processes remain unclear from empirical, computational, and neural perspectives. In the first part of the article, we provide a critical review and assessment of action simulation theories advanced so far in the wider literature of embodied and motor cognition. We focus our analysis on twelve key questions, and discuss them in the context of human and (occasionally) primate studies. In the second part of the article, we describe an integrative neuro-computational account of action simulation, which links the neural substrate (as revealed in neuroimaging …

BVLOS UAS Operations in Highly-Turbulent Volcanic Plumes.

2020

Long-range, high-altitude Unoccupied Aerial System (UAS) operations now enable in-situ measurements of volcanic gas chemistry at globally-significant active volcanoes. However, the extreme environments encountered within volcanic plumes present significant challenges for both air frame development and in-flight control. As part of a multi-disciplinary field deployment in May 2019, we flew fixed wing UAS Beyond Visual Line of Sight (BVLOS) over Manam volcano, Papua New Guinea, to measure real-time gas concentrations within the volcanic plume. By integrating aerial gas measurements with ground- and satellite-based sensors, our aim was to collect data that would constrain the emission rate of …

Self in NARS, an AGI System

2018

This article describes and discusses the self-related mechanisms of a general-purpose intelligent system, NARS. This system is designed to be adaptive and to work with insufficient knowledge and resources. The system’s various cognitive functions are uniformly carried out by a central reasoning-learning process following a “non-axiomatic” logic. This logic captures the regularities of human empirical reasoning, where all beliefs are revisable according to evidence, and the meaning of concepts are grounded in the system’s experience. NARS perceives its internal environment basically in the same way as how it perceives its external environment although the sensors involved are completely diff…

2020

In this paper a comprehensive system-level computational model of oculomotor pathways is presented. This model shows the necessity of embedding internal models of muscles biomechanics in the cerebellar Vermis to realize fast saccadic eye movements based on predicting the changes in muscles lengths. First, the eye biomechanics are described by nonlinear equations during “slow” and “fast” movements. Afterward, by analyzing these equations, a computational model, is deduced. Furthermore, each part of this model is interpreted as a possible function of an element in the oculomotor pathways based on physiological and anatomical pieces of evidence. In this model, two internal feedback loops compe…

Experiments in Artificial Theory of Mind: From Safety to Story-Telling

2018

Theory of mind is the term given by philosophers and psychologists for the ability to form a predictive model of self and others. In this paper we focus on synthetic models of theory of mind. We contend firstly that such models—especially when tested experimentally—can provide useful insights into cognition, and secondly that artificial theory of mind can provide intelligent robots with powerful new capabilities, in particular social intelligence for human-robot interaction. This paper advances the hypothesis that simulation-based internal models offer a powerful and realisable, theory-driven basis for artificial theory of mind. Proposed as a computational model of the simulation theory of …

A Cognitive Architecture for Robotic Hand Posture Learning

2005

This paper deals with the design and implementation of a visual control of a robotic system composed of a dexterous hand and video camera. The aim of the proposed system is to reproduce the movements of a human hand in order to learn complex manipulation tasks or to interact with the user. A novel algorithm for robust and fast fingertips localization and tracking is presented. A suitable kinematic hand model is adopted to achieve a fast and acceptable solution to an inverse kinematics problem. The system is part of a cognitive architecture for posture learning that integrates the perceptions by a high-level representation of the scene and of the observed actions. The anthropomorphic robotic…

Humanoid Cognitive Robots That Learn by Imitating: Implications for Consciousness Studies.

2018

While the concept of a conscious machine is intriguing, producing such a machine remains controversial and challenging. Here we describe how our work on creating a humanoid cognitive robot that learns to perform tasks via imitation learning relates to this issue. Our discussion is divided into three parts. First, we summarize our previously-detailed framework for advancing the understanding of the nature of phenomenal consciousness. This framework is based on identifying computational correlates of consciousness. Second, we describe a cognitive robotic system that we recently developed that learns to perform tasks by imitating human-provided demonstrations. This humanoid robot uses cause-ef…

Beyond Sentinel Lymph Node: Outcomes of Indocyanine Green-Guided Pelvic Lymphadenectomy in Endometrial and Cervical Cancer

2023

Background: The aim of our study was to compare the number of lymph nodes removed during indocyanine green (ICG)-guided laparoscopic/robotic pelvic lymphadenectomy with standard systematic lymphadenectomy in endometrial cancer (EC) and cervical cancer (CC). Methods: This is a multicenter retrospective comparative study (Clinical Trial ID: NCT04246580; updated on 31 January 2023). Women affected by EC and CC who underwent laparoscopic/robotic systematic pelvic lymphadenectomy, with (cases) or without (controls) the use of ICG tracer injection within the uterine cervix, were included in the study. Results: The two groups were homogeneous for age (p = 0.08), Body Mass Index, International Fede…

Prediction of significant renal function decline after open, laparoscopic, and robotic partial nephrectomy: External validation of the Martini’s nomo…

2022

Objectives: Martini et al. developed a nomogram to predict significant (>25%) renal function loss after robot-assisted partial nephrectomy and identified four risk categories. We aimed to externally validate Martini’s nomogram on a large, national, multi-institutional data set including open, laparoscopic, and robot-assisted partial nephrectomy. Methods: Data of 2584 patients treated with partial nephrectomy for renal masses at 26 urological Italian centers (RECORD2 project) were collected. Renal function was assessed at baseline, on third postoperative day, and then at 6, 12, 24, and 48 months postoperatively. Multivariable models accounting for variables included in the Martini’s nomog…