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CONVERGE

Title
Convergent Human Learning for Robot Skill Generation
Funding
EC | FP7 | SP3 | PEOPLE
Call
FP7-PEOPLE-2012-CIG
Contract (GA) number
321700
Start Date
2012/09/03
End Date
2016/09/02
Open Access mandate
no
Special Clause 39
no
Organizations
OZYEGIN UNIVERSITY OZUN
More information
Detailed project information (CORDIS)

 

  • Lattice Boltzmann Approach to High-Speed Compressible Flows

    Pan, X. F.; Xu, Aiguo; Zhang, Guangcai; Jiang, Song (2007)
    Projects: EC | CONVERGE (321700)
    We present an improved lattice Boltzmann model for high-speed compressible flows. The model is composed of a discrete-velocity model by Kataoka and Tsutahara [Phys. Rev. E \textbf{69}, 056702 (2004)] and an appropriate finite-difference scheme combined with an additional dissipation term. With the dissipation term parameters in the model can be flexibly chosen so that the von Neumann stability condition is satisfied. The influence of the various model parameters on the numerical stability is ...

    Simultaneous human-robot adaptation for effective skill transfer

    Zamani, M. A.; Öztop, Erhan (2015)
    Projects: EC | CONVERGE (321700)
    Due to copyright restrictions, the access to the full text of this article is only available via subscription. In this paper, we propose and implement a human-in-the loop robot skill synthesis framework that involves simultaneous adaptation of the human and the robot. In this framework, the human demonstrator learns to control the robot in real-time to make it perform a given task. At the same time, the robot learns from the human guided control creating a non-trivial coupled dynamical sys...

    A blow-up criterion for compressible viscous heat-conductive flows

    Jiang, Song; Ou, Yaobin (2010)
    Projects: EC | CONVERGE (321700)
    We study an initial boundary value problem for the Navier-Stokes equations of compressible viscous heat-conductive fluids in a 2-D periodic domain or the unit square domain. We establish a blow-up criterion for the local strong solutions in terms of the gradient of the velocity only, which coincides with the famous Beale-Kato-Majda criterion for ideal incompressible flows.

    Incompressible limit of the compressible magnetohydrodynamic equations with periodic boundary conditions

    Jiang, Song; Ju, Qiangchang; Li, Fucai (2010)
    Projects: EC | CONVERGE (321700)
    This paper is concerned with the incompressible limit of the compressible magnetohydrodynamic equations with periodic boundary conditions. It is rigorously shown that the weak solutions of the compressible magnetohydrodynamic equations converge to the strong solution of the viscous or inviscid incompressible magnetohydrodynamic equations as long as the latter exists both for the well-prepared initial data and general initial data. Furthermore, the convergence rates are also obtained in the ca...

    Incompressible limit of the compressible magnetohydrodynamic equations with vanishing viscosity coefficients

    Jiang, Song; Ju, Qiangchang; Li, Fucai (2009)
    Projects: EC | CONVERGE (321700)
    This paper is concerned with the incompressible limit of the compressible magnetohydrodynamic equations with vanishing viscosity coefficients and general initial data in the whole space $\mathbb{R}^d$ $ (d=2$ or 3). It is rigorously showed that, as the Mach number, the shear viscosity coefficient and the magnetic diffusion coefficient simultaneously go to zero, the weak solution of the compressible magnetohydrodynamic equations converges to the strong solution of the ideal incompressible magn...

    Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills

    Ugur, E.; Nagai, Y.; Celikkanat, H.; Öztop, Erhan (2015)
    Projects: EC | XPERIENCE (270273), EC | CONVERGE (321700)
    Due to copyright restrictions, the access to the full text of this article is only available via subscription. Parental scaffolding is an important mechanism that speeds up infant sensorimotor development. Infants pay stronger attention to the features of the objects highlighted by parents, and their manipulation skills develop earlier than they would in isolation due to caregivers' support. Parents are known to make modifications in infant-directed actions, which are often called “motione...

    Human motor adaptation in whole body motion

    Babič, Jan; Oztop, Erhan; Kawato, Mitsuo (2016)
    Projects: EC | SPEXOR (687662), EC | CODYCO (600716), EC | CONVERGE (321700)
    The main role of the sensorimotor system of an organism is to increase the survival of the species. Therefore, to understand the adaptation and optimality mechanisms of motor control, it is necessary to study the sensorimotor system in terms of ecological fitness. We designed an experimental paradigm that exposed sensorimotor system to risk of injury. We studied human subjects performing uncon- strained squat-to-stand movements that were systematically subjected to non-trivial perturbation. W...

    Staged development of robot skills: behavior formation, affordance learning and imitation

    Ugur, E.; Nagai, Y.; Sahin, E.; Öztop, Erhan (2015)
    Projects: EC | CONVERGE (321700), EC | ITHRUI (628854), EC | XPERIENCE (270273)
    Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot exercises the discovered behaviors on different objects, and learns the caused effects; effectively building a library of affordances and associated ...
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