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International Journal of Automation and Computing 2018, Vol. 15 Issue (5) :559-569    DOI: 10.1007/s11633-018-1139-6
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A Selective Attention Guided Initiative Semantic Cognition Algorithm for Service Robot
Huan-Zhao Chen, Guo-Hui Tian, Guo-Liang Liu
School of Control Science and Engineering, University of Shandong, Jinan 250061, China
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Abstract With the development of artificial intelligence and robotics, the study on service robot has made a significant progress in recent years. Service robot is required to perceive users and environment in unstructured domestic environment. Based on the perception, service robot should be capable of understanding the situation and discover service task. So robot can assist humans for home service or health care more accurately and with initiative. Human can focus on the salient things from the mass observation information. Humans are capable of utilizing semantic knowledge to make some plans based on their understanding of the environment. Through intelligent space platform, we are trying to apply this process to service robot. A selective attention guided initiatively semantic cognition algorithm in intelligent space is proposed in this paper. It is specifically designed to provide robots with the cognition needed for performing service tasks. At first, an attention selection model is built based on saliency computing and key area. The area which is highly relevant to service task could be located and referred as focus of attention (FOA). Second, a recognition algorithm for FOA is proposed based on a neural network. Some common objects and user behavior are recognized in this step. At last, a unified semantic knowledge base and corresponding reasoning engine is proposed using recognition result. Related experiments in a real life scenario demonstrated that our approach is able to mimic the recognition process in humans, make robots understand the environment and discover service task based on its own cognition. In this way, service robots can act smarter and achieve better service efficiency in their daily work.
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KeywordsService robot   cognition computing   selective attention   semantic knowledge base   artificial neural network     
Received: 2018-01-20; published: 2018-06-04
Fund:

This work was supported by National Natural Science Foundation of China (Nos. 61773239, 91748115 and 61603213), Natural Science Foundation of Shandong Province (No. ZR2015FM007), and Taishan Scholars Program of Shandong Province.

Corresponding Authors: Guo-Hui Tian     Email: g.h.tian@sdu.edu.cn
About author: Huan-Zhao Chen research interests include service robot, robot recognition, semantic knowledge processing and reasoning. E-mail:drwonkaa@gmail.com ORCID iD:0000-0003-4667-1291;Guo-Hui Tian research interests include service robot, intelligent space, cloud robotics, and brain-inspired intelligent robotics. E-mail:g.h.tian@sdu.edu.cn (Corresponding author) ORCID iD:0000-0001-8332-3064;Guo-Liang Liu research interests include service robot, intelligent space, and SLAM. E-mail:liuguoliang@sdu.edu.cn
Cite this article:   
Huan-Zhao Chen, Guo-Hui Tian, Guo-Liang Liu. A Selective Attention Guided Initiative Semantic Cognition Algorithm for Service Robot[J]. International Journal of Automation and Computing , vol. 15, no. 5, pp. 559-569, 2018.
URL:  
http://www.ijac.net/EN/10.1007/s11633-018-1139-6      或     http://www.ijac.net/EN/Y2018/V15/I5/559
 
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