A model-free learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated in a robot Learning from Demonstration (LFD) setting. PSL is inspired by several functional models of the brain. It constructs sequences of predictable sensory-motor patterns, without relying on predefined higher-level concepts. The algorithm is demonstrated on a Khepera II robot in four differe...

This paper describes a vision-based system for the autonomous positioning of a mobile robot. Both the pose estimation method and the robot control system are presented. The former finds the position and attitude of the camera mounted on the robot with respect to a known 3D target using a single image. The method uses geometric considerations which combine perspective projection and scaled ortho...

The goal of this work is to propose a learning procedure for fuzzy systems. Fuzzy systems are able to treat uncertain and imprecise informations. They have a capability to express knowledge in the form of linguistic rules. Their drawbacks are caused mainly by the diiculty of deening accurate membership functions and lack of a systematic procedure for the transformation of the expert knowledge i...

the maxillary first premolar may present large number of anatomic variations. the clinician should be aware of the configuration of the pulp system. maxillary first premolars usually have two canals. the incidence of three canals in these teeth is quite rare. this case report presents the diagnosis and clinical management of a maxillary first premolar with two distinct canals in the apical thir...

a simple, rapid and sensitive spectrophotometric method has been proposed for the determinationof vanadium (iv). the method is based on the catalytic effect of v (iv) on the oxidation of alkali blue bypotassium bromate at ph 4. the rate of decrease in the absorbance of alkali blue (at 572 nm) wasproportional to the concentration of v (iv) in the range of 100-6000 ng ml-1. the detection limit wa...

the late eocene-early oligocene sarnowsar granitic rocks and many dacitic to rhyolitic dykesintruded in metamorphosed and metasomatized shale, sandstone, calcite and dolomite marbles andvolcaniclastic and pyroclastic rocks. as a result several million tons of iron ores formed within carbonaterocks in the sangan area. the sarnowsar granitic rocks are mainly granite to granodiorite, metaluminous,...

This paper describes the implementation of two biologically inspired collective behaviours on a group of Khepera miniature mobile robots. The rst experiment is concerned with the gathering and clustering of randomly distributed small cylinders. In the second experiment the group of robots are expected to remove long sticks from holes, requiring a synchronous collaboration between two robots. Th...

An experimental comparison among the main behavioral control techniques for autonomous mobile robots is presented in this paper. The behavioral algorithms tackle the problem in a similar way: they decompose the mission planning of the robot in simple tasks; each task is then approached independently from the others and, at the end, the behavioral algorithms arrange the tasks’ output to give an ...