NDLI: Top-down attention control for device communication manager on mobile robot platform

Content Provider	IEEE Xplore Digital Library
Author	Ahmadi, A. Karimi, M. Khazaee Korghond, N. Babaians, E. Ghidary, S.S.
Copyright Year	2015
Description	Author affiliation: Amirkabir Robotic Res. Inst. (ARRI), Amirkabir Univ. of Technol. (Tehran Polytech.), Tehran, Iran (Ahmadi, A.; Karimi, M.; Khazaee Korghond, N.; Babaians, E.; Ghidary, S.S.)
Abstract	In this paper, we present the results of our recent work about design and implementation of a top-down attention control model in Device Communication Manager (DCM) layer on an omnidirectional mobile robot platform. Attention control is one of the best ways to reduce the complexity of sensory data, whereas in nowadays, we face with various types of sensors and actuators that all of them need to be managed through specific algorithms. Also, most of these sensory data is not usable in raw form, and some may need to be preprocessed for extraction of reliable and practical information. Most researches in this field are about presenting a model for more efficient use of sensory data in specific situations. So, these approaches don't control the hardware directly. Whiles by controlling sensors and actuators directly through attention model, we have increased the accuracy of sensory data, improved the accessibility to actuators and reduced the power consumption of whole system. In this research, we focused on a low-level attention control algorithm to adapt DCM layer with higher-level attention controllers. In this research, we present a top-down attention model based on incoming requests for each device form higher level algorithms and adapt each module's update frequency according to amount of attention on it. This model is inspired by simple sale forecasting techniques in economics like Exponential Moving Average (EMA) and some intuitive constraints to predict user's request rate in future and adapt each module's update frequency. This novel DCM and our method are implemented on ReMoRo mobile robot platform and results confirmed the efficiency of our method, which can improve the accuracy of sensory data and rate of access to actuators and distributed modules in a robot.
Starting Page	708
Ending Page	713
File Size	3071858
Page Count	6
File Format	PDF
e-ISBN	9781467372343
DOI	10.1109/ICRoM.2015.7367869
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-07
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Exponential Moving Average (EMA) Power demand Distributed modules Mobile robot platform Attention control Robot sensing systems Mobile robots Reliability Device communication manager (DCM)
Content Type	Text
Resource Type	Article

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