Estimation Algorithm of Machine Operational Intention by Bayes Filtering with Self-Organizing Map.pdfVIP

Hindawi Publishing Corporation Advances in Human-Computer Interaction Volume 2012, Article ID 724587, 20 pages doi:10.1155/2012/724587 Research Article Estimation Algorithm of Machine Operational Intention by Bayes Filtering with Self-Organizing Map Satoshi Suzuki1 and Fumio Harashima2 1 School of Science and Technology for Future Life, Department of Robotics and Mechatronics, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan 2 Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji-Shi, Tokyo 192-0397, Japan Correspondence should be addressed to Satoshi Suzuki, ssuzuki@fr.dendai.ac.jp Received 6 June 2011; Revised 31 August 2011; Accepted 9 September 2011 Academic Editor: Holger Kenn Copyright © 2012 S. Suzuki and F. Harashima. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. We present an intention estimator algorithm that can deal with dynamic change of the environment in a man-machine system and will be able to be utilized for an autarkical human-assisting system. In the algorithm, state transition relation of intentions is formed using a self-organizing map (SOM) from the measured data of the operation and environmental variables with the reference intention sequence. The operational intention modes are identified by stochastic computation using a Bayesian particle filter with the trained SOM. This method enables to omit the troublesome process to specify types of information which should be used to build the estimator. Applying the proposed method to the remote operation task, the estimator’s behavior was analyzed, the pros and cons of the method were investi