Browsing by Author "AL-ZUABIDI, Muneer Mohammed Adnan"
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thesis.listelement.badge AUTOMATED CLUSTERING OF BEHAVIOUR MODULES FOR SOCIAL ROBOTS(2023-01-27) AL-ZUABIDI, Muneer Mohammed Adnan; ERDEN, ZühalThis thesis presents a method for automatically generating behaviour modules for social robots using clustering algorithms. Behavioural modules are considered a vital element of social robot family design which falls in the benefit of individual’s needs. The work includes the implementation of different clustering techniques such as K means, Agglomerative Clustering, and BRICH to cluster behavioural elements of social robot which are categorized as "perception", "cognition" and "motoric action". In this thesis, a previously generated data list consisting of linguistic values from these elements in size of 28 by 3 is used. A mapping method is developed to represent the data in numeric form. Also, a 3D graphical representation of the data is obtained. In addition, a variety of behavioural modules are generated and evaluated using right clustering algorithms, three algorithms of which are decided as successful. The generated modules are evaluated based on four criteria as, cost, mobility, complexity, and power consumption. The results of this work can be used by researchers and engineers in the field of social robotics particularly during the conceptual design of personalized social robots. Additionally, the proposed criteria and visualization techniques can be used as a starting point for future research in this area.