From perception to action and vice versa: a new architecture showing how perception and action can modulate each other simultaneously

Presentado en: 6th European Conference on Mobile Robots (ECMR) Sep 25-27, 2013 Barcelona, SpainArtificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.Spanish MINECO projects TIN2008-06196, TIN2012-38079-C03-03 and TIN2012-38079-C03-02. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

A Comparative Analysis of Structured and Object-Oriented Programming Methods

The concepts of structured and object-oriented programming methods are not relatively new but these approaches are still very much useful and relevant in today’s programming paradigm. In this paper, wedistinguish the features of structured programs from that of object oriented programs. Structured programming is a method of organizing and coding programs that can provide easy understanding and modification, whereas objectoriented programming (OOP) consists of a set of objects, which can vary dynamically, and which can execute byacting and reacting to each other, in much the same way that a real-world process proceeds (the interaction of realworldobjects). An object-oriented approach makes programs more intuitive to design, faster to develop, more amenable to modifications, and easier to understand. With the traditional, procedural-oriented/structuredprogramming, a program describes a series of steps to be performed (an algorithm). In the object-oriented view of programming, instead of programs consisting of sets of data loosely coupled to many different procedures, objectoriented programs consist of software modules called objects that encapsulate both data and processing while hidingtheir inner complexities from programmers and hence from other object

A Comparative Analysis of Structured and Object-Oriented Programming Methods

The concepts of structured and object-oriented programming methods are not relatively new but these approaches are still very much useful and relevant in today’s programming paradigm. In this paper, wedistinguish the features of structured programs from that of object oriented programs. Structured programming is a method of organizing and coding programs that can provide easy understanding and modification, whereas objectoriented programming (OOP) consists of a set of objects, which can vary dynamically, and which can execute byacting and reacting to each other, in much the same way that a real-world process proceeds (the interaction of realworldobjects). An object-oriented approach makes programs more intuitive to design, faster to develop, more amenable to modifications, and easier to understand. With the traditional, procedural-oriented/structuredprogramming, a program describes a series of steps to be performed (an algorithm). In the object-oriented view of programming, instead of programs consisting of sets of data loosely coupled to many different procedures, objectoriented programs consist of software modules called objects that encapsulate both data and processing while hidingtheir inner complexities from programmers and hence from other object

From perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneously

The proceeding at: 6th European Conference on Mobile Robots.Took place in September 25-27, 2013, in Barcelona, Spain.Artificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.This work has been partially granted by the Spanish Ministerio de Economía y Competitividad (MINECO) projects no. TIN2008-06196, TIN2012-38079-C03-03 and TIN2012-38079-C03-02. It has been also granted by Universidad de Málaga, International Campus of Excellence Andalucía Tech.Publicad

Reality in quantum mechanics, Extended Everett Concept, and consciousness

Conceptual problems in quantum mechanics result from the specific quantum concept of reality and require, for their solution, including the observer's consciousness into quantum theory of measurements. Most naturally this is achieved in the framework of Everett's "many-worlds interpretation" of quantum mechanics. According to this interpretation, various classical alternatives are perceived by consciousness separately from each other. In the Extended Everett Concept (EEC) proposed by the present author, the separation of the alternatives is identified with the phenomenon of consciousness. This explains classical character of the alternatives and unusual manifestations of consciousness arising "at the edge of consciousness" (i.e. in sleep or trance) when its access to "other alternative classical realities" (other Everett's worlds) becomes feasible. Because of reversibility of quantum evolution in EEC, all time moments in the quantum world are equivalent while the impression of flow of time appears only in consciousness. If it is assumed that consciousness may influence onto probabilities of alternatives (which is consistent in case of infinitely many Everett's worlds), EEC explains free will, "probabilistic miracles" (observing low-probability events) and decreasing entropy in the sphere of life.Comment: 17 pages, 2 figures in EP

Utilizing a 3D game engine to develop a virtual design review system

A design review process is where information is exchanged between the designers and design reviewers to resolve any potential design related issues, and to ensure that the interests and goals of the owner are met. The effective execution of design review will minimize potential errors or conflicts, reduce the time for review, shorten the project life-cycle, allow for earlier occupancy, and ultimately translate into significant total project savings to the owner. However, the current methods of design review are still heavily relying on 2D paper-based format, sequential and lack central and integrated information base for efficient exchange and flow of information. There is thus a need for the use of a new medium that allow for 3D visualization of designs, collaboration among designers and design reviewers, and early and easy access to design review information. This paper documents the innovative utilization of a 3D game engine, the Torque Game Engine as the underlying tool and enabling technology for a design review system, the Virtual Design Review System for architectural designs. Two major elements are incorporated; 1) a 3D game engine as the driving tool for the development and implementation of design review processes, and 2) a virtual environment as the medium for design review, where visualization of design and design review information is based on sound principles of GUI design. The development of the VDRS involves two major phases; firstly, the creation of the assets and the assembly of the virtual environment, and secondly, the modification of existing functions or introducing new functionality through programming of the 3D game engine in order to support design review in a virtual environment. The features that are included in the VDRS are support for database, real-time collaboration across network, viewing and navigation modes, 3D object manipulation, parametric input, GUI, and organization for 3D objects

Sharedness as an innate basis for communication in the infant

From a cognitive perspective, intentional communication may be viewed as an agent's activity overtly aimed at modifying a partner's mental states. According to standard Gricean definitions, this requires each party to be able to ascribe mental states to the other, i.e., to entertain a so-called theory of mind. According to the relevant experimental literature, however, such capability does not appear before the third or fourth birthday; it would follow that children under that age should not be viewed as communicating agents. In order to solve the resulting dilemma, we propose that certain specific components of an agent's cognitive architecture (namely, a peculiar version of sharedness and communicative intention), are necessary and sufficient to explain infant communication in a mentalist framework. We also argue that these components are innate in the human species

Causation in perspective: are all causal claims equally warranted?

In a paper ‘Causation in Context’ (2007) Peter Menzies has argued that the truth value of causal judgments is perspective-relative (i.e. their truth value does not depend entirely on mind-independent structures). His arguments are confined to causation as difference making (a term he uses to cover probabilistic, counterfactual and regularity views of causation). In this paper we first briefly present Menzies’ arguments. Then we show that perspective-relativity also holds for causation in the sense of process theories. These parts of the paper prepare the ground for the topic we really want to investigate: we want to find out whether this perspective-relativity leads to an epistemic predicament with respect to causal claims. The potential epistemic predicament we consider is that all causal claims would be equally warranted

Designing a novel virtual collaborative environment to support collaboration in design review meetings

Project review meetings are part of the project management process and are organised to assess progress and resolve any design conflicts to avoid delays in construction. One of the key challenges during a project review meeting is to bring the stakeholders together and use this time effectively to address design issues as quickly as possible. At present, current technology solutions based on BIM or CAD are information-centric and do not allow project teams to collectively explore the design from a range of perspectives and brainstorm ideas when design conflicts are encountered. This paper presents a system architecture that can be used to support multi-functional team collaboration more effectively during such design review meetings. The proposed architecture illustrates how information-centric BIM or CAD systems can be made human- and team-centric to enhance team communication and problem solving. An implementation of the proposed system architecture has been tested for its utility, likability and usefulness during design review meetings. The evaluation results suggest that the collaboration platform has the potential to enhance collaboration among multi-functional teams

The effect of dyslexia on information retrieval: A pilot study

Purpose – The purpose of the paper is to resolve a gap in our knowledge of how people with dyslexia interact with Information Retrieval (IR) systems, specifically an understanding of their information searching behaviour. Very little research has been undertaken with this particular user group, and given the size of the group (an estimated 10% of the population) this lack of knowledge needs to be addressed. Design/Methodology/Approach - We use elements of the dyslexia cognitive profile to design a logging system recording the difference between two sets of participants: dyslexic and control users. We use a standard Okapi interface together with two standard TREC topics in order to record the information searching behaviour of these users. We gather evidence from various sources, including quantitative information on search logs, together with qualitative information from interviews and questionnaires. We record variables on queries, documents, relevance assessments and sessions in the search logs. We use this evidence to examine the difference in searching between the two sets of users, in order to understand the effect of dyslexia on the information searching behaviour. A topic analysis is also conducted on the quantitative data to show any effect on the results from the information need. Research limitations/implications – As this is a pilot study, only 10 participants were recruited for the study, 5 for each user group. Due to ethical issues, the number of topics per search was restricted to one topic only. The study shows that the methodology applied is useful for distinguishing between the two user groups, taking into account differences between topic. We outline further research on the back of this pilot study in four main areas. A different approach from the proposed methodology is needed to measure the effect on query variables, which takes account of topic variation. More details on users are needed such as reading abilities, speed of language processing and working memory to distinguish the user groups. Effect of topic on search interaction must be measured in order to record the potential impact on the dyslexic user group. Work is needed on relevance assessment and effect on precision and recall for users who may not read many documents. Findings – Using the log data, we establish the differences in information searching behaviour of control and dyslexic users i.e. in the way the two groups interact with Okapi, and that qualitative information collected (such as experience etc) may not be able to account for these differences. Evidence from query variables was unable to distinguish between groups, but differences on topic for the same variables were recorded. Users who view more documents tended to judge more documents as being relevant, either in terms of the user group or topic. Session data indicated that there may be an important difference between the number of iterations used in a search between the user groups, as there may be little effect from the topic on this variable. Originality/Value – This is the first study of the effect of dyslexia on information search behaviour, and provides some evidence to take the field forward