Grounding robot motion in natural language and visual perception

The current state of the art in military and first responder ground robots involves heavy physical and cognitive burdens on the human operator while taking little to no advantage of the potential autonomy of robotic technology. The robots currently in use are rugged remote-controlled vehicles. Their interaction modalities, usually utilizing a game controller connected to a computer, require a dedicated operator who has limited capacity for other tasks. I present research which aims to ease these burdens by incorporating multiple modes of robotic sensing into a system which allows humans to interact with robots through a natural-language interface. I conduct this research on a custom-built six-wheeled mobile robot. First I present a unified framework which supports grounding natural-language semantics in robotic driving. This framework supports learning the meanings of nouns and prepositions from sentential descriptions of paths driven by the robot, as well as using such meanings to both generate a sentential description of a path and perform automated driving of a path specified in natural language. One limitation of this framework is that it requires as input the locations of the (initially nameless) objects in the floor plan. Next I present a method to automatically detect, localize, and label objects in the robot’s environment using only the robot’s video feed and corresponding odometry. This method produces a map of the robot’s environment in which objects are differentiated by abstract class labels. Finally, I present work that unifies the previous two approaches. This method detects, localizes, and labels objects, as the previous method does. However, this new method integrates natural-language descriptions to learn actual object names, rather than abstract labels

Improving Access and Mental Health for Youth Through Virtual Models of Care

The overall objective of this research is to evaluate the use of a mobile health smartphone application (app) to improve the mental health of youth between the ages of 14–25 years, with symptoms of anxiety/depression. This project includes 115 youth who are accessing outpatient mental health services at one of three hospitals and two community agencies. The youth and care providers are using eHealth technology to enhance care. The technology uses mobile questionnaires to help promote self-assessment and track changes to support the plan of care. The technology also allows secure virtual treatment visits that youth can participate in through mobile devices. This longitudinal study uses participatory action research with mixed methods. The majority of participants identified themselves as Caucasian (66.9%). Expectedly, the demographics revealed that Anxiety Disorders and Mood Disorders were highly prevalent within the sample (71.9% and 67.5% respectively). Findings from the qualitative summary established that both staff and youth found the software and platform beneficial

The Impact of Digital Technologies on Public Health in Developed and Developing Countries

This open access book constitutes the refereed proceedings of the 18th International Conference on String Processing and Information Retrieval, ICOST 2020, held in Hammamet, Tunisia, in June 2020.* The 17 full papers and 23 short papers presented in this volume were carefully reviewed and selected from 49 submissions. They cover topics such as: IoT and AI solutions for e-health; biomedical and health informatics; behavior and activity monitoring; behavior and activity monitoring; and wellbeing technology. *This conference was held virtually due to the COVID-19 pandemic

The Impact of Digital Technologies on Public Health in Developed and Developing Countries

This open access book constitutes the refereed proceedings of the 18th International Conference on String Processing and Information Retrieval, ICOST 2020, held in Hammamet, Tunisia, in June 2020.* The 17 full papers and 23 short papers presented in this volume were carefully reviewed and selected from 49 submissions. They cover topics such as: IoT and AI solutions for e-health; biomedical and health informatics; behavior and activity monitoring; behavior and activity monitoring; and wellbeing technology. *This conference was held virtually due to the COVID-19 pandemic

Contextual Social Networking

The thesis centers around the multi-faceted research question of how contexts may be detected and derived that can be used for new context aware Social Networking services and for improving the usefulness of existing Social Networking services, giving rise to the notion of Contextual Social Networking. In a first foundational part, we characterize the closely related fields of Contextual-, Mobile-, and Decentralized Social Networking using different methods and focusing on different detailed aspects. A second part focuses on the question of how short-term and long-term social contexts as especially interesting forms of context for Social Networking may be derived. We focus on NLP based methods for the characterization of social relations as a typical form of long-term social contexts and on Mobile Social Signal Processing methods for deriving short-term social contexts on the basis of geometry of interaction and audio. We furthermore investigate, how personal social agents may combine such social context elements on various levels of abstraction. The third part discusses new and improved context aware Social Networking service concepts. We investigate special forms of awareness services, new forms of social information retrieval, social recommender systems, context aware privacy concepts and services and platforms supporting Open Innovation and creative processes. This version of the thesis does not contain the included publications because of copyrights of the journals etc. Contact in terms of the version with all included publications: Georg Groh, [email protected] zentrale Gegenstand der vorliegenden Arbeit ist die vielschichtige Frage, wie Kontexte detektiert und abgeleitet werden können, die dazu dienen können, neuartige kontextbewusste Social Networking Dienste zu schaffen und bestehende Dienste in ihrem Nutzwert zu verbessern. Die (noch nicht abgeschlossene) erfolgreiche Umsetzung dieses Programmes führt auf ein Konzept, das man als Contextual Social Networking bezeichnen kann. In einem grundlegenden ersten Teil werden die eng zusammenhängenden Gebiete Contextual Social Networking, Mobile Social Networking und Decentralized Social Networking mit verschiedenen Methoden und unter Fokussierung auf verschiedene Detail-Aspekte näher beleuchtet und in Zusammenhang gesetzt. Ein zweiter Teil behandelt die Frage, wie soziale Kurzzeit- und Langzeit-Kontexte als für das Social Networking besonders interessante Formen von Kontext gemessen und abgeleitet werden können. Ein Fokus liegt hierbei auf NLP Methoden zur Charakterisierung sozialer Beziehungen als einer typischen Form von sozialem Langzeit-Kontext. Ein weiterer Schwerpunkt liegt auf Methoden aus dem Mobile Social Signal Processing zur Ableitung sinnvoller sozialer Kurzzeit-Kontexte auf der Basis von Interaktionsgeometrien und Audio-Daten. Es wird ferner untersucht, wie persönliche soziale Agenten Kontext-Elemente verschiedener Abstraktionsgrade miteinander kombinieren können. Der dritte Teil behandelt neuartige und verbesserte Konzepte für kontextbewusste Social Networking Dienste. Es werden spezielle Formen von Awareness Diensten, neue Formen von sozialem Information Retrieval, Konzepte für kontextbewusstes Privacy Management und Dienste und Plattformen zur Unterstützung von Open Innovation und Kreativität untersucht und vorgestellt. Diese Version der Habilitationsschrift enthält die inkludierten Publikationen zurVermeidung von Copyright-Verletzungen auf Seiten der Journals u.a. nicht. Kontakt in Bezug auf die Version mit allen inkludierten Publikationen: Georg Groh, [email protected]

The always best positioned paradigm for mobile indoor applications

In this dissertation, methods for personal positioning in outdoor and indoor environments are investigated. The Always Best Positioned paradigm, which has the goal of providing a preferably consistent self-positioning, will be defined. Furthermore, the localization toolkit LOCATO will be presented, which allows to easily realize positioning systems that follow the paradigm. New algorithms were developed, which particularly address the robustness of positioning systems with respect to the Always Best Positioned paradigm. With the help of this toolkit, three example positioning-systems were implemented, each designed for different applications and requirements: a low-cost system, which can be used in conjunction with user-adaptive public displays, a so-called opportunistic system, which enables positioning with room-level accuracy in any building that provides a WiFi infrastructure, and a high-accuracy system for instrumented environments, which works with active RFID tags and infrared beacons. Furthermore, a new and unique evaluation-method for positioning systems is presented, which uses step-accurate natural walking-traces as ground truth. Finally, six location based services will be presented, which were realized either with the tools provided by LOCATO or with one of the example positioning-systems.In dieser Doktorarbeit werden Methoden zur Personenpositionierung im Innen- und Außenbereich von Gebäuden untersucht. Es wird das ,,Always Best Positioned” Paradigma definiert, welches eine möglichst lückenlose Selbstpositionierung zum Ziel hat. Weiterhin wird die Lokalisierungsplattform LOCATO vorgestellt, welche eine einfache Umsetzung von Positionierungssystemen ermöglicht. Hierzu wurden neue Algorithmen entwickelt, welche gezielt die Robustheit von Positionierungssystemen unter Berücksichtigung des ,,Always Best Positioned” Paradigmas angehen. Mit Hilfe dieser Plattform wurden drei Beispiel Positionierungssysteme entwickelt, welche unterschiedliche Einsatzgebiete berücksichtigen: Ein kostengünstiges System, das im Zusammenhang mit benutzeradaptiven öffentlichen Bildschirmen benutzt werden kann; ein sogenanntes opportunistisches Positionierungssystem, welches eine raumgenaue Positionierung in allen Gebäuden mit WLAN-Infrastruktur ermöglicht, sowie ein metergenaues Positionierungssystem, welches mit Hilfe einer Instrumentierung aus aktiven RFID-Tags und Infrarot-Baken arbeitet. Weiterhin wird erstmalig eine Positionierungsevaluation vorgestellt, welche schrittgenaue, natürliche Bewegungspfade als Referenzsystem einsetzt. Im Abschluss werden 6 lokationsbasierte Dienste vorgestellt, welche entweder mit Hilfe von LOCATO oder mit Hilfe einer der drei Beispiel-Positionierungssysteme entwickelt wurden

Design and implementation of an indoor modeling method through crowdsensing

While automatic modeling and mapping of outdoor environments is well-established, the indoor equivalent of automated generation of building floor plans poses a challenge. In fact, outdoor localization is commonly available and inexpensive through the existing satellite positioning systems, such as GPS and Galileo. However, these technologies are not applicable in indoor environments, since a direct line of sight to the satellites, orbiting the globes, is required. As a substitution, the technical literature comprises several proposals for the development of simultaneous indoor localization and mapping (SLAM). In these approaches, the authors mostly exploit indoor resources such as the WiFi access points and the mobile smart devices carried by individuals in the indoor environment. Collecting data from several mobile devices is referred to as crowdsensing. To enable the generation of two-dimensional (2D) as well as three-dimensional (3D) maps, we propose crowdsensing of point clouds, which are 3D data structures of points in space. For localization, we integrate two features of a recently developed mobile device, called Project Tango. Specifically, the Tango platform provides two main technologies for reliable localization, namely motion tracking and area learning. Moreover, Tango-powered devices provide us with the ability to collect point clouds though a third technology, called depth perception. In the past few years, spatial data obtained from range imaging was used to generate indoor maps. Nevertheless, range images are expensive and not always available. The required equipment, e.g. laser range scanners, are both expensive in procurement and require trained personnel for proper setup and operation. In this thesis, we aim for obtaining spatial point clouds via crowdsensing. The main idea is to use sensor data which can be scanned by volunteering individuals using easy to handle mobile devices. Specifically, we depend on depth perception capabilities as provided by Google Tango-powered tablet computers. A crowdsensing infrastructure assigns scanning tasks to individuals carrying a Tango device. Execution of such a task consists of taking scans of e.g. offices in a public building. The scanning results contain both spatial information about the room layout and its position. Energy consumption on the mobile device is reduced by applying Octree compression to the scanned point clouds, which results in a significant reduction of the amount of data, which has to be transferred to a back-end server. Afterwards, the back-end is responsible for assembling the received scans and the extraction of an indoors model. The modeling process - developed in this thesis - comprises two-phases. First, we extract a basic model from the obtained point clouds, which may contain outliers, inaccuracies and gaps. In the second phase, we refine the model by exploiting formal grammars. It is worth to mention here that we are the first to exploit formal grammars as a model fitting tool. We feed the information obtained in the first phase to an indoors grammar, which has been developed in the ComNSense project, University of Stuttgart. The resultant model both contains much less deviations from the ground truth and provides improved robustness against aberrations with respect to localization during the scanning process. Thus, instead of scanning multiple point clouds per room, we need only one scan to be able to construct an indoor map. During evaluation of this process, using scans of offices of our department, we were able to reproduce a model which is very close to the ground truth

Urban Informatics

This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently – to become ‘smart’ and ‘sustainable’. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of ‘big’ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity