Situated agents and humans in social interaction for elderly healthcare: the case of COAALAS

Assistive Technologies (AT) are an application area where several Artificial Intelligence techniques and tools have been successfully applied to support elder or impeded people on their daily activities. However, approaches to AT tend to center in the user-tool interaction, neglecting the user's connection with its social environment (such as care-takers, relatives and health professionals) and the possibility to monitor undesired behaviour providing both adaptation to a dynamic environment and early response to potentially dangerous situations. In previous work we have presented Coaalas, an intelligent social and norm-aware device for elder people that is able to autonomously organize, reorganize and interact with the different actors involved in elder-care, either human actors or other devices. In this paper we put our work into context, by first examining what are the desirable properties of such a system, analysing the state of the art on the relevant topics, and verifying the validity of our proposal.Postprint (author’s final draft

Bringing social reality to multiagent and service architectures : practical reductions for monitoring of deontic-logic and constitutive norms

As distributed systems grow in complexity, the interactions among individuals (agents, services) of such systems become increasingly more complex and therefore more difficult to constrain and monitor. We propose to view such systems as socio-technical systems, in which organisational and institutional concepts, such as norms, can be applied to improve not only control on the components but also their autonomy by the definition of soft rather than hard constraints. Norms can be described as rules that guide the behavior of individual agents pertaining to groups that abide to them, either by explicit or implicit support. The study of norms, and regulatory systems in general, in their many forms -e.g. social norms, conventions, laws, regulations- has been of interest since the beginning of philosophy, but has seen a lot of evolution during the 20th century due to the progress in the philosophy of language, especially concerning speech acts and deontic logic. Although there is a myriad of definitions and related terminologies about the concept of norm, and as such there are many perspectives on how to analyse their impact, a common denominator is that norms constrain the behaviour of groups of agents in a way that each individual agent can build, with a fair degree of confidence, expectations on how each of their counterparts will behave in the situations that the norms are meant to cover. For example, on a road each driver expects everybody else to drive on only one side of the road (right or left, depending on the country). Therefore, normative contexts, usually wrapped in the form of institutions, are effective mechanisms to ensure the stability of a complex system such as an organisation, a society, or even of electronic systems. The latter has been an object of interest in the field of Artificial Intelligence, and it has been seen as a paradigm of coordination among electronic agents either in multi-agent systems or in service-oriented architectures. In order to apply norms to electronic systems, research has come up with abstractions of normative systems. In some cases these abstractions are based on regimented systems with flexible definitions of the notion of norm, in order to include meanings of the concept with a coarse-grained level of logic formality such as conventions. Other approaches, on the other hand, propose the use of deontic logic for describing, from a more theoretical perspective, norm-governed interaction environments. In both cases, the purpose is to enable the monitoring and enforcement of norms on systems that include -although not limited to- electronic agents. In the present dissertation we will focus on the latter type, focusing on preserving the deontic aspect of norms. Monitoring in norm-governed systems requires making agents aware of: 1) what their normative context is, i.e. which obligations, permissions and prohibitions are applicable to each of them and how they are updated and triggered; and 2) what their current normative status is, i.e. which norms are active, and in what instances they are being fullfilled or violated, in order words, what their social -institutional- reality is. The current challenge is on designing systems that allow computational components to infer both the normative context and social reality in real-time, based on a theoretical formalism that makes such inferences sound and correct from a philosophical perspective. In the scope of multi-agent systems, many are the approaches proposed and implemented that full these requirements up to this date. However, the literature is still lacking a proposal that is suited to the current state-of-the-art in service-oriented architectures, more focused nowadays on automatically scalable, polyglot amalgams of lightweight services with extremely simple communication and coordination mechanisms- a trend that is being called “microservices”. This dissertation tackles this issue, by 1) studying what properties we can infer from distributed systems that allow us to treat them as part of a socio-technical system, and 2) analysing which mechanisms we can provide to distributed systems so that they can properly act as socio-technical systems. The main product of the thesis is therefore a collection of computational elements required for formally grounded and real-time e¬fficient understanding and monitoring of normative contexts, more specially: 1. An ontology of events to properly model the inputs from the external world and convert them into brute facts or institutional events; 2. A lightweight language for norms, suitable for its use in distributed systems; 3. An especially tailored formalism for the detection of social reality, based on and reducible to deontic logic with support for constitutive norms; 4. A reduction of such formalism to production rule systems; and 5. One or more implementations of this reduction, proven to e¬fficiently work on several scenarios. This document presents the related work, the rationale and the design/implementation of each one of these elements. By combining them, we are able to present novel, relevant work that enables the application of normative reasoning mechanisms in realworld systems in the form of a practical reasoner. Of special relevance is the fact that the work presented in this dissertation simplifies, while preserving formal soundness, theoretically complex forms of reasoning. Nonetheless, the use of production systems as the implementation-level materialisation of normative monitoring allows our work to be applied in any language and/or platform available, either in the form of rule engines, ECA rules or even if-then-else patterns. The work presented has been tested and successfully used in a wide range of domains and actual applications. The thesis also describes how our mechanisms have been applied to practical use cases based on their integration into distributed eldercare management and to commercial games.Con el incremento en la complejidad de los sistemas distribuidos, las interacciones entre los individuos (agentes, servicios) de dichos sistemas se vuelven más y más complejas y, por ello, más difíciles de restringir y monitorizar. Proponemos ver a estos sistemas como sistemas socio-técnicos, en los que conceptos organizacionales e institucionales (como las normas) pueden aplicarse para mejorar no solo el control sobre los componentes sino también su autonomía mediante la definición de restricciones débiles (en vez de fuertes). Las Normas se pueden describir como reglas que guían el comportamiento de agentes individuales que pertenecen a grupos que las siguen, ya sea con un apoyo explícito o implícito. El estudio de las normas y de los sistemas regulatorios en general y en sus formas diversas -normas sociales, convenciones, leyes, reglamentos- ha sido de interés para los eruditos desde los inicios de la filosofía, pero ha sufrido una evolución mayor durante el siglo 20 debido a los avances en filosofía del lenguaje, en especial los relacionados con los actos del habla -speech acts en inglés- y formas deónticas de la lógica modal. Aunque hay una gran variedad de definiciones y terminología asociadas al concepto de norma, y por ello existen varios puntos de vista sobre como analizar su impacto, el denominador común es que las normas restringen el comportamiento de grupos de agentes de forma que cada agente individual puede construir, con un buen nivel de confianza, expectativas sobre cómo cada uno de los otros actores se comportará en las situaciones que las normas han de cubrir. Por ejemplo, en una carretera cada conductor espera que los demás conduzcan solo en un lado de la carretera (derecha o izquierda, dependiendo del país). Por lo tanto, los contextos normativos, normalmente envueltos en la forma de instituciones, constituyen mecanismos efectivos para asegurar la estabilidad de un sistema complejo como una organización, una sociedad o incluso un sistema electrónico. Lo último ha sido objeto de estudio en el campo de la Inteligencia Artificial, y se ha visto como paradigma de coordinación entre agentes electrónicos, tanto en sistemas multiagentes como en arquitecturas orientadas a servicios. Para aplicar normas en sistemas electrónicos, los investigadores han creado abstracciones de sistemas normativos. En algunos casos estas abstracciones se basan en sistemas regimentados con definiciones flexibles del concepto de norma para poder influir algunos significados del concepto con un menor nivel de granularidad formal como es el caso de las convenciones. Otras aproximaciones proponen el uso de lógica deóntica para describir, desde un punto de vista más teórico, entornos de interacción gobernados por normas. En ambos casos el propósito es el permitir la monitorización y la aplicación de las normas en sistemas que incluyen -aunque no están limitados a- agentes electrónicos. En el presente documento nos centraremos en el segundo tipo, teniendo cuidado en mantener el aspecto deóntico de las normas. La monitorización en sistemas gobernados por normas requiere el hacer a los agentes conscientes de: 1) cual es su contexto normativo, es decir, que obligaciones permisos y prohibiciones se aplican a cada uno de ellos y cómo se actualizan y activan; y 2) cual es su estado normativo actual, esto es, que normas están activas, y que instancias están siendo cumplidas o violadas, en definitiva, cual es su realidad social -o institucional-. En la actualidad el reto consiste en diseñar sistemas que permiten inferir a componentes computacionales tanto el contexto normativo como la realidad social en tiempo real, basándose en un formalismo teórico que haga que dichas inferencias sean correctas y bien fundamentadas desde el punto de vista filosófico. En el ámbito de los sistemas multiagente existen muchas aproximaciones propuestas e implementadas que cubren estos requisitos. Sin embargo, esta literatura aun carece de una propuesta que sea adecuada para la tecnología de las arquitecturas orientadas a servicios, que están más centradas en amalgamas políglotas y escalables de servicios ligeros con mecanismos de coordinación y comunicación extremadamente simples, una tendencia moderna que lleva el nombre de microservicios. Esta tesis aborda esta problemática 1) estudiando que propiedades podemos inferir de los sistemas distribuidos que nos permitan tratarlos como parte de un sistema sociotécnico, y 2) analizando que mecanismos podemos proporcionar a los sistemas distribuidos de forma que puedan actuar de forma correcta como sistemas socio-técnicos. El producto principal de la tesis es, por tanto, una colección de elementos computacionales requeridos para la monitorización e interpretación e_cientes en tiempo real y con clara base formal. En concreto: 1. Una ontología de eventos para modelar adecuadamente las entradas del mundo exterior y convertirlas en hechos básicos o en eventos institucionales; 2. Un lenguaje de normas ligero y sencillo, adecuado para su uso en arquitecturas orientadas a servicios; 3. Un formalismo especialmente adaptado para la detección de la realidad social, basado en y reducible a lógica deóntica con soporte para normas constitutivas; 4. Una reducción de ese formalismo a sistemas de reglas de producción; y 5. Una o más implementaciones de esta reducción, de las que se ha probado que funcionan eficientemente en distintos escenarios. Este documento presenta el estado del arte relacionado, la justificación y el diseño/implementación para cada uno de esos elementos. Al combinarlos, somos capaces de presentar trabajo novedoso y relevante que permite la aplicación de mecanismos de razonamiento normativo en sistemas del mundo real bajo la forma de un razonador práctico. De especial relevancia es el hecho de que el trabajo presentado en este documento simplifica formas complejas y teóricas de razonamiento preservando la correctitud formal. El uso de sistemas de reglas de producción como la materialización a nivel de implementación del monitoreo normativo permite que nuestro trabajo se pueda aplicar a cualquier lenguaje o plataforma disponible, ya sea en la forma de motores de reglas, reglas ECA o incluso patrones si-entonces. El trabajo presentado ha sido probado y usado con éxito en un amplio rango de dominios y aplicaciones prácticas. La tesis describe como nuestros mecanismos se han aplicado a casos prácticos de uso basados en su integración en la gestión distribuida de pacientes de edad avanzada o en el sector de los videojuegos comerciales.Postprint (published version

Anticipating technology-enabled care at home

Funding: Royal Society of Edinburgh (Grant Number(s): 62651), Carnegie Trust for the Universities of Scotland (Grant Number(s): RIG008250).The spread and growth of ubiquitous smart technology to deliver public health outcomes, particularly within/at home, urgently requires greater scholarly attention. This paper uses data from interviews with professionals in Scotland who are designing and implementing Technology-Enabled Care (TEC) for current and future homes. Theoretically informed by both critical geographies of home and futures scholarship, this paper presents a three-part framework – “homes-that-are,” “homes-that-ought,” and “homes-to-be” – to explore the techno-solutionist accounts of home, bringing to bear the messiness and complexity of home, both its conceptualisation and experience. It highlights prediction as an emerging form of anticipatory practice, generating new questions and conceptualisations about the openness of futures. Moreover, it demonstrates the importance of understanding the underlying assumptions of those who make decisions when planning for future TEC and housing; about who they imagine they are planning for, and how diverse these futures are.Publisher PDFPeer reviewe

Care and the City

Care and the City is a cross-disciplinary collection of chapters examining urban social spaces, in which caring and uncaring practices intersect and shape people’s everyday lives. While asking how care and uncare are embedded in the urban condition, the book focuses on inequalities in caring relations and the ways they are acknowledged, reproduced, and overcome in various spaces, discourses, and practices. This book provides a pathway for urban scholars to start engaging with approaches to conceptualize care in the city through a critical-reflexive analysis of processes of urbanization. It pursues a systematic integration of empirical, methodological, theoretical, and ethical approaches to care in urban studies, while overcoming a crisis-centered reading of care and the related ambivalences in care debates, practices, and spaces. These strands are elaborated via a conceptual framework of care and situated within broader theoretical debates on cities, urbanization, and urban development with detailed case studies from Europe, the Americas, and Asia. By establishing links to various fields of knowledge, this book seeks to systematically introduce debates on care to the interconnecting fields of urban studies, planning theory, and related disciplines for the first time

Artificial virtuous agents in a multi‐agent tragedy of the commons

Although virtue ethics has repeatedly been proposed as a suitable framework for the development of artificial moral agents (AMAs), it has been proven difficult to approach from a computational perspective. In this work, we present the first technical implementation of artificial virtuous agents (AVAs) in moral simulations. First, we review previous conceptual and technical work in artificial virtue ethics and describe a functionalistic path to AVAs based on dispositional virtues, bottom-up learning, and top-down eudaimonic reward. We then provide the details of a technical implementation in a moral simulation based on a tragedy of the commons scenario. The experimental results show how the AVAs learn to tackle cooperation problems while exhibiting core features of their theoretical counterpart, including moral character, dispositional virtues, learning from experience, and the pursuit of eudaimonia. Ultimately, we argue that virtue ethics provides a compelling path toward morally excellent machines and that our work provides an important starting point for such endeavors

Applying the “human-dog interaction” metaphor in human-robot interaction: a co-design practice engaging healthy retired adults in China

This research adopts a Deweyan pragmatist approach and “research through design” methods to explore the use of human-dog interaction as a model for developing human-robot interaction. This research asks two questions: (1) In what way could the human-dog interaction model inform the design of social robots to meet the needs of older adults? (2) What role could aesthetic, functional and behavioural aspects of the human-dog interaction play in older adults’ interaction with social robots? Driven by the pragmatist approach, this thesis uses the dog-human interaction model as a metaphor in this thesis. The research carried out four studies in two parts. The first part of the practice includes two explorative studies to identify aspects of human-dog interaction that could inform the design of social robots for older adults. Study 1 explores aspects of human-dog interaction that could inform the design of human-robot interaction for retired adults. Study 2 explores a group of healthy retired adults’ attitudes and preferences toward social/assistive robots in China. The findings suggest that, first, the pairing and training process provides a framework for building personalised social robots in terms of form, function, interaction, and stakeholders involved. Second, the cooperative interaction between a human and a guide dog provides insights for building social robots that take on leading roles in interactions. The robot-as-dog metaphor offers a new perspective to rethink the design process of social robots based on the role dog trainer, owner, and the dog plays in human-dog interaction. In the second part of the practice, two more studies are conducted to articulate the usefulness of the designer-as-trainer-metaphor, and the personalisation-astraining-metaphor, using participatory co-designing methods. Engaging both retired adult participants and roboticists as co-designers to investigate further how aesthetic aspects, functional features, and interactive behaviours characterising dog-human interaction could inform how older adults can interact with social robots. Study 3 involved co-designing a robot probe with roboticists and later deploying it in a participant’s home using the Wizard of Oz method. The personalisation-as-training metaphor helps facilitate a critical discussion for the interdisciplinary co-design process. It broadens the design space when addressing the technical limitation of the probe’s camera through reflection-in-action. Study 4 engages the retired adults as co-designers to envision what characteristics they would like robots to have, with attention to the robot’s form, the functions that the robot can perform and how the robot interacts with users. The study applies techniques such as sketching and storyboarding to understand how retired adults make sense of these core elements that are key to developing social/assistive robots for positive ageing. This thesis makes two main contributions to knowledge in human-robot interaction and interaction design research. Firstly, it provides an applied example using the robot-as-dog metaphor as a tool to probe human-robot interactions in a domestic context. Secondly, to show dog-human interaction model is applicable to different levels of abstraction for the co-designing process that involves the roboticists and the end-users. The outcome shows a reflective practice that engages metaphors to facilitate communication across disciplines in the co-design process

Analysis of the interaction between elderly people and a simulated virtual coach

The EMPATHIC project develops and validates new interaction paradigms for personalized virtual coaches (VC) to promote healthy and independent aging. To this end, the work presented in this paper is aimed to analyze the interaction between the EMPATHIC-VC and the users. One of the goals of the project is to ensure an end-user driven design, involving senior users from the beginning and during each phase of the project. Thus, the paper focuses on some sessions where the seniors carried out interactions with a Wizard of Oz driven, simulated system. A coaching strategy based on the GROW model was used throughout these sessions so as to guide interactions and engage the elderly with the goals of the project. In this interaction framework, both the human and the system behavior were analyzed. The way the wizard implements the GROW coaching strategy is a key aspect of the system behavior during the interaction. The language used by the virtual agent as well as his or her physical aspect are also important cues that were analyzed. Regarding the user behavior, the vocal communication provides information about the speaker's emotional status, that is closely related to human behavior and which can be extracted from the speech and language analysis. In the same way, the analysis of the facial expression, gazes and gestures can provide information on the non verbal human communication even when the user is not talking. In addition, in order to engage senior users, their preferences and likes had to be considered. To this end, the effect of the VC on the users was gathered by means of direct questionnaires. These analyses have shown a positive and calm behavior of users when interacting with the simulated virtual coach as well as some difficulties of the system to develop the proposed coaching strategy.The research presented in this paper is conducted as part of the project EMPATHIC that has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no 769872

The Influence of social resilience on architecture : toward the design of a multi-purpose centre for the senior citizen population in Durban.

Masters Degree. University of KwaZulu-Natal, Durban.The concept of resilience represents the social and spatial inequalities that exist among the senior citizen population and continues to grow everyday. The notion of resilience is as a result of the rapid global urbanisation process that shapes the urban fabric and thus, fails to connect senior citizens to the mainstream of society and the physical environment. The exclusion from planning and developmental programmes and processes has forced senior citizens to create their own culture and identity by either claiming their rights to the city and become active agents of the developing urban environment; or reside in aged-care facilities where their plight is hidden away and neglected. This dissertation draws upon relevant literature, theories, concepts, case studies and precedent studies that are pertinent to the fundamental social and physical challenges of senior citizens. The theory of Critical Regionalism and The Right to the City explores the needs of senior citizens in order to create a decent form of living in an inclusive environment. The various precedent studies address the importance of an inclusive architecture and the importance of economic activities for senior citizens to create independent and active members of society. Similarly, the case studies analysed identified the value of senior citizens through their unique culture and identity. Therefore, by understanding and identifying various strategies, design principles and guidelines for an inclusive architecture, this dissertation unpacks the socio-economic benefits of senior citizens. The objective is then to establish a Multi-Purpose Centre that aims to facilitate social interaction between senior citizens and the rest of society as well create a successful age-friendly built environment