Explainable shared control in assistive robotics

Shared control plays a pivotal role in designing assistive robots to complement human capabilities during everyday tasks. However, traditional shared control relies on users forming an accurate mental model of expected robot behaviour. Without this accurate mental image, users may encounter confusion or frustration whenever their actions do not elicit the intended system response, forming a misalignment between the respective internal models of the robot and human. The Explainable Shared Control paradigm introduced in this thesis attempts to resolve such model misalignment by jointly considering assistance and transparency. There are two perspectives of transparency to Explainable Shared Control: the human's and the robot's. Augmented reality is presented as an integral component that addresses the human viewpoint by visually unveiling the robot's internal mechanisms. Whilst the robot perspective requires an awareness of human "intent", and so a clustering framework composed of a deep generative model is developed for human intention inference. Both transparency constructs are implemented atop a real assistive robotic wheelchair and tested with human users. An augmented reality headset is incorporated into the robotic wheelchair and different interface options are evaluated across two user studies to explore their influence on mental model accuracy. Experimental results indicate that this setup facilitates transparent assistance by improving recovery times from adverse events associated with model misalignment. As for human intention inference, the clustering framework is applied to a dataset collected from users operating the robotic wheelchair. Findings from this experiment demonstrate that the learnt clusters are interpretable and meaningful representations of human intent. This thesis serves as a first step in the interdisciplinary area of Explainable Shared Control. The contributions to shared control, augmented reality and representation learning contained within this thesis are likely to help future research advance the proposed paradigm, and thus bolster the prevalence of assistive robots.Open Acces

Electronic Evidence and Electronic Signatures

In this updated edition of the well-established practitioner text, Stephen Mason and Daniel Seng have brought together a team of experts in the field to provide an exhaustive treatment of electronic evidence and electronic signatures. This fifth edition continues to follow the tradition in English evidence text books by basing the text on the law of England and Wales, with appropriate citations of relevant case law and legislation from other jurisdictions. Stephen Mason (of the Middle Temple, Barrister) is a leading authority on electronic evidence and electronic signatures, having advised global corporations and governments on these topics. He is also the editor of International Electronic Evidence (British Institute of International and Comparative Law 2008), and he founded the innovative international open access journal Digital Evidence and Electronic Signatures Law Review in 2004. Daniel Seng (Associate Professor, National University of Singapore) is the Director of the Centre for Technology, Robotics, AI and the Law (TRAIL). He teaches and researches information technology law and evidence law. Daniel was previously a partner and head of the technology practice at Messrs Rajah & Tann. He is also an active consultant to the World Intellectual Property Organization, where he has researched, delivered papers and published monographs on copyright exceptions for academic institutions, music copyright in the Asia Pacific and the liability of Internet intermediaries

Design Space Exploration and Resource Management of Multi/Many-Core Systems

The increasing demand of processing a higher number of applications and related data on computing platforms has resulted in reliance on multi-/many-core chips as they facilitate parallel processing. However, there is a desire for these platforms to be energy-efficient and reliable, and they need to perform secure computations for the interest of the whole community. This book provides perspectives on the aforementioned aspects from leading researchers in terms of state-of-the-art contributions and upcoming trends

Seventh Workshop and Tutorial on Practical Use of Coloured Petri Nets and the CPN Tools, Aarhus, Denmark, October 24-26, 2006

This booklet contains the proceedings of the Seventh Workshop on Practical Use of Coloured Petri Nets and the CPN Tools, October 24-26, 2006. The workshop is organised by the CPN group at the Department of Computer Science, University of Aarhus, Denmark. The papers are also available in electronic form via the web pages: http://www.daimi.au.dk/CPnets/workshop0

Coopetition as an emerging organisational strategy for supply chain resilience: an exploratory study of the UKCS oil and gas sector.

Coopetition, a form of inter-organisational relationship that combines competitive and collaborative theories, has gained the interests of academics and practitioners of inter-organisational studies. However, despite numerous extensive coopetition reviews, several questions remain unanswered - especially with regards to the formation of the strategy. Although studies have acknowledged that coopetition can occur unintentionally, particularly among organisations in pre-existing collaborative relationships, it remains unclear how or if the nature of formation affects the performance or outcome of the coopetitive relationship. It is therefore necesssary for continued research efforts into the study of coopetition as an emergent strategy. This research addresses issues in coopetition studies with the specific aim of uncovering the relationship between the formation of coopetition alliances and its performance. The study argues that antecedents for successful intentional coopetition may not apply in coopetition that emerges unintentionally. Using the UK Oil and Gas Industry as a case study, this research investigates some of the factors that can improve the performance of emergent coopetition, such as its management, form of governance and the role of dedicated alliance functions. The study compares the antecedents for successful deliberate coopetition with the performance of unintentional coopetition. Drawing upon research from inter-organisational studies and interviews of oil and gas industry experts, this study proposes some hypotheses and a conceptual model relating to the interactions of the governance structure, control mechanisms, and management on the performance of both intentional and unintentional coopetition. Additionally, it investigates the role of supply chain flexibility on coopetition performance. The structural equation model is tested using empirical data obtained through web-based questionnaires from 380 supply chain professionals in the oil and gas industry. The results of this study confirm that the management technique and control mechanisms have a significant effect on the outcome of both intentional and unintentional coopetition. In contrast, the flexibility of the supply chain has little impact on the performance of the alliance. The study contributes to inter-organisational studies by demonstrating that the presence of a dedicated alliance function and contractual agreements are critical antecedents in the formation of a coopetitive alliance, including emergent coopetition. The study also highlights its limitations and recommends areas for further research

Fundamental Approaches to Software Engineering

This open access book constitutes the proceedings of the 25th International Conference on Fundamental Approaches to Software Engineering, FASE 2022, which was held during April 4-5, 2022, in Munich, Germany, as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2022. The 17 regular papers presented in this volume were carefully reviewed and selected from 64 submissions. The proceedings also contain 3 contributions from the Test-Comp Competition. The papers deal with the foundations on which software engineering is built, including topics like software engineering as an engineering discipline, requirements engineering, software architectures, software quality, model-driven development, software processes, software evolution, AI-based software engineering, and the specification, design, and implementation of particular classes of systems, such as (self-)adaptive, collaborative, AI, embedded, distributed, mobile, pervasive, cyber-physical, or service-oriented applications

Computer Aided Verification

The open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency

Electronic Evidence and Electronic Signatures

In this updated edition of the well-established practitioner text, Stephen Mason and Daniel Seng have brought together a team of experts in the field to provide an exhaustive treatment of electronic evidence and electronic signatures. This fifth edition continues to follow the tradition in English evidence text books by basing the text on the law of England and Wales, with appropriate citations of relevant case law and legislation from other jurisdictions. Stephen Mason (of the Middle Temple, Barrister) is a leading authority on electronic evidence and electronic signatures, having advised global corporations and governments on these topics. He is also the editor of International Electronic Evidence, and he founded the innovative international open access journal Digital Evidence and Electronic Signatures Law Review in 2004. Daniel Seng (Associate Professor, National University of Singapore) is the Director of the Centre for Technology, Robotics, AI and the Law (TRAIL). He teaches and researches information technology law and evidence law. Daniel was previously a partner and head of the technology practice at Messrs Rajah & Tann. He is also an active consultant to the World Intellectual Property Organization, where he has researched, delivered papers and published monographs on copyright exceptions for academic institutions, music copyright in the Asia Pacific and the liability of Internet intermediaries