Efficiency improvement by navigated safety inspection involving visual clutter based on the random search model.

Navigated inspection seeks to improve hazard identification (HI) accuracy. With tight inspection schedule, HI also requires efficiency. However, lacking quantification of HI efficiency, navigated inspection strategies cannot be comprehensively assessed. This work aims to determine inspection efficiency in navigated safety inspection, controlling for the HI accuracy. Based on a cognitive method of the random search model (RSM), an experiment was conducted to observe the HI efficiency in navigation, for a variety of visual clutter (VC) scenarios, while using eye-tracking devices to record the search process and analyze the search performance. The results show that the RSM is an appropriate instrument, and VC serves as a hazard classifier for navigation inspection in improving inspection efficiency. This suggests a new and effective solution for addressing the low accuracy and efficiency of manual inspection through navigated inspection involving VC and the RSM. It also provides insights into the inspectors' safety inspection ability

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed

Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results

MULTI-SENSOR LOCALIZATION AND TRACKING IN DISASTER MANAGEMENT AND INDOOR WAYFINDING FOR VISUALLY IMPAIRED USERS

This dissertation proposes a series of multi-sensor localization and tracking algorithms particularly developed for two important application domains, which are disaster management and indoor wayfinding for blind and visually impaired (BVI) users. For disaster management, we developed two different localization algorithms, one each for Radio Frequency Identification (RFID) and Bluetooth Low Energy (BLE) technology, which enable the disaster management system to track patients in real-time. Both algorithms work in the absence of any pre-deployed infrastructure along with smartphones and wearable devices. Regarding indoor wayfinding for BVI users, we have explored several types of indoor positioning techniques including BLE-based, inertial, visual and hybrid approaches to offer accurate and reliable location and orientation in complex navigation spaces. In this dissertation, significant contributions have been made in the design and implementation of various localization and tracking algorithms under different requirements of certain applications

Biologically Inspired Guidance for Autonomous Systems

Animals and humans can perform purposeful actions using only their senses. Birds can perch on branches; bats use echolocation to hunt prey and humans are able to control vehicles. It must therefore be possible for autonomous systems to replicate this autonomous behaviour if an understanding of how animals and humans perceive their environment and guide their movements is obtained. Tau theory offers a potential explanation as to how this is achieved in nature. Tau theory posits, that in combination with the so-called ‘motion guides’, animals and humans perform useful movements by closing action-gaps, i.e. gaps between the current state and a desired state. The theory suggests that the variabl

Interactional Slingshots: Providing Support Structure to User Interactions in Hybrid Intelligence Systems

The proliferation of artificial intelligence (AI) systems has enabled us to engage more deeply and powerfully with our digital and physical environments, from chatbots to autonomous vehicles to robotic assistive technology. Unfortunately, these state-of-the-art systems often fail in contexts that require human understanding, are never-before-seen, or complex. In such cases, though the AI-only approaches cannot solve the full task, their ability to solve a piece of the task can be combined with human effort to become more robust to handling complexity and uncertainty. A hybrid intelligence system—one that combines human and machine skill sets—can make intelligent systems more operable in real-world settings. In this dissertation, we propose the idea of using interactional slingshots as a means of providing support structure to user interactions in hybrid intelligence systems. Much like how gravitational slingshots provide boosts to spacecraft en route to their final destinations, so do interactional slingshots provide boosts to user interactions en route to solving tasks. Several challenges arise: What does this support structure look like? How much freedom does the user have in their interactions? How is user expertise paired with that of the machine’s? To do this as a tractable socio-technical problem, we explore this idea in the context of data annotation problems, especially in those domains where AI methods fail to solve the overall task. Getting annotated (labeled) data is crucial for successful AI methods, and becomes especially more difficult in domains where AI fails, since problems in such domains require human understanding to fully solve, but also present challenges related to annotator expertise, annotation freedom, and context curation from the data. To explore data annotation problems in this space, we develop techniques and workflows whose interactional slingshot support structure harnesses the user’s interaction with data. First, we explore providing support in the form of nudging non-expert users’ interactions as they annotate text data for the task of creating conversational memory. Second, we add support structure in the form of assisting non-expert users during the annotation process itself for the task of grounding natural language references to objects in 3D point clouds. Finally, we supply support in the form of guiding expert and non-expert users both before and during their annotations for the task of conversational disentanglement across multiple domains. We demonstrate that building hybrid intelligence systems with each of these interactional slingshot support mechanisms—nudging, assisting, and guiding a user’s interaction with data—improves annotation outcomes, such as annotation speed, accuracy, effort level, even when annotators’ expertise and skill levels vary. Thesis Statement: By providing support structure that nudges, assists, and guides user interactions, it is possible to create hybrid intelligence systems that enable more efficient (faster and/or more accurate) data annotation.PHDComputer Science & EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/163138/1/sairohit_1.pd

Agents and Robots for Reliable Engineered Autonomy

This book contains the contributions of the Special Issue entitled "Agents and Robots for Reliable Engineered Autonomy". The Special Issue was based on the successful first edition of the "Workshop on Agents and Robots for reliable Engineered Autonomy" (AREA 2020), co-located with the 24th European Conference on Artificial Intelligence (ECAI 2020). The aim was to bring together researchers from autonomous agents, as well as software engineering and robotics communities, as combining knowledge from these three research areas may lead to innovative approaches that solve complex problems related to the verification and validation of autonomous robotic systems

Image and interpretation using artificial intelligence to read ancient Roman texts

The ink and stylus tablets discovered at the Roman Fort of Vindolanda are a unique resource for scholars of ancient history. However, the stylus tablets have proved particularly difficult to read. This paper describes a system that assists expert papyrologists in the interpretation of the Vindolanda writing tablets. A model-based approach is taken that relies on models of the written form of characters, and statistical modelling of language, to produce plausible interpretations of the documents. Fusion of the contributions from the language, character, and image feature models is achieved by utilizing the GRAVA agent architecture that uses Minimum Description Length as the basis for information fusion across semantic levels. A system is developed that reads in image data and outputs plausible interpretations of the Vindolanda tablets