The right place at the right time: assisting spatio-temporal planning in construction

21st - 24th October 2003 This paper describes research carried out for requirements capture in the development of a computer-based decision support tool (VIRCON) for space-time scheduling and visualisation of construction tasks. The focus was on pre-tender work and involved interviews with construction planners. Both space-time scheduling and visualisation of tasks are largely informal/intuitive processes for planners. They form an important part of the planner\'s risk identification function. Planners tend to opt for a robust spatio-temporal schedule rather than an optimal one. They require decision support tools that are quick and easy to use rather than highly sophisticated. The research highlights the extent to which construction planning is a communicative and co-operative activity in addition to a complex problem-solving one. Questions arise about the cost to the client of non-involvement by the construction planner at the design stage, the costs of short pre-tender periods, inadequate design data and sub-optimal construction periods specified in tender documents

Unmanned Aerial Systems for Wildland and Forest Fires

Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland and forest fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small scale environments. However, wildfires cover large areas making some of the proposed ground-based systems unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial Systems (UAS) were proposed. UAS have proven to be useful due to their maneuverability, allowing for the implementation of remote sensing, allocation strategies and task planning. They can provide a low-cost alternative for the prevention, detection and real-time support of firefighting. In this paper we review previous work related to the use of UAS in wildfires. Onboard sensor instruments, fire perception algorithms and coordination strategies are considered. In addition, we present some of the recent frameworks proposing the use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at: https://doi.org/10.3390/drones501001

Collaborative design : managing task interdependencies and multiple perspectives

This paper focuses on two characteristics of collaborative design with respect to cooperative work: the importance of work interdependencies linked to the nature of design problems; and the fundamental function of design cooperative work arrangement which is the confrontation and combination of perspectives. These two intrinsic characteristics of the design work stress specific cooperative processes: coordination processes in order to manage task interdependencies, establishment of common ground and negotiation mechanisms in order to manage the integration of multiple perspectives in design

Learning-Based Adaptation for Personalized Mobility Assistance

Mobility assistance is of key importance for people with disabilities to remain autonomous in their preferred environments. In severe cases, assistance can be provided by robotized wheelchairs that can perform complex maneuvers and/or correct the user’s commands. User’s acceptance is of key importance, as some users do not like their commands to be modified. This work presents a solution to improve acceptance. It consists of making the robot learn how the user drives so corrections will not be so noticeable to the user. Case Based Reasoning (CBR) is used to acquire a user’s driving model reactive level. Experiments with volunteers at Fondazione Santa Lucia (FSL) have proven that, indeed, this customized approach at assistance increases acceptance by the user.This work has been partially supported by the Spanish Ministerio de Educacion y Ciencia (MEC), Project TEC2011-29106-C02-01. The authors would like to thank Santa Lucia Hospedale and all volunteers for their kind cooperation and Sauer Medica for providing the power wheelchair

Uncertainty Wedge Analysis: Quantifying the Impact of Sparse Sound Speed Profiling Regimes on Sounding Uncertainty

Recent advances in real-time monitoring of uncertainty due to refraction have demonstrated the power of estimating and visualizing uncertainty over the entire potential sounding space. This representation format, referred to as an uncertainty wedge, can be used to help solve difficult survey planning problems regarding the spatio-temporal variability of the watercolumn. Though initially developed to work in-line with underway watercolumn sampling hardware (e.g. moving vessel profilers), uncertainty wedge analysis techniques are extensible to investigate problems associated with low-density watercolumn sampling in which only a few sound speed casts are gathered per day. As uncertainty wedge analysis techniques require no sounding data, the overhead of post-processing soundings is circumvented in the situation when one needs to quickly ascertain the impact of a particular sampling regime. In keeping with the spirit of the underlying real-time monitoring tools, a just in time analysis of sound speed casts can help the field operator assess the effects of watercolumn variability during acquisition and objectively seek a watercolumn sampling regime which would balance the opposing goals of maximizing survey efficiency and maintaining reasonable sounding accuracy. In this work, we investigate the particular problem of estimating the uncertainty that would be associated with a particular low-density sound speed sampling regime. A pre-analysis technique is proposed in which a high-density set of sound speed profiles provides a baseline against which various low-density sampling regimes can be tested, the end goal being to ascertain the penalty in sounding confidence that would be associated with a particular low-density sampling regime. In other words, by knowing too much about the watercolumn, one can objectively quantify the impact of not knowing enough. In addition to the goal-seeking field application outlined earlier, this allows for more confi- dent attribution of uncertainty to soundings, a marked improvement over current approaches to refraction uncertainty estimation

Geovisual analytics for spatial decision support: Setting the research agenda

This article summarizes the results of the workshop on Visualization, Analytics & Spatial Decision Support, which took place at the GIScience conference in September 2006. The discussions at the workshop and analysis of the state of the art have revealed a need in concerted cross‐disciplinary efforts to achieve substantial progress in supporting space‐related decision making. The size and complexity of real‐life problems together with their ill‐defined nature call for a true synergy between the power of computational techniques and the human capabilities to analyze, envision, reason, and deliberate. Existing methods and tools are yet far from enabling this synergy. Appropriate methods can only appear as a result of a focused research based on the achievements in the fields of geovisualization and information visualization, human‐computer interaction, geographic information science, operations research, data mining and machine learning, decision science, cognitive science, and other disciplines. The name ‘Geovisual Analytics for Spatial Decision Support’ suggested for this new research direction emphasizes the importance of visualization and interactive visual interfaces and the link with the emerging research discipline of Visual Analytics. This article, as well as the whole special issue, is meant to attract the attention of scientists with relevant expertise and interests to the major challenges requiring multidisciplinary efforts and to promote the establishment of a dedicated research community where an appropriate range of competences is combined with an appropriate breadth of thinking

Geospatial Narratives and their Spatio-Temporal Dynamics: Commonsense Reasoning for High-level Analyses in Geographic Information Systems

The modelling, analysis, and visualisation of dynamic geospatial phenomena has been identified as a key developmental challenge for next-generation Geographic Information Systems (GIS). In this context, the envisaged paradigmatic extensions to contemporary foundational GIS technology raises fundamental questions concerning the ontological, formal representational, and (analytical) computational methods that would underlie their spatial information theoretic underpinnings. We present the conceptual overview and architecture for the development of high-level semantic and qualitative analytical capabilities for dynamic geospatial domains. Building on formal methods in the areas of commonsense reasoning, qualitative reasoning, spatial and temporal representation and reasoning, reasoning about actions and change, and computational models of narrative, we identify concrete theoretical and practical challenges that accrue in the context of formal reasoning about `space, events, actions, and change'. With this as a basis, and within the backdrop of an illustrated scenario involving the spatio-temporal dynamics of urban narratives, we address specific problems and solutions techniques chiefly involving `qualitative abstraction', `data integration and spatial consistency', and `practical geospatial abduction'. From a broad topical viewpoint, we propose that next-generation dynamic GIS technology demands a transdisciplinary scientific perspective that brings together Geography, Artificial Intelligence, and Cognitive Science. Keywords: artificial intelligence; cognitive systems; human-computer interaction; geographic information systems; spatio-temporal dynamics; computational models of narrative; geospatial analysis; geospatial modelling; ontology; qualitative spatial modelling and reasoning; spatial assistance systemsComment: ISPRS International Journal of Geo-Information (ISSN 2220-9964); Special Issue on: Geospatial Monitoring and Modelling of Environmental Change}. IJGI. Editor: Duccio Rocchini. (pre-print of article in press

MaestROB: A Robotics Framework for Integrated Orchestration of Low-Level Control and High-Level Reasoning

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a hierarchical structure by using the knowledge stored in the forms of ontology and rules for bridging among different levels of instructions. Accordingly, the framework has multiple layers of processing components; perception and actuation control at the low level, symbolic planner and Watson APIs for cognitive capabilities and semantic understanding, and orchestration of these components by a new open source robot middleware called Project Intu at its core. We show how this framework can be used in a complex scenario where multiple actors (human, a communication robot, and an industrial robot) collaborate to perform a common industrial task. Human teaches an assembly task to Pepper (a humanoid robot from SoftBank Robotics) using natural language conversation and demonstration. Our framework helps Pepper perceive the human demonstration and generate a sequence of actions for UR5 (collaborative robot arm from Universal Robots), which ultimately performs the assembly (e.g. insertion) task.Comment: IEEE International Conference on Robotics and Automation (ICRA) 2018. Video: https://www.youtube.com/watch?v=19JsdZi0TW