6,385 research outputs found
Evolving artificial pain from fault detection through pattern data analysis
© 2017 IEEE. Fault detection is a classical area of study in robotics and extensive research works have been dedicated to investigate its broad applications. As the breath of robots applications requiring human interaction grow, it is important for robots to acquire sophisticated social skills such as empathy towards pain. However, it turns out that this is difficult to achieve without having an appropriate concept of pain that relies on robots being aware of their own body machinery aspects. This paper introduces the concept of pain, based on the ability to develop a state of awareness of robots own body and the use of the fault detection approach to generate artificial robot pain. Faults provide the stimulus and defines a classified magnitude value, which constitutes artificial pain generation, comprised of synthetic pain classes. Our experiment evaluates some of synthetic pain classes and the results show that the robot gains awareness of its internal state through its ability to predict its joint motion and generate appropriate artificial pain. The robot is also capable of alerting humans whenever a task will generate artificial pain, or whenever humans fails to acknowledge the alert, the robot can take a considerable preventive actions through joint stiffness adjustment
Evolving robot empathy towards humans with motor disabilities through artificial pain generation
© 2018 the Author(s). In contact assistive robots, a prolonged physical engagement between robots and humans with motor disabilities due to shoulder injuries, for instance, may at times lead humans to experience pain. In this situation, robots will require sophisticated capabilities, such as the ability to recognize human pain in advance and generate counter-responses as follow up emphatic action. Hence, it is important for robots to acquire an appropriate pain concept that allows them to develop these capabilities. This paper conceptualizes empathy generation through the realization of synthetic pain classes integrated into a robot's self-awareness framework, and the implementation of fault detection on the robot body serves as a primary source of pain activation. Projection of human shoulder motion into the robot arm motion acts as a fusion process, which is used as a medium to gather information for analyses then to generate corresponding synthetic pain and emphatic responses. An experiment is designed to mirror a human peer's shoulder motion into an observer robot. The results demonstrate that the fusion takes place accurately whenever unified internal states are achieved, allowing accurate classification of synthetic pain categories and generation of empathy responses in a timely fashion. Future works will consider a pain activation mechanism development
Kernel Spectral Clustering and applications
In this chapter we review the main literature related to kernel spectral
clustering (KSC), an approach to clustering cast within a kernel-based
optimization setting. KSC represents a least-squares support vector machine
based formulation of spectral clustering described by a weighted kernel PCA
objective. Just as in the classifier case, the binary clustering model is
expressed by a hyperplane in a high dimensional space induced by a kernel. In
addition, the multi-way clustering can be obtained by combining a set of binary
decision functions via an Error Correcting Output Codes (ECOC) encoding scheme.
Because of its model-based nature, the KSC method encompasses three main steps:
training, validation, testing. In the validation stage model selection is
performed to obtain tuning parameters, like the number of clusters present in
the data. This is a major advantage compared to classical spectral clustering
where the determination of the clustering parameters is unclear and relies on
heuristics. Once a KSC model is trained on a small subset of the entire data,
it is able to generalize well to unseen test points. Beyond the basic
formulation, sparse KSC algorithms based on the Incomplete Cholesky
Decomposition (ICD) and , , Group Lasso regularization are
reviewed. In that respect, we show how it is possible to handle large scale
data. Also, two possible ways to perform hierarchical clustering and a soft
clustering method are presented. Finally, real-world applications such as image
segmentation, power load time-series clustering, document clustering and big
data learning are considered.Comment: chapter contribution to the book "Unsupervised Learning Algorithms
An approach toward function allocation between humans and machines in space station activities
Basic guidelines and data to assist in the allocation of functions between humans and automated systems in a manned permanent space station are provided. Human capabilities and limitations are described. Criteria and guidelines for various levels of automation and human participation are described. A collection of human factors data is included
Fast Damage Recovery in Robotics with the T-Resilience Algorithm
Damage recovery is critical for autonomous robots that need to operate for a
long time without assistance. Most current methods are complex and costly
because they require anticipating each potential damage in order to have a
contingency plan ready. As an alternative, we introduce the T-resilience
algorithm, a new algorithm that allows robots to quickly and autonomously
discover compensatory behaviors in unanticipated situations. This algorithm
equips the robot with a self-model and discovers new behaviors by learning to
avoid those that perform differently in the self-model and in reality. Our
algorithm thus does not identify the damaged parts but it implicitly searches
for efficient behaviors that do not use them. We evaluate the T-Resilience
algorithm on a hexapod robot that needs to adapt to leg removal, broken legs
and motor failures; we compare it to stochastic local search, policy gradient
and the self-modeling algorithm proposed by Bongard et al. The behavior of the
robot is assessed on-board thanks to a RGB-D sensor and a SLAM algorithm. Using
only 25 tests on the robot and an overall running time of 20 minutes,
T-Resilience consistently leads to substantially better results than the other
approaches
The role of Artificial Intelligence and distributed computing in IoT applications
[EN]The exchange of ideas between scientists and technicians, from both academic and business areas, is essential in order to ease the development of systems which can meet the demands of today’s society. Technology transfer in this field is still a challenge and, for that reason, this type of contributions are notably considered in this compilation. This book brings in discussions and publications concerning the development of innovative techniques of IoT complex problems. The technical program focuses both on high quality and diversity, with contributions in well-established and evolving areas of research. Specifically, 10 chapters were submitted to this book. The editors particularly encouraged and welcomed contributions on AI and distributed computing in IoT applications.Financed by regional government of Castilla y León and FEDER funds
The role of Artificial Intelligence and Distributed computing in IoT applications
[ES] La serie «El rol de la inteligencia artificial y la computación distribuida en las aplicaciones IoT» contiene publicaciones sobre la teorÃa y aplicaciones de la computación distribuida y la inteligencia artificial en el Internet de las cosas. Prácticamente todas las disciplinas como la ingenierÃa, las ciencias naturales, la informática y las ciencias de la información, las TIC, la economÃa, los negocios, el comercio electrónico, el medio ambiente, la salud y las ciencias de la vida están cubiertas. La lista de temas abarca todas las áreas de los sistemas inteligentes modernos y la informática como: inteligencia computacional, soft computing incluyendo redes neuronales, inteligencia social, inteligencia ambiental, sistemas auto-organizados y adaptativos, computación centrada en el ser humano y centrada en el ser humano, sistemas de recomendación, control inteligente, robótica y mecatrónica, incluida la colaboración entre el ser humano y la máquina, paradigmas basados en el conocimiento, paradigmas de aprendizaje, ética de la máquina, análisis inteligente de datos, gestión del conocimiento, agentes inteligentes, toma de decisiones inteligentes y apoyo, seguridad de la red inteligente, gestión de la confianza, entretenimiento interactivo, inteligencia de la Web y multimedia.
Las publicaciones en el marco de «El rol de la inteligencia artificial y la computación distribuida en las aplicaciones IoT» son principalmente las actas de seminarios, simposios y conferencias. Abarcan importantes novedades recientes en la materia, tanto de naturaleza fundacional como aplicable. Un importante rasgo caracterÃstico de la serie es el corto tiempo de publicación. Esto permite una rápida y amplia difusión de los resultados de las investigaciones[EN] The series «The Role of Artificial Intelligence and Distributed Computing in IoT Applications» contains publications on the theory and applications of distributed computing and artificial intelligence in the Internet of Things. Virtually all disciplines such as engineering, natural sciences, computer and information sciences, ICT, economics, business, e-commerce, environment, health and life sciences are covered. The list of topics covers all areas of modern intelligent systems and computer science: computational intelligence, soft computing including neural networks, social intelligence, ambient intelligence, self-organising and adaptive systems, human-centred and people-centred computing, recommendation systems, intelligent control, robotics and mechatronics including human-machine collaboration, knowledge-based paradigms, learning paradigms, machine ethics, intelligent data analysis, knowledge management, intelligent agents, intelligent decision making and support, intelligent network security, trust management, interactive entertainment, web intelligence, and multimedia.
The publications in the framework of «The Role of Artificial Intelligence and Distributed Computing in IoT Applications» are mainly the proceedings of seminars, symposia and conferences. They cover important recent developments in the field, whether of a foundational or applicable character. An important feature of the series is the short publication time. This allows for the rapid and wide dissemination of research results
Semi-Supervised Approach to Monitoring Clinical Depressive Symptoms in Social Media
With the rise of social media, millions of people are routinely expressing
their moods, feelings, and daily struggles with mental health issues on social
media platforms like Twitter. Unlike traditional observational cohort studies
conducted through questionnaires and self-reported surveys, we explore the
reliable detection of clinical depression from tweets obtained unobtrusively.
Based on the analysis of tweets crawled from users with self-reported
depressive symptoms in their Twitter profiles, we demonstrate the potential for
detecting clinical depression symptoms which emulate the PHQ-9 questionnaire
clinicians use today. Our study uses a semi-supervised statistical model to
evaluate how the duration of these symptoms and their expression on Twitter (in
terms of word usage patterns and topical preferences) align with the medical
findings reported via the PHQ-9. Our proactive and automatic screening tool is
able to identify clinical depressive symptoms with an accuracy of 68% and
precision of 72%.Comment: 8 pages, Advances in Social Networks Analysis and Mining (ASONAM),
2017 IEEE/ACM International Conferenc
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