Language-based sensing descriptors for robot object grounding

In this work, we consider an autonomous robot that is required to understand commands given by a human through natural language. Specifically, we assume that this robot is provided with an internal representation of the environment. However, such a representation is unknown to the user. In this context, we address the problem of allowing a human to understand the robot internal representation through dialog. To this end, we introduce the concept of sensing descriptors. Such representations are used by the robot to recognize unknown object properties in the given commands and warn the user about them. Additionally, we show how these properties can be learned over time by leveraging past interactions in order to enhance the grounding capabilities of the robot

Robot Navigation in Unseen Spaces using an Abstract Map

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar

Hot Routes: Developing a New Technique for the Spatial Analysis of Crime

The use of hotspot mapping techniques such as KDE to represent the geographical spread of linear events can be problematic. Network-constrained data (for example transport-related crime) require a different approach to visualize concentration. We propose a methodology called Hot Routes, which measures the risk distribution of crime along a linear network by calculating the rate of crimes per section of road. This method has been designed for everyday crime analysts, and requires only a Geographical Information System (GIS), and suitable data to calculate. A demonstration is provided using crime data collected from London bus routes

Information Flow Analysis of Level 4 Payload Processing Operations

The Level 4 Mission Sequence Test (MST) was studied to develop strategies and recommendations to facilitate information flow. Recommendations developed as a result of this study include revised format of the Test and Assembly Procedure (TAP) document and a conceptualized software based system to assist in the management of information flow during the MST

Travel Time Variability of a Group of Car Commuters in North London

This working paper describes a study of the variability of journey times of a panel of fifteen commuters using one north London radial corridor, over a total of seven weeks in the spring and summer of 1987. The objectives were to gain preliminary information on the extent of journey time variability and on the commuters* perception of and responses to the variability they experienced. The procedure for selecting the panel and contacting them is described, together with the data collection method, which consisted principally of panellists using tape recorders in their cars to record the time at which fixed points along the route were passed on each day's journey to work. Early or late arrival and its consequences in relation to the day's tasks were recorded at the destination. Analyses are presented of the distributions of times of complete and partial journeys, of the relationship between journey duration and variability and of the effects of diversion in response to perceived traffic conditions. The safety margins needed to ensure given percentages of punctual arrivals were estimated and contrasted with those from previous studies. Further analyses are presented indicating the general unimportance of punctuality for these panellists, the effects of significant lateness when it did occur, and of the panellists' ability to predict their arrival times in advance. A study of highway link travel time variability and its causes was also carried out for cars at the a same time in the same corridor. The methodology, surveys and data processing of this parallel study are set out in ITS Working - Paper 278, and the results and analysis in ITS Working Paper 279

Evolving SDN for Low-Power IoT Networks

Software Defined Networking (SDN) offers a flexible and scalable architecture that abstracts decision making away from individual devices and provides a programmable network platform. However, implementing a centralized SDN architecture within the constraints of a low-power wireless network faces considerable challenges. Not only is controller traffic subject to jitter due to unreliable links and network contention, but the overhead generated by SDN can severely affect the performance of other traffic. This paper addresses the challenge of bringing high-overhead SDN architecture to IEEE 802.15.4 networks. We explore how traditional SDN needs to evolve in order to overcome the constraints of low-power wireless networks, and discuss protocol and architectural optimizations necessary to reduce SDN control overhead - the main barrier to successful implementation. We argue that interoperability with the existing protocol stack is necessary to provide a platform for controller discovery and coexistence with legacy networks. We consequently introduce {\mu}SDN, a lightweight SDN framework for Contiki, with both IPv6 and underlying routing protocol interoperability, as well as optimizing a number of elements within the SDN architecture to reduce control overhead to practical levels. We evaluate {\mu}SDN in terms of latency, energy, and packet delivery. Through this evaluation we show how the cost of SDN control overhead (both bootstrapping and management) can be reduced to a point where comparable performance and scalability is achieved against an IEEE 802.15.4-2012 RPL-based network. Additionally, we demonstrate {\mu}SDN through simulation: providing a use-case where the SDN configurability can be used to provide Quality of Service (QoS) for critical network flows experiencing interference, and we achieve considerable reductions in delay and jitter in comparison to a scenario without SDN

Capturing in-situ Feelings and Experiences of Public Transit Riders Using Smartphones

High-density urban environments are susceptible to ever-growing traffic congestion issues, which speaks to the importance of implementing and maintaining effective and sustainable transportation networks. While transit oriented developments offer the potential to help mitigate traffic congestion issues, transit networks ought to be safe and reliable for ideal transit-user communities. As such, it is imperative to capture meaningful data regarding transit experiences, and deduce how transit networks can be enhanced or modified to continually maintain ideal transit experiences. Historically speaking, it has been relatively tricky to measure how people feel whilst using public transportation, without leaning on recall memory to explain such phenomena. Recall memory can be vague and is often less detailed than recording in-situ observations of the transit-user community. This thesis explores the feasibility of using smartphones to capture meaningful in-situ data to leverage the benefits of the Experience Sampling Method (ESM), while also addressing some limitations. Students travelled along Grand River Transit bus routes in Waterloo, Ontario from Wilfrid Laurier University to Conestoga Mall and back using alternate routes. The mobile survey captured qualitative and quantitative data from 145 students to explore variations in wellbeing, and the extent to which environmental variables can influence transit experiences. There were many findings to consider for future research, especially the overall role anxiety played on transit experiences. In addition, the results indicate that the methodology is appropriate for further research, and can be applied to a wide range of research topics. In particular, it is recommended that a similar study be applied to a much larger, and more representative sample of the transit-user community. Future considerations are discussed as key considerations to leverage the benefits of ESM research, and the promise it can bring towards the enhancement of transit experiences and the cohesion of transit-user communities

Invisible design: exploring insights and ideas through ambiguous film scenarios

Invisible Design is a technique for generating insights and ideas with workshop participants in the early stages of concept development. It involves the creation of ambiguous films in which characters discuss a technology that is not directly shown. The technique builds on previous work in HCI on scenarios, persona, theatre, film and ambiguity. The Invisible Design approach is illustrated with three examples from unrelated projects; Biometric Daemon, Panini and Smart Money. The paper presents a qualitative analysis of data from a series of workshops where these Invisible Designs were discussed. The analysis outlines responses to the films in terms of; existing problems, concerns with imagined technologies and design speculation. It is argued that Invisible Design can help to create a space for critical and creative dialogue during participatory concept development