Morphology Dependent Distributed Controller for Locomotion in Modular Robots

Stigmergy is defined as a mechanism of coordination through indirect communication among agents, which can be commonly observed in social insects such as ants. In this work we investigate the emergence of coordination for locomotion in modular robots through indirect communication among modules. We demonstrate how intra-configuration forces that exist between physically connected modules can be used for self-organization in modular robots, and how the emerging global behavior is a result of the morphology of the robotic configuration

Laser Reflection Intensity and Multi-Layered Laser Range Finders for People Detection

Abstract-Successful detection of people is a basic requirement for a robot to achieve symbiosis in people's daily life. Specifically, a mobile robot designed to follow people needs to keep track of people's position through time, for it defines the robot's position and trajectory. In this work we introduce the usage of reflection intensity data of Laser Range Finders (LRF) arranged in multiple layers for people detection. We use supervised learning to train strong classifiers including intensity-based features. Concretely, we propose a calibration method for laser intensity and introduce new intensity-based features for people detection which are combined with range-based features in a strong classifier using supervised learning. We provide experimental results to evaluate the effectiveness of these features. This work is an step towards of our main research project of developing a social autonomous mobile robot acting as member of a people group

Morphology Dependent Distributed Controller for Locomotion in Modular Robots

Stigmergy is defined as a mechanism of coordination through indirect communication among agents, which can be commonly observed in social insects such as ants. In this work we investigate the emergence of coordination for locomotion in modular robots through indirect communication among modules. We demonstrate how intra-configuration forces that exist between physically connected modules can be used for self-organization in modular robots, and how the emerging global behavior is a result of the morphology of the robotic configuration

Exploring Older Adults’ Beliefs About the Use of Intelligent Assistants for Consumer Health Information Management: A Participatory Design Study

Background: Intelligent assistants (IAs), also known as intelligent agents, use artificial intelligence to help users achieve a goal or complete a task. IAs represent a potential solution for providing older adults with individualized assistance at home, for example, to reduce social isolation, serve as memory aids, or help with disease management. However, to design IAs for health that are beneficial and accepted by older adults, it is important to understand their beliefs about IAs, how they would like to interact with IAs for consumer health, and how they desire to integrate IAs into their homes. Objective: We explore older adults’ mental models and beliefs about IAs, the tasks they want IAs to support, and how they would like to interact with IAs for consumer health. For the purpose of this study, we focus on IAs in the context of consumer health information management and search. Methods: We present findings from an exploratory, qualitative study that investigated older adults’ perspectives of IAs that aid with consumer health information search and management tasks. Eighteen older adults participated in a multiphase, participatory design workshop in which we engaged them in discussion, brainstorming, and design activities that helped us identify their current challenges managing and finding health information at home. We also explored their beliefs and ideas for an IA to assist them with consumer health tasks. We used participatory design activities to identify areas in which they felt IAs might be useful, but also to uncover the reasoning behind the ideas they presented. Discussions were audio-recorded and later transcribed. We compiled design artifacts collected during the study to supplement researcher transcripts and notes. Thematic analysis was used to analyze data. Results: We found that participants saw IAs as potentially useful for providing recommendations, facilitating collaboration between themselves and other caregivers, and for alerts of serious illness. However, they also desired familiar and natural interactions with IAs (eg, using voice) that could, if need be, provide fluid and unconstrained interactions, reason about their symptoms, and provide information or advice. Other participants discussed the need for flexible IAs that could be used by those with low technical resources or skills. Conclusions: From our findings, we present a discussion of three key components of participants’ mental models, including the people, behaviors, and interactions they described that were important for IAs for consumer health information management and seeking. We then discuss the role of access, transparency, caregivers, and autonomy in design for addressing participants’ concerns about privacy and trust as well as its role in assisting others that may interact with an IA on the older adults’ behalf

Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1) both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2) at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness

Artificial Superintelligence: Coordination & Strategy

Attention in the AI safety community has increasingly started to include strategic considerations of coordination between relevant actors in the field of AI and AI safety, in addition to the steadily growing work on the technical considerations of building safe AI systems. This shift has several reasons: Multiplier effects, pragmatism, and urgency. Given the benefits of coordination between those working towards safe superintelligence, this book surveys promising research in this emerging field regarding AI safety. On a meta-level, the hope is that this book can serve as a map to inform those working in the field of AI coordination about other promising efforts. While this book focuses on AI safety coordination, coordination is important to most other known existential risks (e.g., biotechnology risks), and future, human-made existential risks. Thus, while most coordination strategies in this book are specific to superintelligence, we hope that some insights yield “collateral benefits” for the reduction of other existential risks, by creating an overall civilizational framework that increases robustness, resiliency, and antifragility

Multi-Robot Systems: Challenges, Trends and Applications

This book is a printed edition of the Special Issue entitled “Multi-Robot Systems: Challenges, Trends, and Applications” that was published in Applied Sciences. This Special Issue collected seventeen high-quality papers that discuss the main challenges of multi-robot systems, present the trends to address these issues, and report various relevant applications. Some of the topics addressed by these papers are robot swarms, mission planning, robot teaming, machine learning, immersive technologies, search and rescue, and social robotics