Output-Feedback Shared-Control for Fully Actuated Linear Mechanical Systems

This paper presents an output feedback shared-control algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy

Output-feedback shared-control for fully actuated linear mechanical systems

This paper presents an output feedback shared-control algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy

Feedback Control of Cyber-Physical Systems with Multi Resource Dependencies and Model Uncertainties

The problem of modeling and controlling re- sources in a system with interaction between hardware and software is considered. A model encompassing both hardware and software dynamics is developed together with an on- line estimation scheme in order reduce dependence on a- priori information. A control structure is presented in order to control performance under constrained resource situations and to reduce effects of estimation errors and disturbances. The approach is applied to a conversational video case and evaluated through simulations

A Hilbert Space Geometric Representation of Shared Awareness and Joint Decision Making

Two people in the same situation may ascribe very different meanings to their experiences. They will form different awareness, reacting differently to shared information. Various factors can give rise to this behavior. These factors include, but are not limited to, prior knowledge, training, biases, cultural factors, social factors, team vs. individual context, time, resources, and technology. At the individual level, the differences in attaining separate actions by accessing shared information may not be considered as an anomaly from the perspective of rational decision-making. But for group behavior, reacting differently to the shared information can give rise to conflicts and deviations from an expected behavior, and are categorized as an anomaly or irrational behavior. The lack of proper recognition of the reasons for differences can even impede the shared action towards attaining a common objective. The manifestation of differences becomes noticeable in complex situations. The shared awareness approaches that originate from available situational awareness models fail to recognize the reasons of an unexpected decision in these situations. One reason for this is that in complex situations, incompatible events can become dominant. Human information processing is sensitive to the compatibility of the events. This, and various other human psychological characteristics, require models to be developed that include comprehensive formalisms for both compatible and incompatible events in complex situations. Quantum probability provides a geometrical probabilistic formalism to study the decision and the dynamic cognitive systems in complex situations. The event representation in Hilbert space provides the necessary foundation to represent an individual\u27s knowledge of a situation. Hilbert space allows representing awareness as a superposition of indefinite states. These states form a complete N-dimensional Hilbert space. Within the space generated, events are represented as a subspace. By using these characteristics of Hilbert space and quantum geometrical probabilities, this study introduces a representation of self and other-than-self in a situation. An area of awareness with the possibility of projection onto the same event allows representing shared awareness geometrically. This formalism provides a coherent explanation of shared awareness for both compatible and incompatible events. Also, by using the superposition principles, the dissertation introduces spooky action at a distance concept in studying shared awareness

Tangible user interfaces : past, present and future directions

In the last two decades, Tangible User Interfaces (TUIs) have emerged as a new interface type that interlinks the digital and physical worlds. Drawing upon users' knowledge and skills of interaction with the real non-digital world, TUIs show a potential to enhance the way in which people interact with and leverage digital information. However, TUI research is still in its infancy and extensive research is required in or- der to fully understand the implications of tangible user interfaces, to develop technologies that further bridge the digital and the physical, and to guide TUI design with empirical knowledge. This paper examines the existing body of work on Tangible User In- terfaces. We start by sketching the history of tangible user interfaces, examining the intellectual origins of this field. We then present TUIs in a broader context, survey application domains, and review frame- works and taxonomies. We also discuss conceptual foundations of TUIs including perspectives from cognitive sciences, phycology, and philoso- phy. Methods and technologies for designing, building, and evaluating TUIs are also addressed. Finally, we discuss the strengths and limita- tions of TUIs and chart directions for future research

The spectro-contextual encoding and retrieval theory of episodic memory.

The spectral fingerprint hypothesis, which posits that different frequencies of oscillations underlie different cognitive operations, provides one account for how interactions between brain regions support perceptual and attentive processes (Siegel etal., 2012). Here, we explore and extend this idea to the domain of human episodic memory encoding and retrieval. Incorporating findings from the synaptic to cognitive levels of organization, we argue that spectrally precise cross-frequency coupling and phase-synchronization promote the formation of hippocampal-neocortical cell assemblies that form the basis for episodic memory. We suggest that both cell assembly firing patterns as well as the global pattern of brain oscillatory activity within hippocampal-neocortical networks represents the contents of a particular memory. Drawing upon the ideas of context reinstatement and multiple trace theory, we argue that memory retrieval is driven by internal and/or external factors which recreate these frequency-specific oscillatory patterns which occur during episodic encoding. These ideas are synthesized into a novel model of episodic memory (the spectro-contextual encoding and retrieval theory, or "SCERT") that provides several testable predictions for future research

Context Exploitation in Data Fusion

Complex and dynamic environments constitute a challenge for existing tracking algorithms. For this reason, modern solutions are trying to utilize any available information which could help to constrain, improve or explain the measurements. So called Context Information (CI) is understood as information that surrounds an element of interest, whose knowledge may help understanding the (estimated) situation and also in reacting to that situation. However, context discovery and exploitation are still largely unexplored research topics. Until now, the context has been extensively exploited as a parameter in system and measurement models which led to the development of numerous approaches for the linear or non-linear constrained estimation and target tracking. More specifically, the spatial or static context is the most common source of the ambient information, i.e. features, utilized for recursive enhancement of the state variables either in the prediction or the measurement update of the filters. In the case of multiple model estimators, context can not only be related to the state but also to a certain mode of the filter. Common practice for multiple model scenarios is to represent states and context as a joint distribution of Gaussian mixtures. These approaches are commonly referred as the join tracking and classification. Alternatively, the usefulness of context was also demonstrated in aiding the measurement data association. Process of formulating a hypothesis, which assigns a particular measurement to the track, is traditionally governed by the empirical knowledge of the noise characteristics of sensors and operating environment, i.e. probability of detection, false alarm, clutter noise, which can be further enhanced by conditioning on context. We believe that interactions between the environment and the object could be classified into actions, activities and intents, and formed into structured graphs with contextual links translated into arcs. By learning the environment model we will be able to make prediction on the target\u2019s future actions based on its past observation. Probability of target future action could be utilized in the fusion process to adjust tracker confidence on measurements. By incorporating contextual knowledge of the environment, in the form of a likelihood function, in the filter measurement update step, we have been able to reduce uncertainties of the tracking solution and improve the consistency of the track. The promising results demonstrate that the fusion of CI brings a significant performance improvement in comparison to the regular tracking approaches