Planning and sequential decision making for human-aware robots

University of Technology, Sydney. Faculty of Engineering and Information Technology.This thesis explores the use of probabilistic techniques for enhancing the interaction between a human and a robotic assistant. The human in this context is regarded as an integral part of the system, providing a major contribution to the decision making process and is able to overwrite, re-evaluate and correct decisions made by the robot to fulfil her or his true intentions and ultimate goals and needs. Conversely, the robot is expected to behave as an intelligent collaborative agent that predicts human intentions and makes decisions by merging learned behaviours with the information it cmTently possesses. The work is motivated by the rapid increase of the application domains in which robotic systems operate, and the presence of humans in many of these domains. The proposed framework facilitates human-robot social integration by increasing the synergy between robot's capabilities and human needs, primarily during assistive navigational tasks. The first part of the thesis ets the groundwork by developing a path-planning/re-planning strategy able to produce smooth feasible paths to address the issue of navigating a robotic wheelchair in cluttered indoor environments. This strategy integrates a global path-planner that operates as a mission controller, and a local reactive planner that navigates locally in an optimal manner while preventing collisions with static and dynamic obstacles in the local area. The proposed strategy also encapsulates social behaviour, such as navigating through preferred routes, in order to generate socially and behavioura11y acceptable plans. The work then focuses on predicting and responding to human interactions with a robotic agent by exploiting probabilistic techniques for sequential decision making and planning under uncertainty. Dynamic Bayesian networks and partially observable Markov decision processes are examined for estimating human intention in order to minimise the flow of information between the human and the robot during navigation tasks. A framework to capture human behaviour, motivated by the human action cycle as derived from the psychology domain is developed. This framework embeds a human-robot interaction layer, which defines variables and procedures to model interaction scenarios, and facilitates the transfer of information during human-robot collaborative tasks. Experiments using a human-operated robotic wheelchair carrying out navigational daily routines are conducted to demonstrate the capacity of the proposed methodology to understand human intentions and comply with their long term plans. The results obtained are presented as the outcome of a set of trials conducted with actor users, or simulated experiments based on real scenarios

Business-to-consumer e-commerce in Nigeria: Prospects and challenges

The growth of Internet usage in Nigeria continues to increase, recording over 90% growth rate between 2000 and 2008. While businesses in Nigeria are reported to have online access with opportunity for ecommercial activities, customers in the country however access business websites only to source for information but make purchases the traditional way. This paper aims at assessing the prospects and challenges of Business-to-consumer (B2C) e-commerce implementation in Nigeria from the consumers’ perspective. Survey research was adopted for this study. Research hypotheses were formulated and questionnaire designed and administered randomly to 900 respondents. Collected data was used to evaluate the acceptance of B2C e-commerce using the extended technology acceptance model (TAM). The extended TAM combines task-technology fit, relationship related construct: trust and risk, and the two TAM constructs to determine factors influencing consumer acceptance of B2C e-commerce in Nigeria. Findings revealed that there are significant relationships between the model variables. Tasktechnology fit and perceived usefulness have significant relationships with intentions to use, having a correlation coefficient of 0.2623 and 0.2002 respectively. Similarly, the interrelationship among trust, perceived risk, and behavioral intention are significant. The effect of risk on trust was statistically showing that risk is a predictor of trust. Risk has a high significant on trust and trust in turn has low significant effect on behavioral intention. Adding TTF and its relationships to the TAM also fit the data. The relationship between task-technology fit, perceived ease of use, perceived usefulness and intention are significant

Universal Design: Planning and Design for All

[Excerpt] This report attempts to develop and illustrate the concept of universal design. The aim of universal design is to develop theory, principles and solutions to enable everybody to use the same physical solutions to the greatest extent possible, whether it be buildings, outdoor-areas, means of communication or household goods. Universal design opposes, ideologically and politically, all unnecessary and stigmatizing specialized solutions, whether they are intended for people with disabilities or other groups of the population. Equal status, equal treatment and equal merit are key concepts. The discussion in this report covers extensive spheres such as planning, architecture and product design. One may object that we try to cover too large an area within a relatively brief report. It is therefore important to emphasise that our main intention is to include more professionals and politicians in the further discussion of universal design or design for all

User-centered visual analysis using a hybrid reasoning architecture for intensive care units

One problem pertaining to Intensive Care Unit information systems is that, in some cases, a very dense display of data can result. To ensure the overview and readability of the increasing volumes of data, some special features are required (e.g., data prioritization, clustering, and selection mechanisms) with the application of analytical methods (e.g., temporal data abstraction, principal component analysis, and detection of events). This paper addresses the problem of improving the integration of the visual and analytical methods applied to medical monitoring systems. We present a knowledge- and machine learning-based approach to support the knowledge discovery process with appropriate analytical and visual methods. Its potential benefit to the development of user interfaces for intelligent monitors that can assist with the detection and explanation of new, potentially threatening medical events. The proposed hybrid reasoning architecture provides an interactive graphical user interface to adjust the parameters of the analytical methods based on the users' task at hand. The action sequences performed on the graphical user interface by the user are consolidated in a dynamic knowledge base with specific hybrid reasoning that integrates symbolic and connectionist approaches. These sequences of expert knowledge acquisition can be very efficient for making easier knowledge emergence during a similar experience and positively impact the monitoring of critical situations. The provided graphical user interface incorporating a user-centered visual analysis is exploited to facilitate the natural and effective representation of clinical information for patient care

Freeform User Interfaces for Graphical Computing

報告番号: 甲15222 ; 学位授与年月日: 2000-03-29 ; 学位の種別: 課程博士 ; 学位の種類: 博士(工学) ; 学位記番号: 博工第4717号 ; 研究科・専攻: 工学系研究科情報工学専

Determinants of the management learning performance in ERP context

Costa, C. J., Aparicio, M., & Raposo, J. (2020). Determinants of the management learning performance in ERP context. Heliyon, 6(4), [e03689]. https://doi.org/10.1016/j.heliyon.2020.e03689Management learning poses some challenges, firstly students should identify all administration areas and secondly, they should understand the big picture of an organizational context, by integrating all the studied areas. Enterprise Resource Planning (ERP) systems are the backbone of any organization, in terms of information management systems integration. The usage of these systems is important in terms of management in any organization, and ERP's can facilitate the management learning process. The main objectives of this study are to understand if the ERP usage supports management learning, and to identify the main determinants of individual performance. This study presents a success model of ERP usage for learning management context. The model was validated empirically through a survey answered by university management students. The results show that system quality, process quality, and training play a determinant role in the students' performance.publishersversionpublishe

Test moment determination design in active robot learning

A thesis submitted to the University of Bedfordshire, in fulfilment of the requirements for the degree of Master of Science by researchIn recent years, service robots have been increasingly used in people's daily live. These robots are autonomous or semiautonomous and are able to cooperate with their human users. Active robot learning (ARL) is an approach to the development of beliefs for the robots on their users' intention and preference, which is needed by the robots to facilitate the seamless cooperation with humans. This approach allows a robot to perform tests on its users and to build up the high-order beliefs according to the users' responses. This study carried out primary research on designing the test moment determination component in ARL framework. The test moment determination component is used to decide right moment of taking a test action. In this study, an action plan theory was suggested to synthesis actions into a sequence, that is, an action plan, for a given task. All actions are defined in a special format of precondition, action, post-condition and testing time. Forward chaining reasoning was introduced to establish connection between the actions and to synthesis individual actions into an action plan, corresponding to the given task. A simulation environment was set up where a human user and a service robot were modelled using MATLAB. Fuzzy control was employed for controlling the robot to carry out the cooperative action. In order to examine the effect of test moment determination component, simulations were performed to execute a scenario where a robot passes on an object to a human user. The simulation results show that an action plan can be formed according to provided conditions and executed by simulated models properly. Test actions were taken at the moment determined by the test moment determination component to find the human user's intention

The development of test action bank for active robot learning

A thesis submitted to the University of Bedfordshire, in fulfilment of the requirements for the degree of Master of Science by researchIn the rapidly expanding service robotics research area, interactions between robots and humans become increasingly cornmon as more and more jobs will require cooperation between the robots and their human users. It is important to address cooperation between a robot and its user. ARL is a promising approach which facilitates a robot to develop high-order beliefs by actively performing test actions in order to obtain its user's intention from his responses to the actions. Test actions are crucial to ARL. This study carried out primary research on developing a Test Action Bank (TAB) to provide test actions for ARL. In this study, a verb-based task classifier was developed to extract tasks from user's commands. Taught tasks and their corresponding test actions were proposed and stored in database to establish the TAB. A backward test actions retrieval method was used to locate a task in a task tree and retrieve its test actions from TAB. A simulation environment was set up with a service robot model and a user model to test TAB and demonstrate some test actions. Simulations were also perfonned in this study, the simulation results proved TAB can successfully provide test actions according to different tasks and the proposed service robot model can demonstrate test actions