93 research outputs found
Spatial context-aware person-following for a domestic robot
Domestic robots are in the focus of research in
terms of service providers in households and even as robotic
companion that share the living space with humans. A major
capability of mobile domestic robots that is joint exploration
of space. One challenge to deal with this task is how could we
let the robots move in space in reasonable, socially acceptable
ways so that it will support interaction and communication
as a part of the joint exploration. As a step towards this
challenge, we have developed a context-aware following behav-
ior considering these social aspects and applied these together
with a multi-modal person-tracking method to switch between
three basic following approaches, namely direction-following,
path-following and parallel-following. These are derived from
the observation of human-human following schemes and are
activated depending on the current spatial context (e.g. free
space) and the relative position of the interacting human.
A combination of the elementary behaviors is performed in
real time with our mobile robot in different environments.
First experimental results are provided to demonstrate the
practicability of the proposed approach
Presenting Business Insights on Advanced Pricing Agreements Using a Business Intelligence Framework
Project Work presented as the partial requirement for obtaining a Master's degree in Information Management, specialization in Knowledge Management and Business IntelligenceIn companies that use advanced pricing agreements, pricing managers are responsible for setting the new and adjusted discounts from time to time. These companies are usually of great dimension and so the number of products and customers is extensive, which causes the decision-making to be challenging for the pricing managers. To aid in this process, this project report incorporates a business intelligence framework to model the data into a dimensional model that will provide the pricing managers with business insights by allowing them to have a more targeted and detailed view of the data through multiple contextual perspectives.
The data sources used were provided by a client at BI4ALL and consist of two different JDE extracts: an export of the advanced pricing agreements that include all the pricing rules and an export of the sales data following those pricing rules. Both sources of data will be used to implement a business intelligence framework. The final outcome of this project report is presented in a dashboard with multiple visualizations, where the pricing manager can navigate and obtain data in a dynamic way according to the information requested. This will allow for a better analysis, and thus, for better pricing adjustment and optimization
JDEc: arquitectura basada en esquemas para aplicaciones robóticas
En este artículo presentamos jdec, una
implementación de la arquitectura basada en
comportamientos Jerarquía Dinámica de Esquemas.
Esta plataforma usa esquemas como unidad básica
para la programación de aplicaciones con robots.
Estos esquemas se combinan en jerarquías
dinámicas para desarrollar comportamientos y en
jdec se han implementado como hebras. La
plataforma se ha probado en distintos robots reales
con aplicaciones de navegación visual, de
localización y navegación híbrida en interiores.
Además, proporciona una capa de abstracción del
hardware, ejecución distribuida, e interfaz gráfica
para depuración así como una colección de
esquemas ya realizados para componer nuevas
aplicacione
De simbólicos vs. subsimbólicos, a los robots etoinspirados
En la Inteligencia Artificial, desde sus orígenes, han existido dos corrientes básicas,
la simbólica y la subsimbólica. Estas dos aproximaciones han tenido gran influencia también
en la robótica. En este artículo queremos presentar un enfoque menos conocido, el de la
etología, y en concreto su aplicación a la generación de comportamiento autónomo en robots
móviles. Para ello presentamos los fundamentos de la "Jerarquía Dinámica de Esquemas", una
arquitectura para el control de robots móviles, basada en la composición de unidades simples
denominadas "esquemas" siguiendo las teorías etológicas de Arbib. Igualmente se presentan
experimentos preliminares que validan esta aproximación y se discute su viabilidad y se
presentan los trabajos previstos para continuar investigando en esta líne
Model-driven engineering techniques for the development of multi-agent systems
Model-driven engineering (MDE), implicitly based upon meta-model principles, is gaining more and more attention in software systems due to its inherent benefits. Its use normally improves the quality of the developed systems in terms of productivity, portability, inter-operability and maintenance. Therefore, its exploitation for the development of multi-agent systems (MAS) emerges in a natural way. In this paper, agent-oriented software development (AOSD) and MDE paradigms are fully integrated for the development of MAS. Meta-modeling techniques are explicitly used to speed up several phases of the process. The Prometheus methodology is used for the purpose of validating the proposal. The meta-object facility (MOF) architecture is used as a guideline for developing a MAS editor according to the language provided by Prometheus methodology. Firstly, an Ecore meta-model for Prometheus language is developed. Ecore is a powerful tool for designing model-driven architectures (MDA). Next, facilities provided by the Graphical Modeling Framework (GMF) are used to generate the graphical editor. It offers support to develop agent models conform to the meta-model specified. Afterwards, it is also described how an agent code generator can be developed. In this way, code is automatically generated using as input the model specified with the graphical editor. A case of study validates the method put in practice for the development of a multi-agent surveillance system
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Representational dynamics across multiple timescales in human cortical networks
Human cognition occurs at multiple timescales, including immediate processing of the ongoing experiences and slowly drifting higher-level thoughts. To understand how the brain selects and represents these various types of information to guide behavior, this thesis examined representational content within sensory regions, multiple demand (MD) network, and default mode network (DMN). Chapter 1 provides a background review of the current literature. It begins by reviewing experimental investigations of component visual processes that unfold over time. Next, the MD network is introduced as a collection of frontal and parietal regions involved in implementing cognitive control by assembling the required operations for task-relevant behavior. Finally, the DMN is introduced in the context of temporal processing hierarchies, with focus on its representation of situation models summarizing interactions among entities and the environment. The first experiment, presented in Chapter 2, used EEG/MEG to track multiple component processes of selective attention. Five distinct processing operations with different time-courses were quantified, including representation of visual display properties, target location, target identity, behavioral significance, and finally, possible reactivation of the attentional template. Chapter 3 used fMRI to examine neural representations of task episodes, which are temporally organized sequences of steps that occur within a given context. It was found that MD and visual regions showed sensitivity to the fine structure of the contents within a task. DMN regions showed gradual change throughout the entire task, with increased activation at the offset of the entire episode. Chapter 4 analyzed activation profiles of DMN regions using six diverse tasks to examine their functional convergence during social, episodic, and self-referential thought. Results supported proposals of separate subsystems, yet also suggest integration within the DMN. The final chapter, Chapter 5, provides an extended discussion of theoretical concepts related to the three experiments and proposes possible avenues for further research
A platform-independent domain-specific modeling language for multiagent systems
Associated with the increasing acceptance of agent-based computing as a novel software engineering paradigm, recently a lot of research addresses the development of suitable techniques to support the agent-oriented software development. The state-of-the-art in agent-based software development is to (i) design the agent systems basing on an agent-based methodology and (ii) take the resulting design artifact as a base to manually implement the agent system using existing agent-oriented programming languages or general purpose languages like Java. Apart from failures made when manually transform an abstract specification into a concrete implementation, the gap between design and implementation may also result in the divergence of design and implementation. The framework discussed in this dissertation presents a platform-independent domain-specific modeling language for MASs called Dsml4MAS that allows modeling agent systems in a platform-independent and graphical manner. Apart from the abstract design, Dsml4MAS also allows to automatically (i) check the generated design artifacts against a formal semantic specification to guarantee the well-formedness of the design and (ii) translate the abstract specification into a concrete implementation. Taking both together, Dsml4MAS ensures that for any well-formed design, an associated implementation will be generated closing the gap between design and code.Aufgrund wachsender Akzeptanz von Agentensystemen zur Behandlung komplexer Problemstellungen wird der Schwerpunkt auf dem Gebiet der agentenorientierten Softwareentwicklung vor allem auf die Erforschung von geeignetem Entwicklungswerkzeugen gesetzt. Stand der Forschung ist es dabei das Agentendesign mittels einer Agentenmethodologie zu spezifizieren und die resultierenden Artefakte als Grundlage zur manuellen Programmierung zu verwenden. Fehler, die bei dieser manuellen Überführung entstehen, machen insbesondere das abstrakte Design weniger nützlich in Hinsicht auf die Nachhaltigkeit der entwickelten Softwareapplikation. Das in dieser Dissertation diskutierte Rahmenwerk erörtert eine plattformunabhängige domänenspezifische Modellierungssprache für Multiagentensysteme namens Dsml4MAS. Dsml4MAS erlaubt es Agentensysteme auf eine plattformunabhängige und graphische Art und Weise darzustellen. Die Modellierungssprache umfasst (i) eine abstrakte Syntax, die das Vokabular der Sprache definiert, (ii) eine konkrete Syntax, die die graphische Darstellung spezifiziert sowie (iii) eine formale Semantik, die dem Vokabular eine präzise Bedeutung gibt. Dsml4MAS ist Bestandteil einer (semi-automatischen) Methodologie, die es (i) erlaubt die abstrakte Spezifikation schrittweise bis hin zur konkreten Implementierung zu konkretisieren und (ii) die Interoperabilität zu alternativen Softwareparadigmen wie z.B. Dienstorientierte Architekturen zu gewährleisten
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Anatomical and Functional Organization of Domain-General Brain Regions
How does complex brain activity organize thought and behaviour? Theoretical proposals have long emphasized that intelligent behaviour must be supported by a flexible control system. Numerous brain imaging studies identified a domain-general or “multiple-demand” (MD) brain system co-activated accompanying many tasks and is hypothesised to play a central role in cognitive control. However, the limited spatial localization provided by traditional imaging methods precluded a consensus regarding its anatomy and physiology. To address these limitations, the experiments in chapters 2 and 3 capitalize on novel multi-modal magnetic resonance imaging (MRI) methods developed by the Human Connectome Project. Chapter 2 delineated nine cortical MD patches per hemisphere and subdivided them into 10 regions forming a core of most strongly activated and functionally interconnected regions, surrounded by a penumbra of 17 additional regions. MD activations were also identified in specific subcortical and cerebellar regions. Chapter 3 investigated the relation between the newly defined MD regions and previously identified sensory-biased cortical regions. Contrasting auditory and visual low working memory demands revealed the strongest sensory-biases are localized just outside of MD regions. And additional working memory demands revealed MD activations showed no sensory biases. Chapter 4 used human electrophysiological recordings from the lateral frontal cortex to functionally map cognitive control regions during awake neurosurgeries. By contrasting a hard vs easy cognitive demand, spectral analysis revealed localized power increases in the gamma range (>30 Hz) that overlap with a canonical mask of the fronto-parietal control network. These findings contrast with spatially non-specific power decreases in the beta range (12-30 Hz). Thus, using similar task difficulty manipulations, electrophysiology and MRI functional signals converged on localizing lateral frontal regions related to cognitive control and support their clinical potential for intraoperative mapping of cognitive control. All together, the distributed anatomical organization, mosaic functional preferences, and strong functional interconnectivity of MD regions, suggest a skeleton for integrating and organizing the diverse components of cognitive operations. The precise anatomical delineation of MD regions provides the groundwork for refined analyses of their functions
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‘Non-sporty’ girls take the lead: A feminist participatory action research approach to physical activity
This thesis was submitted for the degree of Doctor of Philosophy and was awarded by Brunel UniversityThis thesis explores the use of feminist participatory action research (FPAR) within women-only youth and community work settings. The project investigated possibilities for flexible sports participation with non-sporty young women. Underpinned by poststructural feminism, the research considers the complex ways that gendered subjectivities are contested and constructed in relation to sporting embodiment and broader power relations. FPAR's, explicit aim is to affect positive social change. It is: participatory; defined by the need for action; and creates knowledge but not for the sake of knowledge alone. FPAR combines the sharing of common experiences of oppression with collective action. By using FPAR within youth and community settings over the course of 12 months, a group of young mums and a group of young women were encouraged to examine their relationship with physical activity and develop physical activity projects that suited their own needs.
Research proceeded through three broad phases: interactive group discussion activities; planning of and participating in needs-led physical activity projects; and project evaluations. This project sought to find new ways of understanding young women’s engagement in physical activity and open up safe spaces for them to consider and experiment with new subjectivities and physically active subject positions. The thesis illuminates the highlights and challenges of implementing physical activity through participatory action research in youth work settings.
Findings from the study outline the ways in which young women’s ‘non-sporty’ subjectivities are constructed in relation to discursive practices of gender. Young women’s critical reflections of previous experiences of physical activity revealed the workings of conflicting perceptions of valued emotional capital. The participatory projects provided opportunities for cross-field experiences, which shifted the social field of physical activity, and readdressed relations of power
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