DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users

Reactive Planar Manipulation with Convex Hybrid MPC

This paper presents a reactive controller for planar manipulation tasks that leverages machine learning to achieve real-time performance. The approach is based on a Model Predictive Control (MPC) formulation, where the goal is to find an optimal sequence of robot motions to achieve a desired object motion. Due to the multiple contact modes associated with frictional interactions, the resulting optimization program suffers from combinatorial complexity when tasked with determining the optimal sequence of modes. To overcome this difficulty, we formulate the search for the optimal mode sequences offline, separately from the search for optimal control inputs online. Using tools from machine learning, this leads to a convex hybrid MPC program that can be solved in real-time. We validate our algorithm on a planar manipulation experimental setup where results show that the convex hybrid MPC formulation with learned modes achieves good closed-loop performance on a trajectory tracking problem

Stable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a sampling-based planning framework that builds a pushing strategy concatenating different feasible stable pushes to achieve the desired regrasp. An efficient dynamics formulation allows us to plan in-hand manipulations 100-1000 times faster than our previous work which builds upon a complementarity formulation. Experimental observations for the generated plans show that the object precisely moves in the grasp as expected by the planner. Video Summary -- youtu.be/qOTKRJMx6HoComment: IEEE International Conference on Robotics and Automation 201

What about me? Factors affecting individual adaptive coping capacity across different populations

 When and why will people adapt to climate change? We conducted a number of studies examining the psychological drivers of individual adaptation to climate change across different populations. We used a variety of methodologies including interviews, surveys, survey experiments and face-to-face experiments. There was a high level of rigour involved in each of these methodologies which means that we can believe in the results. This programme of research represents one of the largest and most integrated attempts to understand some of the psychological drivers of individual-level adaptation.First, we used the most recent advances in the psychological literature of coping more generally to develop a valid scale to measure coping with climate change. Across three studies we found that our tool was both reliable and valid, providing an accurate measure of the different ways in which people cope with climate change. This tool can now be used to understand the effects of both adaptive and maladaptive coping and to understand what leads to these different ways of coping.Next, we examined adaptive capacity. We found that adaptive coping strategies were associated with perceiving climate change as a threat to oneself and one’s way of life, rating environmental goals as important, and believing that adaptive behaviours could help achieve significant personal goals. Furthermore, when looking at societal adaptive capacity (support for governmental policies) we found that not only were a threat appraisal, climate change or environmental goal, and goal connectedness related to support, but also political affiliation, perceived human contribution to climate change, (lack of) denying that climate change exists, and a number of emotions (enthusiasm, worry, (lack of) happiness, and (lack of ) embarrassment). By knowing these factors that lead to adaptive coping and support for adaptive policies we can identify strategies to improve individual adaptive capacity.Third, based on a range of psychological literature, we hypothesised that adaptive behaviour would be related to goals, goal connectedness, adaptive coping, beliefs about climate change (including denial), and emotions that create an uneasy state of activation (enthusiasm and hope combined with worry). We found support for each of these relationships. Thus, we can again identify strategies to increase adaptive climate change behaviour. Across the studies, we found that adaptive capacity and adaptive behaviours relied upon both “green” beliefs and goals and “non-green” beliefs and goals. Moreover, believing that the adaptive behaviours helped a person to achieve their goals (whether they were related to climate change or not) was strongly related to adaptive capacity and behaviour. We have therefore shown that we can improve adaptation not only in those people who want to help the environment but also in those who are less interested.Unfortunately, the goal structure of environmental goals appears difficult to change. However, making people think about politics did have an effect: Regardless of their own political orientation, a person’s belief about the degree of human contribution to climate change decreased when they were thinking about politics (compared to not thinking about politics). This has implications for how climate change adaptation is discussed in the media and by researchers.The results of our research also have implications for the communication of climate change adaptation policies. Our results show that framing the costs of reducing CO2 emissions in terms of a decrease in future gain—rather than as an opportunity-cost—renders people more willing to commit to climate change initiatives.In summary, this programme of research has taken an integrated and rigorous step towards greater understanding of some of the psychological drivers of individual adaptation to climate change. Given the complexity of the problem, more research is needed, however we believe that our research provides a good early step in this direction.Please cite as: Unsworth, K, Russell, S, Lewandowsky, S, Lawrence, C, Fielding, K, Heath, J, Evans, A, Hurlstone, M, & McNeill, I 2013 What about me? Factors affecting individual adaptive coping capacity across different populations, National Climate Change Adaptation Research Facility, Gold Coast, pp. 161. AbstractWhen and why will people adapt to climate change? We conducted a number of studies examining the psychological drivers of individual adaptation to climate change across different populations. We used a variety of methodologies including interviews, surveys, survey experiments and face-to-face experiments. There was a high level of rigour involved in each of these methodologies which means that we can believe in the results. This programme of research represents one of the largest and most integrated attempts to understand some of the psychological drivers of individual-level adaptation.First, we used the most recent advances in the psychological literature of coping more generally to develop a valid scale to measure coping with climate change. Across three studies we found that our tool was both reliable and valid, providing an accurate measure of the different ways in which people cope with climate change. This tool can now be used to understand the effects of both adaptive and maladaptive coping and to understand what leads to these different ways of coping.Next, we examined adaptive capacity. We found that adaptive coping strategies were associated with perceiving climate change as a threat to oneself and one’s way of life, rating environmental goals as important, and believing that adaptive behaviours could help achieve significant personal goals. Furthermore, when looking at societal adaptive capacity (support for governmental policies) we found that not only were a threat appraisal, climate change or environmental goal, and goal connectedness related to support, but also political affiliation, perceived human contribution to climate change, (lack of) denying that climate change exists, and a number of emotions (enthusiasm, worry, (lack of) happiness, and (lack of ) embarrassment). By knowing these factors that lead to adaptive coping and support for adaptive policies we can identify strategies to improve individual adaptive capacity.Third, based on a range of psychological literature, we hypothesised that adaptive behaviour would be related to goals, goal connectedness, adaptive coping, beliefs about climate change (including denial), and emotions that create an uneasy state of activation (enthusiasm and hope combined with worry). We found support for each of these relationships. Thus, we can again identify strategies to increase adaptive climate change behaviour. Across the studies, we found that adaptive capacity and adaptive behaviours relied upon both “green” beliefs and goals and “non-green” beliefs and goals. Moreover, believing that the adaptive behaviours helped a person to achieve their goals (whether they were related to climate change or not) was strongly related to adaptive capacity and behaviour. We have therefore shown that we can improve adaptation not only in those people who want to help the environment but also in those who are less interested.Unfortunately, the goal structure of environmental goals appears difficult to change. However, making people think about politics did have an effect: Regardless of their own political orientation, a person’s belief about the degree of human contribution to climate change decreased when they were thinking about politics (compared to not thinking about politics). This has implications for how climate change adaptation is discussed in the media and by researchers.The results of our research also have implications for the communication of climate change adaptation policies. Our results show that framing the costs of reducing CO2 emissions in terms of a decrease in future gain—rather than as an opportunity-cost—renders people more willing to commit to climate change initiatives.In summary, this programme of research has taken an integrated and rigorous step towards greater understanding of some of the psychological drivers of individual adaptation to climate change. Given the complexity of the problem, more research is needed, however we believe that our research provides a good early step in this direction

The SEC-system : reuse support for scheduling system development

Recently, in a joint cooperation of Stichting VNA, SAL Apotheken, the Faculty of Management and Organization, and the University Centre for Pharmacy, University of Groningen in the Netherlands, a Ph.D-study started regarding Apot(he)ek, Organization and Management (APOM). The APOM-project deals with the structuring and steering of pharmacy organization. The manageability of the internal pharmacy organization, and the manageability of the direct environment of pharmacy organization is the subject matter. The theoretical background of the APOM-project is described. A literature study was made to find mixes of objectives. Three mixes of objectives in pharmacy organization are postulated; the product mix, the process mix, and the customer mix. The typology will be used as a basic starting point for the empirical study in the next phase of the APOM-project.

Reducing Livability: How Sustainability Planning Threatens the American Dream

This report posits that sustainability plans are infringing on people's rights and preventing them from securing the type of housing they desire

A Review of Verbal and Non-Verbal Human-Robot Interactive Communication

In this paper, an overview of human-robot interactive communication is presented, covering verbal as well as non-verbal aspects of human-robot interaction. Following a historical introduction, and motivation towards fluid human-robot communication, ten desiderata are proposed, which provide an organizational axis both of recent as well as of future research on human-robot communication. Then, the ten desiderata are examined in detail, culminating to a unifying discussion, and a forward-looking conclusion