713 research outputs found

    Ubiquitous Technologies for Emotion Recognition

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    Emotions play a very important role in how we think and behave. As such, the emotions we feel every day can compel us to act and influence the decisions and plans we make about our lives. Being able to measure, analyze, and better comprehend how or why our emotions may change is thus of much relevance to understand human behavior and its consequences. Despite the great efforts made in the past in the study of human emotions, it is only now, with the advent of wearable, mobile, and ubiquitous technologies, that we can aim to sense and recognize emotions, continuously and in real time. This book brings together the latest experiences, findings, and developments regarding ubiquitous sensing, modeling, and the recognition of human emotions

    Cybersecurity, Artificial Intelligence, and Risk Management: Understanding Their Implementation in Military Systems Acquisitions

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    Excerpt from the Proceedings of the Nineteenth Annual Acquisition Research SymposiumThis research has the explicit goal of proposing a reusable, extensible, adaptable, and comprehensive advanced analytical modeling process to help the U.S. Navy in quantifying, modeling, valuing, and optimizing a set of nascent Artificial Intelligence and Machine Learning (AI/ML) applications in the aerospace, automotive and transportation industries and developing a framework with a hierarchy of functions by technology category and developing a unique-to-Navy-ship construct that, based on weighted criteria, scores the return on investment of developing naval AI/ML applications that enhance warfighting capabilities. This current research proposes to create a business case for making strategic decisions under uncertainty. Specifically, we will look at a portfolio of nascent artificial intelligence and machine learning applications, both at the PEO-SHIPS and extensible to the Navy Fleet. This portfolio of options approach to business case justification will provide tools to allow decision-makers to decide on the optimal flexible options to implement and allocate in different types of artificial intelligence and machine learning applications, subject to budget constraints, across multiple types of ships. The concept of the impact of innovative technology on productivity has applicability beyond the Department of Defense (DoD). Private industry can greatly benefit from the concepts and methodologies developed in this research to apply to the hiring and talent management of scientists, programmers, engineers, analysts, and senior executives in the workforce to increase innovation productivity.Approved for public release; distribution is unlimited

    Cybersecurity, Artificial Intelligence, and Risk Management: Understanding Their Implementation in Military Systems Acquisitions

    Get PDF
    Excerpt from the Proceedings of the Nineteenth Annual Acquisition Research SymposiumThis research has the explicit goal of proposing a reusable, extensible, adaptable, and comprehensive advanced analytical modeling process to help the U.S. Navy in quantifying, modeling, valuing, and optimizing a set of nascent Artificial Intelligence and Machine Learning (AI/ML) applications in the aerospace, automotive and transportation industries and developing a framework with a hierarchy of functions by technology category and developing a unique-to-Navy-ship construct that, based on weighted criteria, scores the return on investment of developing naval AI/ML applications that enhance warfighting capabilities. This current research proposes to create a business case for making strategic decisions under uncertainty. Specifically, we will look at a portfolio of nascent artificial intelligence and machine learning applications, both at the PEO-SHIPS and extensible to the Navy Fleet. This portfolio of options approach to business case justification will provide tools to allow decision-makers to decide on the optimal flexible options to implement and allocate in different types of artificial intelligence and machine learning applications, subject to budget constraints, across multiple types of ships. The concept of the impact of innovative technology on productivity has applicability beyond the Department of Defense (DoD). Private industry can greatly benefit from the concepts and methodologies developed in this research to apply to the hiring and talent management of scientists, programmers, engineers, analysts, and senior executives in the workforce to increase innovation productivity.Approved for public release; distribution is unlimited

    Novel methodologies and technologies for the multiscale and multimodal study of Autism Spectrum Disorders (ASDs)

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    The aim of this PhD thesis was the development of novel bioengineering tools and methodologies that provide a support in the study of ASDs. ASDs are very heterogeneous disturbs and their abnormalities are present both at local and global level. For this reason a multimodal and multiscale approach was followed. The analysis of microstructure was executed on single Purkinje neurons in culture and on organotypic slices extracted from cerebella of GFP wild-type mice and animal models of ASDs. A methodology for the non-invasive imaging of neurons during their growth was set up and a software called NEMO (NEuron MOrphological analysis tool) for the automatic analysis of morphology and connectivity was developed. Microstructure properties can be inferred also in vivo through the quite recent technique of Diffusion Tensor Imaging (DTI). DTI studies in ASDs are based on the hypothesis that the disorder involves aberrant brain connectivity and disruption of white matter tracts between regions implicated in social functioning. In this study DTI was used to investigate structural abnormalities in the white matter structure of young children with ASDs. Moreover the neurostructural bases of echolalia were investigated. The functionality of the brain was analyzed through Functional Magnetic Resonance Imaging (fMRI) using a novel task based on face processing of human, android and robotic faces. A case-control study was performed in order to study how the face processing network is altered in ASDs and how robots are differently processed in ASDs and control groups. Measurements characterizing physiology and behavior of ASD children were also collected using an innovative platform called FACE-T (FACE-Therapy). FACE-T consists of a specially equipped room in which the child, wearing unobtrusive devices for recording physiological and behavioral data as well as gaze information, can interact with an android (FACE, Facial Automaton for Conveying Emotions) and a therapist. The focus was on ECG, as from the analysis of power spectrum density of ECG it is possible to extract features related to the autonomic nervous system that is correlated with brain functionality. These studies give new insights in the study of ASDs exploring aspects not yet addressed. Moreover the methodologies and tools developed could help in the objective characterization of ASD subjects and in the definition of a personalized therapeutic protocol for each child

    Task-oriented viewpoint planning for free-form objects

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    A thesis submitted to the Universitat Politècnica de Catalunya to obtain the degree of Doctor of Philosophy. Doctoral programme: Automatic Control, Robotics and Computer Vision. This thesis was completed at: Institut de Robòtica i Informàtica Industrial, CSIC-UPC.[EN]: This thesis deals with active sensing and its use in real exploration tasks under both scene ambiguities and measurement uncertainties. While object modeling is the implicit objective of most of active sensing algorithms, in this work we have explored new strategies to deal with more generic and more complex tasks. Active sensing requires the ability of moving the perceptual system to gather new information. Our approach uses a robot manipulator with a 3D Time-of-Flight (ToF) camera attached to the end-effector. For a complex task, we have focused our attention on plant phenotyping. Plants are complex objects, with leaves that change their position and size along time. Valid viewpoints for a certain plant are hardly valid for a different one, even belonging to the same species. Some instruments, such as chlorophyll meters or disk sampling tools, require being precisely positioned over a particular location of the leaf. Therefore, their use requires the modeling of specific regions of interest of the plant, including also the free space needed for avoiding obstacles and approaching the leaf with tool. It is easy to observe that predefined camera trajectories are not valid here, and that usually with one single view it is very difficult to acquire all the required information. The overall objective of this thesis is to solve complex active sensing tasks by embedding their exploratory goal into a pre-estimated geometrical model, using information-gain as the fundamental guideline for the reward function. The main contributions can be divided in two groups: first, the evaluation of ToF cameras and their calibration to assess the uncertainty of the measurements (presented in Part I); and second, the proposal of a framework capable of embedding the task, modeled as free and occupied space, and that takes into account the modeled sensor's uncertainty to improve the action selection algorithm (presented in Part II). This thesishas given rise to 14 publications, including 5 indexed journals, and its results have been used in the GARNICS European project. The complete framework is based on the Next-Best-View methodology and it can be summarized in the following main steps. First, an initial view of the object (e.g., a plant) is acquired. From this initial view and given a set of candidate viewpoints, the expected gain obtained by moving the robot and acquiring the next image is computed. This computation takes into account the uncertainty from all the different pixels of the sensor, the expected information based on a predefined task model, and the possible occlusions. Once the most promising view is selected, the robot moves, takes a new image, integrates this information intothe model, and evaluates again the set of remaining views. Finally, the task terminates when enough information is gathered. In our examples, this process enables the robot to perform a measurement on top of a leaf. The key ingredient is to model the complexity of the task in a layered representation of free-occupied occupancy grid maps. This allows to naturally encode the requirements of the task, to maintain and update the belief state with the measurements performed, to simulate and compute the expected gains of all potential viewpoints, and to encode the termination condition. During this work the technology of ToF cameras has incredibly evolved. Nowadays it is very popular and ToF cameras are already embedded in some consumer devices. Although the quality of the measurements has been considerably improved, it is still not uniform in the sensor. We believe, as it has been demonstrated in various experiments in this work, that a careful modeling of the sensor's uncertainty is highly beneficial and helps to design better decision systems. In our case, it enables a more realistic computation of the information gain measure, and consequently, a better selection criterion.[CA]: Aquesta tesi aborda el tema de la percepció activa i el seu ús en tasques d'exploració en entorns reals tot considerant la ambigüitat en l'escena i la incertesa del sistema de percepció. Al contrari de la majoria d'algoritmes de percepció activa, on el modelatge d'objectes sol ser l'objectiu implícit, en aquesta tesi hem explorat noves estratègies per poder tractar tasques genèriques i de major complexitat. Tot sistema de percepció activa requereix un aparell sensorial amb la capacitat de variar els seus paràmetres de forma controlada, per poder, d'aquesta manera, recopilar nova informació per resoldre una tasca determinada. En tasques d'exploració, la posició i orientació del sensor són paràmetres claus per resoldre la tasca. En el nostre estudi hem fet ús d'un robot manipulador com a sistema de posicionament i d'una càmera de profunditat de temps de vol (ToF), adherida al seu efector final, com a sistema de percepció. Com a tasca final, ens hem concentrat en l'adquisició de mesures sobre fulles dins de l'àmbit del fenotipatge de les plantes. Les plantes son objectes molt complexos, amb fulles que canvien de textura, posició i mida al llarg del temps. Això comporta diverses dificultats. Per una banda, abans de dur a terme una mesura sobre un fulla s'ha d'explorar l'entorn i trobar una regió que ho permeti. A més a més, aquells punts de vista que han estat adequats per una determinada planta difícilment ho seran per una altra, tot i sent les dues de la mateixa espècie. Per un altra banda, en el moment de la mesura, certs instruments, tals com els mesuradors de clorofil·la o les eines d'extracció de mostres, requereixen ser posicionats amb molta precisió. És necessari, doncs, disposar d'un model detallat d'aquestes regions d'interès, i que inclogui no només l'espai ocupat sinó també el lliure. Gràcies a la modelització de l'espai lliure es pot dur a terme una bona evitació d'obstacles i un bon càlcul de la trajectòria d'aproximació de l'eina a la fulla. En aquest context, és fàcil veure que, en general, amb un sol punt de vistano n'hi haprou per adquirir tota la informació necessària per prendre una mesura, i que l'ús de trajectòries predeterminades no garanteixen l'èxit. L'objectiu general d'aquesta tesi és resoldre tasques complexes de percepció activa mitjançant la codificació del seu objectiu d'exploració en un model geomètric prèviament estimat, fent servir el guany d'informació com a guia fonamental dins de la funció de cost. Les principals contribucions d'aquesta tesi es poden dividir en dos grups: primer, l'avaluació de les càmeres ToF i el seu calibratge per poder avaluar la incertesa de les seves mesures (presentat en la Part I); i en segon lloc, la proposta d'un sistema capaç de codificar la tasca mitjançant el modelatge de l'espai lliure i ocupat, i que té en compte la incertesa del sensor per millorar la selecció de les accions (presentat en la Part II). Aquesta tesi ha donat lloc a 14 publicacions, incloent 5 en revistes indexades, i els resultats obtinguts s'han fet servir en el projecte Europeu GARNICS. La funcionalitat del sistema complet està basada en els mètodes Next-Best-View (següent-millor-vista) i es pot desglossar en els següents passos principals. En primer lloc, s'obté una vista inicial de l'objecte (p. ex., una planta). A partir d'aquesta vista inicial i d'un conjunt de vistes candidates, s'estima, per cada una d'elles, el guany d'informació resultant, tant de moure la càmera com d'obtenir una nova mesura. És rellevant dir que aquest càlcul té en compte la incertesa de cada un dels píxels del sensor, l'estimació de la informació basada en el model de la tasca preestablerta i les possibles oclusions. Un cop seleccionada la vista més prometedora, el robot es mou a la nova posició, pren una nova imatge, integra aquesta informació en el model i torna a avaluar, un altre cop, el conjunt de punts de vista restants. Per últim, la tasca acaba en el moment que es recopila suficient informació.This work has been partially supported by a JAE fellowship of the Spanish Scientific Research Council (CSIC), the Spanish Ministry of Science and Innovation, the Catalan Research Commission and the European Commission under the research projects: DPI2008-06022: PAU: Percepción y acción ante incertidumbre. DPI2011-27510: PAU+: Perception and Action in Robotics Problems with Large State Spaces. 201350E102: MANIPlus: Manipulación robotizada de objetos deformables. 2009-SGR-155: SGR ROBÒTICA: Grup de recerca consolidat - Grup de Robòtica. FP6-2004-IST-4-27657: EU PACO PLUS project. FP7-ICT-2009-4-247947: GARNICS: Gardening with a cognitive system. FP7-ICT-2009-6-269959: IntellAct: Intelligent observation and execution of Actions and manipulations.Peer Reviewe

    Real-time fMRI neurofeedback and smartphone-based interventions to modulate mental functions

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    Our brains are constantly changing on a molecular level depending on the demands thrown at them by our environments, behavior, and thoughts. This neuronal plasticity allows us to voluntarily influence mental functions. Taking conscious control over mental functions goes potentially back millenia, but it was psychotherapy since the early 20th century which moulded this concept into a concrete form to target specific mental disorders. Mental disorders constitute a large burden on modern societies. Stress-related disorders like anxiety and depression particularly make up a large part of this burden and new ways to treat or prevent them are highly desirable, since traditional approaches are not equally helpful to every person affected. This might be because the infrastructure is not available where the person lives, their schedules and obligations or financial means do not enable them to seek help or they simply do not respond to traditional forms of treatment. Technological advances bring forth new potential approaches to modulate mental functions and allow using additional information to tailor an intervention better to an individual patient. The focus of this dissertation lies on two promising approaches to cognitively intervene and modulate mental functions: real-time functional magnetic resonance imaging neurofeedback (rtfMRInf) on one hand and smartphone-based interventions (SBIs) on the other. To investigate various aspects of both these methods in the context of stress and in relation to personalized interventions, we designed and conducted two experiments with a main rtfMRInf intervention, and also with ambulatory training of mental strategies, which participants accessed on their mobile phones. The four publication this thesis entails, are related to this topic as follows: The first publication focuses on rtfMRInf effects on the physiological stress response, exploring whether neurofeedback could reduce stress-related changes in brain activity and blood pressure. The second publication focuses on rtfMRInf effects on psychological measures related to the stress response, namely on arousal and mood, based on data from self-report by the participants. The third publication focuses on rtfMRInf methodology itself, looking at complex connectivity data between major neural networks. Finally, the fourth publication focuses on personalized prediction of intervention success of an SBI using data from previous training days
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