Structure Learning for Activity Recognition in Robot Assisted Intelligent Environments

Abstract-This paper presents a novel structure learning algorithm for the creation of distributed Bayesian networks over static and mobile Vision Sensor Network (VSN) nodes. These compose an assistive, intelligent environment for activity recognition. We provide results demonstrating a higher level of accuracy in the recognition of fine motor tasks when the environment is augmented with a mobile robot and show the ability of our learning algorithm to reduce VSN communication compared to a naïve, greedy structure learning technique. I. INTRODUCTION UE to recent advances in medical care and the adoption of increasingly healthy lifestyles, we are witnessing a demographic shift towards an increasingly aged population Where environments are to contain multiple ambient sensors, installation may be performed by a visiting carer or those living within the domicile. Consequently, it is unreasonable to expect these to be located at optimal locations for the determination of individual activities. Furthermore, since each dwelling is unique, their relative positioning can not be assumed prior to installation thus there is a strong requirement for such networks to be self configuring. To this end, we provide a structure learning algorithm for Bayesian networks which is considerate of both inference and communication cost within ambient Vision Sensor Networks (VSNs). Using Pearl's message propagation algorithm, activity inference can be implemented in a distributed manner over the VSNs, without the requirement for a centralized data repository. Where assistive robots are present, our algorithm can seamlessly incorporate such data to augment recognition accuracy. We demonstrate the efficacy of this algorithm in a home healthcare scenario for fine motor tasks occurring at several locations within the environment. II. RELATED RESEARCH For detecting Activities of Daily Living (ADLs), omnidirectional cameras [6] have previously been employed to capture behavioral patterns in a household environment. For example, a system operating at multiple resolutions has been defined, with a wide angle camera directing the pan, tilt and zoom of other camera

Robotic ubiquitous cognitive ecology for smart homes

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Simultaneous Feature and Body-Part Learning for Real-Time Robot Awareness of Human Behaviors

Robot awareness of human actions is an essential research problem in robotics with many important real-world applications, including human-robot collaboration and teaming. Over the past few years, depth sensors have become a standard device widely used by intelligent robots for 3D perception, which can also offer human skeletal data in 3D space. Several methods based on skeletal data were designed to enable robot awareness of human actions with satisfactory accuracy. However, previous methods treated all body parts and features equally important, without the capability to identify discriminative body parts and features. In this paper, we propose a novel simultaneous Feature And Body-part Learning (FABL) approach that simultaneously identifies discriminative body parts and features, and efficiently integrates all available information together to enable real-time robot awareness of human behaviors. We formulate FABL as a regression-like optimization problem with structured sparsity-inducing norms to model interrelationships of body parts and features. We also develop an optimization algorithm to solve the formulated problem, which possesses a theoretical guarantee to find the optimal solution. To evaluate FABL, three experiments were performed using public benchmark datasets, including the MSR Action3D and CAD-60 datasets, as well as a Baxter robot in practical assistive living applications. Experimental results show that our FABL approach obtains a high recognition accuracy with a processing speed of the order-of-magnitude of 10e4 Hz, which makes FABL a promising method to enable real-time robot awareness of human behaviors in practical robotics applications.Comment: 8 pages, 6 figures, accepted by ICRA'1

Problem-Solving Knowledge Mining from Users’\ud Actions in an Intelligent Tutoring System

In an intelligent tutoring system (ITS), the domain expert should provide\ud relevant domain knowledge to the tutor so that it will be able to guide the\ud learner during problem solving. However, in several domains, this knowledge is\ud not predetermined and should be captured or learned from expert users as well as\ud intermediate and novice users. Our hypothesis is that, knowledge discovery (KD)\ud techniques can help to build this domain intelligence in ITS. This paper proposes\ud a framework to capture problem-solving knowledge using a promising approach\ud of data and knowledge discovery based on a combination of sequential pattern\ud mining and association rules discovery techniques. The framework has been implemented\ud and is used to discover new meta knowledge and rules in a given domain\ud which then extend domain knowledge and serve as problem space allowing\ud the intelligent tutoring system to guide learners in problem-solving situations.\ud Preliminary experiments have been conducted using the framework as an alternative\ud to a path-planning problem solver in CanadarmTutor