Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

Collective construction of numerical potential fields for the foraging problem

We consider the problem of deploying a team of agents (robots) for the foraging problem. In this problem agents have to collect disseminated resources in an unknown environment. They must therefore be endowed with exploration and path-planning abilities. This paper presents a reactive multiagent system that is able to simultaneously perform the two desired activities~ - exploration and path-planning - in unknown and complex environments. To develop this multiagent system, we have designed a distributed and asynchronous version of Barraquand's algorithm that builds an optimal Artificial Potential Field (APF). Our algorithm relies on agents with very limited perceptions that only mark their environment with integer values. The algorithm does not require any costly mechanism to be present in the environment to manage dynamic phenomena such as evaporation or propagation. We show that the APF built by our algorithm converges to optimal paths. The model is extended to deal with the multi-sources foraging problem. Simulations show that it is more time-efficient than the standard pheromone-based ant algorithm. Moreover, our approach is also able to address the problem in any kind of environment such as mazes

Learning in a State of Confusion: Employing active perception and reinforcement learning in partially observable worlds

Institute of Perception, Action and BehaviourIn applying reinforcement learning to agents acting in the real world we are often faced with tasks that are non-Markovian in nature. Much work has been done using state estimation algorithms to try to uncover Markovian models of tasks in order to allow the learning of optimal solutions using reinforcement learning. Unfortunately these algorithms which attempt to simultaneously learn a Markov model of the world and how to act have proved very brittle. Our focus differs. In considering embodied, embedded and situated agents we have a preference for simple learning algorithms which reliably learn satisficing policies. The learning algorithms we consider do not try to uncover the underlying Markovian states, instead they aim to learn successful deterministic reactive policies such that agents actions are based directly upon the observations provided by their sensors. Existing results have shown that such reactive policies can be arbitrarily worse than a policy that has access to the underlying Markov process and in some cases no satisficing reactive policy can exist. Our first contribution is to show that providing agents with alternative actions and viewpoints on the task through the addition of active perception can provide a practical solution in such circumstances. We demonstrate empirically that: (i) adding arbitrary active perception actions to agents which can only learn deterministic reactive policies can allow the learning of satisficing policies where none were originally possible; (ii) active perception actions allow the learning of better satisficing policies than those that existed previously and (iii) our approach converges more reliably to satisficing solutions than existing state estimation algorithms such as U-Tree and the Lion Algorithm. Our other contributions focus on issues which affect the reliability with which deterministic reactive satisficing policies can be learnt in non-Markovian environments. We show that that greedy action selection may be a necessary condition for the existence of stable deterministic reactive policies on partially observable Markov decision processes (POMDPs). We also set out the concept of Consistent Exploration. This is the idea of estimating state-action values by acting as though the policy has been changed to incorporate the action being explored. We demonstrate that this concept can be used to develop better algorithms for learning reactive policies to POMDPs by presenting a new reinforcement learning algorithm; the Consistent Exploration Q(l) algorithm (CEQ(l)). We demonstrate on a significant number of problems that CEQ(l) is more reliable at learning satisficing solutions than the algorithm currently regarded as the best for learning deterministic reactive policies, that of SARSA(l)

Utilising presence in places to support mobile interaction

Physical places are given contextual meaning by the objects and people that make up the space. Presence in physical places can be utilised to support mobile interaction by making access to media and notifications on a smartphone easier and more visible to other people. Smartphone interfaces can be extended into the physical world in a meaningful way by anchoring digital content to artefacts, and interactions situated around physical artefacts can provide contextual meaning to private manipulations with a mobile device. Additionally, places themselves are designed to support a set of tasks, and the logical structure of places can be used to organise content on the smartphone. Menus that adapt the functionality of a smartphone can support the user by presenting the tools most likely to be needed just-in-time, so that information needs can be satisfied quickly and with little cognitive effort. Furthermore, places are often shared with people whom the user knows, and the smartphone can facilitate social situations by providing access to content that stimulates conversation. However, the smartphone can disrupt a collaborative environment, by alerting the user with unimportant notifications, or sucking the user in to the digital world with attractive content that is only shown on a private screen. Sharing smartphone content on a situated display creates an inclusive and unobtrusive user experience, and can increase focus on a primary task by allowing content to be read at a glance. Mobile interaction situated around artefacts of personal places is investigated as a way to support users to access content from their smartphone while managing their physical presence. A menu that adapts to personal places is evaluated to reduce the time and effort of app navigation, and coordinating smartphone content on a situated display is found to support social engagement and the negotiation of notifications. Improving the sensing of smartphone users in places is a challenge that is out-with the scope of this thesis. Instead, interaction designers and developers should be provided with low-cost positioning tools that utilise presence in places, and enable quantitative and qualitative data to be collected in user evaluations. Two lightweight positioning tools are developed with the low-cost sensors that are currently available: The Microsoft Kinect depth sensor allows movements of a smartphone user to be tracked in a limited area of a place, and Bluetooth beacons enable the larger context of a place to be detected. Positioning experiments with each sensor are performed to highlight the capabilities and limitations of current sensing techniques for designing interactions with a smartphone. Both tools enable prototypes to be built with a rapid prototyping approach, and mobile interactions can be tested with more advanced sensing techniques as they become available. Sensing technologies are becoming pervasive, and it will soon be possible to perform reliable place detection in-the-wild. Novel interactions that utilise presence in places can support smartphone users by making access to useful functionality easy and more visible to the people who matter most in everyday life

Personality-based recommendation: human curiosity applied to recommendation systems using implicit information from social networks

Tesis por compendioEn el día a día, las personas suelen confiar en recomendaciones, tradicionalmente aportadas por otras personas (familia, amigos, etc.) para sus decisiones más variadas. En el mundo digital esto no es diferente, dado que los sistemas de recomendación están presentes en todas partes y de modo transparente. El principal objetivo de estos sistemas es el de ayudar en el proceso de toma de decisiones, generando recomendaciones de su interés y basadas en sus gustos. Dichas recomendaciones van desde productos en sitios web de comercio electrónico, como libros o lugares a visitar, además de qué comer o cuánto tiempo uno debe caminar al día para tener una vida sana, con quién salir o a quién seguir en las redes sociales. Esta es un área en ascensión. Por un lado, tenemos cada vez más usuarios en internet cuya vida está digitalizada, dado que lo que se hace en el "mundo real" está representado en cierto modo en el "mundo digital". Por otro lado, sufrimos una sobrecarga de información, que puede mitigarse mediante el uso de un sistema de recomendación. Sin embargo, estos sistemas también enfrentan algunos problemas, como el problema del arranque en frío y su necesidad de ser cada vez más "humanos", "personalizados" y "precisos" para satisfacer las exigencias de usuarios y empresas. En este desafiante escenario, los sistemas de recomendación basados en la personalidad se están estudiando cada vez más, ya que son capaces de enfrentar esos problemas. Algunos proyectos recientes proponen el uso de la personalidad humana en los recomendadores, ya sea en su conjunto o individualmente por rasgos. Esta tesis está dedicada a este nuevo área de recomendación basada en la personalidad, centrándose en uno de sus rasgos más importantes, la curiosidad. Además, para explotar la información ya existente en internet, obtendremos de forma implícita información de las redes sociales. Por lo tanto, este trabajo tiene como objetivo proporcionar una mejor experiencia al usuario final a través de un nuevo enfoque que ofrece una alternativa a algunos de los retos identificados en los sistemas de recomendación basados en la personalidad. Entre estas mejoras, el uso de las redes sociales para alimentar los sistemas de recomendación reduce el problema del arranque en frío y, al mismo tiempo, proporciona datos valiosos para la predicción de la personalidad humana. Por otro lado, la curiosidad no ha sido utilizada por ninguno de los sistemas de recomendación estudiados; casi todos han usado la personalidad general de un individuo a través de los Cinco Grandes rasgos de la personalidad. Sin embargo, los estudios psicológicos confirman que la curiosidad es un rasgo relevante en el proceso de elegir un item, cuestión directamente relacionada con los sistemas de recomendación. En resumen, creemos que un sistema de recomendación que mida implícitamente la curiosidad y la utilice en el proceso de recomendar nuevos ítems, especialmente en el sector turístico, podría claramente mejorar la capacidad de estos sistemas en términos de precisión, serendipidad y novedad, permitiendo a los usuarios obtener niveles positivos de satisfacción con las recomendaciones. Esta tesis realiza un estudio exhaustivo del estado del arte, donde destacamos trabajos sobre sistemas de recomendación, la personalidad humana desde el punto de vista de la psicología tradicional y positiva y finalmente cómo se combinan ambos aspectos. Luego, desarrollamos una aplicación en línea capaz de extraer implícitamente información del perfil de usuario en una red social, generando predicciones de uno o más rasgos de su personalidad. Finalmente, desarrollamos el sistema CURUMIM, capaz de generar recomendaciones en línea con diferentes propiedades, combinando la curiosidad y algunas características sociodemográficas (como el nivel de educación) extraídas de Facebook. El sistema ha sido probado y evaluado en el contexto turístico por usuarios rEn el dia a dia, les persones solen confiar en recomanacions, tradicionalment aportades per altres persones (família, amics, etc.) per a les seues decisions més variades. En el món digital això no és diferent, atès que els sistemes de recomanació estan presents a tot arreu i de manera transparent. El principal objectiu d'aquests sistemes és el d'ajudar en el procés de presa de decisions, generant recomanacions del seu interès i basades en els seus gustos. Aquestes recomanacions van des de productes en pàgines web de comerç electrònic, com a llibres o llocs a visitar, a més de què menjar o quant temps una persona ha de caminar al dia per a tindre una vida sana, amb qui eixir o a qui seguir en les xarxes socials. Aquesta és una àrea en ascensió. D'una banda, tenim cada vegada més usuaris en internet la vida de les quals està digitalitzada, atès que el que es fa en el "món real" està representat en certa manera en el "món digital". D'altra banda, patim una sobrecàrrega d'informació, que pot mitigar-se mitjançant l'ús d'un sistema de recomanació. No obstant això, aquests sistemes també enfronten alguns problemes, com el problema de l'arrencada en fred i la seua necessitat de ser cada vegada més "humans", "personalitzats" i "precisos" per a satisfer les exigències d'usuaris i empreses. En aquest desafiador escenari, els sistemes de recomanació basats en la personalitat s'estan estudiant cada vegada més, ja que són capaços d'enfrontar eixos problemes. Alguns projectes recents proposen l'ús de la personalitat humana en els recomendadors, ja siga en el seu conjunt o individualment per trets. Aquesta tesi està dedicada a aquest nou àrea de recomanació basada en la personalitat, centrant-se en un dels seus trets més importants, la curiositat. A més, per a explotar la informació ja existent en internet, obtindrem de forma implícita informació de les xarxes socials. Per tant, aquest treball té com a objectiu proporcionar una millor experiència a l'usuari final a través d'un nou enfocament que ofereix una alternativa a alguns dels reptes identificats en els sistemes de recomanació basats en la personalitat. Entre aquestes millores, l'ús de les xarxes socials per a alimentar els sistemes de recomanació redueix el problema de l'arrencada en fred i, al mateix temps, proporciona dades valuoses per a la predicció de la personalitat humana. D'altra banda, la curiositat no ha sigut utilitzada per cap dels sistemes de recomanació estudiats; quasi tots han usat la personalitat general d'un individu a través dels Cinc Grans trets de la personalitat. No obstant això, els estudis psicològics confirmen que la curiositat és un tret rellevant en el procés de triar un item, qüestió directament relacionada amb els sistemes de recomanació. En resum, creiem que un sistema de recomanació que mesure implícitament la curiositat i la utilitze en el procés de recomanar nous ítems, especialment en el sector turístic, podria clarament millorar la capacitat d'aquests sistemes en termes de precisió, sorpresa i novetat, permetent als usuaris obtindre nivells positius de satisfacció amb les recomanacions. Aquesta tesi realitza un estudi exhaustiu de l'estat de l'art, on destaquem treballs sobre sistemes de recomanació, la personalitat humana des del punt de vista de la psicologia tradicional i positiva i finalment com es combinen tots dos aspectes. Després, desenvolupem una aplicació en línia capaç d'extraure implícitament informació del perfil d'usuari en una xarxa social, generant prediccions d'un o més trets de la seua personalitat. Finalment, desenvolupem el sistema CURUMIM, capaç de generar recomanacions en línia amb diferents propietats, combinant la curiositat i algunes característiques sociodemogràfiques (com el nivell d'educació) extretes de Facebook. El sistema ha sigut provat i avaluat en el context turístic per usuaris reals. Els resultats demostren la seua capacitat perIn daily life, people usually rely on recommendations, traditionally given by other people (family, friends, etc.) for their most varied decisions. In the digital world, this is not different, given that recommender systems are present everywhere in such a way that we no longer realize. The main goal of these systems is to assist users in the decision-making process, generating recommendations that are of their interest and based on their tastes. These recommendations range from products in e-commerce websites, like books to read or places to visit to what to eat or how long one should walk a day to have a healthy life, who to date or who one should follow on social networks. And this is an increasing area. On the one hand, we have more and more users on the internet whose life is somewhat digitized, given than what one does in the "real world" is represented in a certain way in the "digital world". On the other hand, we suffer from information overload, which can be mitigated by the use of recommendation systems. However, these systems also face some problems, such as the cold start problem and their need to be more and more "human", "personalised" and "precise" in order to meet the yearning of users and companies. In this challenging scenario, personality-based recommender systems are being increasingly studied, since they are able to face these problems. Some recent projects have proposed the use of the human personality in recommenders, whether as a whole or individually by facet in order to meet those demands. Therefore, this thesis is devoted to this new area of personality-based recommendation, focusing on one of its most important traits, the curiosity. Additionally, in order to exploit the information already present on the internet, we will implicitly obtain information from social networks. Thus, this work aims to build a better experience for the end user through a new approach that offers an option for some of the gaps identified in personality-based recommendation systems. Among these gap improvements, the use of social networks to feed the recommender systems soften the cold start problem and, at the same time, it provides valuable data for the prediction of the human personality. Another found gap is that the curiosity was not used by any of the studied recommender systems; almost all of them have used the overall personality of an individual through the Big Five personality traits. However, psychological studies confirm that the curiosity is a relevant trait in the process of choosing an item, which is directly related to recommendation systems. In summary, we believe that a recommendation system that implicitly measures the curiosity and uses it in the process of recommending new items, especially in the tourism sector, could clearly improve the capacity of these systems in terms of accuracy, serendipity and novelty, allowing users to obtain positive levels of satisfaction with the recommendations. This thesis begins with an exhaustive study of the state of the art, where we highlight works about recommender systems, the human personality from the point of view of traditional and positive psychology and how these aspects are combined. Then, we develop an online application capable of implicitly extracting information from the user profile in a social network, thus generating predictions of one or more personality traits. Finally, we develop the CURUMIM system, able to generate online recommendations with different properties, combining the curiosity and some sociodemographic characteristics (such as level of education) extracted from Facebook. The system is tested and assessed within the tourism context by real users. The results demonstrate its ability to generate novel and serendipitous recommendations, while maintaining a good level of accuracy, independently of the degree of curiosity of the users.Menk Dos Santos, A. (2018). Personality-based recommendation: human curiosity applied to recommendation systems using implicit information from social networks [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/114798TESISCompendi

A Conceptual Model for Gender-Inclusive Requirements

Gender equality is a fundamental human right. Empowering all women and girls means empowering half of the world’s population, and therefore it is essential to create a peaceful and sustainable future. However, there is still a great deal to be done to achieve full equality of rights and opportunities for everyone. Gender inequality persists and prevents the development and thriving of individuals and societies. Such is the case of girls’ and women’s under-representation in information, communication, and technology, where only 3% of the graduates worldwide are women. Consequently, technology development holds serious problems of inclusion and diversity. As technologies rapidly evolve and revolutionize the way we live, missing diverse perspectives during development produces a gender-biased technology that, instead of advancing gender equality, creates new barriers in achieving it. Technology can play a fundamental role in progressing gender equality and ensuring gender inclusion. Although considered neutral, the software does not equally serve everyone who depends on it. Software systems favor characteristics that are statistically more observed in majorities, ignoring or even attacking certain minorities. Concerning gender, existing systems favor characteristics that are statistically more observed in men over characteristics observed in other genders (e.g., trans, cis women, non-binary). The goal of this dissertation is to create awareness that the problem of non-inclusive software is real and investigate how to develop software that benefits everyone, regardless of their gender. As a first step, we performed a systematic mapping study to gather a comprehensive overview of the state-of-the-art on gender issues in software engineering. This study served as the groundwork for the development of a conceptual model for gender-inclusive requirements. The model aims to support requirements engineers by providing a representation of gender domain knowledge that can be used as a resource for eliciting gender-inclusive requirements. To integrate the conceptual model into the existing practices of requirements engineers, we propose a framework that offers a set of guidelines with concrete goals to ensure a focus on gender inclusion from the earliest phases and throughout the development process. We applied the framework to develop a gender-inclusive prototype tool that supports the process of using the framework. The developed model was empirically evaluated by a group of 31 participants and the results were positive. The conceptual model was published in a CORE A conferenceA igualdade de género é um direito humano fundamental. Empoderar todas asmulheres e raparigas significa empoderar metade da população do mundo, e como tal, é crucial para a criação de um futuro pacífico e sustentável. No entanto, há ainda um longo percurso a percorrer na conquista da total igualdade de direitos e oportunidades. A desigualdade de género ainda persiste, impedindo o desenvolvimento e prosperação de indivíduos e sociedades. Este é o caso da área da informação, comunicação e tecnologia que tem apenas 3% graduadas em todo omundo. Consequentemente, a tecnologia apresenta sérios problemas de inclusão e diversidade, desde o seu desenvolvimento à sua adoção e utilização. A tecnologia, e o software em particular, desempenham um papel cada vez mais central na vida de todos nós. Apesar de considerado neutro, o software não serve da mesma forma todos os que dependem dele. De facto, os sistemas de software privilegiam características estatisticamente mais observadas nas maiorias, ignorando ou mesmo atacando certas minorias. No que diz respeito ao género, os sistemas existentes privilegiam características estatisticamente mais observadas nos homens em detrimento das características observadas noutros géneros (por exemplo, trans, mulheres cis, pessoas não-binárias). O objetivo desta dissertação e tomar consciência que o problema de software nãoinclusivo é real e investigar como desenvolver software que beneficie todos os utilizadores, independentemente do seu género. Como primeiro passo, realizámos um mapeamento sistematico de literatura de modo a construir uma visão integrada sobre o estado da arte em questões de género em engenharia de software. Os resultados deste estudo serviram de base para o desenvolvimento de um modelo conceptual para requisitos inclusivos de genero. Este modelo visa apoiar a elicitacao de informacao inclusiva providenciando uma representacao do conhecimento dominio de genero como recurso para a formulacao de requisitos inclusivos. Para integrar o modelo conceptual nas praticas da engenharia de requisitos, desenvolvemos uma framework que oferece um conjunto de diretrizes com objetivos concretos para garantir um foco na inclusao de genero desde as fases iniciais e ao longo do processo de desenvolvimento. Aplicamos a framework na construcao de um prototipo de uma ferramenta inclusiva de genero que apoia o seu processo de uso. O modelo desenvolvido foi avaliado empiricamente por um grupo de 31 participantes e os resultados foram positivos. O modelo conceptual foi publicado numa conferência CORE A