Intention recognition for dynamic role exchange in haptic collaboration

In human-computer collaboration involving haptics, a key issue that remains to be solved is to establish an intuitive communication between the partners. Even though computers are widely used to aid human operators in teleoperation, guidance, and training, because they lack the adaptability, versatility, and awareness of a human, their ability to improve efficiency and effectiveness in dynamic tasks is limited. We suggest that the communication between a human and a computer can be improved if it involves a decision-making process in which the computer is programmed to infer the intentions of the human operator and dynamically adjust the control levels of the interacting parties to facilitate a more intuitive interaction setup. In this paper, we investigate the utility of such a dynamic role exchange mechanism, where partners negotiate through the haptic channel to trade their control levels on a collaborative task. We examine the energy consumption, the work done on the manipulated object, and the joint efficiency in addition to the task performance. We show that when compared to an equal control condition, a role exchange mechanism improves task performance and the joint efficiency of the partners. We also show that augmenting the system with additional informative visual and vibrotactile cues, which are used to display the state of interaction, allows the users to become aware of the underlying role exchange mechanism and utilize it in favor of the task. These cues also improve the users sense of interaction and reinforce his/her belief that the computer aids with the execution of the task. © 2013 IEEE

A parallel framework for in-memory construction of term-partitioned inverted indexes

Cataloged from PDF version of article.With the advances in cloud computing and huge RAMs provided by 64-bit architectures, it is possible to tackle large problems using memory-based solutions. Construction of term-based, partitioned, parallel inverted indexes is a communication intensive task and suitable for memory-based modeling. In this paper, we provide an efficient parallel framework for in-memory construction of term-based partitioned, inverted indexes. We show that, by utilizing an efficient bucketing scheme, we can eliminate the need for the generation of a global vocabulary. We propose and investigate assignment schemes that can reduce the communication overheads while minimizing the storage and final query processing imbalance. We also present a study on how communication among processors should be carried out with limited communication memory in order to reduce the total inversion time. We present several different communication-memory organizations and discuss their advantages and shortcomings. The conducted experiments indicate promising results. © 2012 The Author. Published by Oxford University Press on behalf of The British Computer Society

Haptic-Guided Teleoperation of a 7-DoF Collaborative Robot Arm With an Identical Twin Master

In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, recent developments in cobot technologies have brought in affordable, flexible, and safe torque-controlled robot arms, which can be programmed to generate force feedback to mimic the operation of a haptic device. In this article, we use two Franka Emika Panda robot arms as a twin master-slave system to enable haptic-guided teleoperation. We propose a two layer mechanism to implement force feedback due to 1) object interactions in the slave workspace, and 2) virtual forces, e.g. those that can repel from static obstacles in the remote environment or provide task-related guidance forces. We present two different approaches for force rendering and conduct an experimental study to evaluate the performance and usability of these approaches in comparison to teleoperation without haptic guidance. Our results indicate that the proposed joint torque coupling method for rendering task forces improves energy requirements during haptic guided telemanipulation, providing realistic force feedback by accurately matching the slave torque readings at the master side

Recognition of Haptic Interaction Patterns in Dyadic Joint Object Manipulation

The development of robots that can physically cooperate with humans has attained interest in the last decades. Obviously, this effort requires a deep understanding of the intrinsic properties of interaction. Up to now, many researchers have focused on inferring human intents in terms of intermediate or terminal goals in physical tasks. On the other hand, working side by side with people, an autonomous robot additionally needs to come up with in-depth information about underlying haptic interaction patterns that are typically encountered during human-human cooperation. However, to our knowledge, no study has yet focused on characterizing such detailed information. In this sense, this work is pioneering as an effort to gain deeper understanding of interaction patterns involving two or more humans in a physical task. We present a labeled human-human-interaction dataset, which captures the interaction of two humans, who collaboratively transport an object in an haptics-enabled virtual environment. In the light of information gained by studying this dataset, we propose that the actions of cooperating partners can be examined under three interaction types: In any cooperative task, the interacting humans either 1) work in harmony, 2) cope with conflicts, or 3) remain passive during interaction. In line with this conception, we present a taxonomy of human interaction patterns; then propose five different feature sets, comprising force-, velocity-and power-related information, for the classification of these patterns. Our evaluation shows that using a multi-class support vector machine (SVM) classifier, we can accomplish a correct classification rate of 86 percent for the identification of interaction patterns, an accuracy obtained by fusing a selected set of most informative features by Minimum Redundancy Maximum Relevance (mRMR) feature selection method

Non-parametric regression for robot learning on manifolds

Many of the tools available for robot learning were designed for Euclidean data. However, many applications in robotics involve manifold-valued data. A common example is orientation; this can be represented as a 3-by-3 rotation matrix or a quaternion, the spaces of which are non-Euclidean manifolds. In robot learning, manifold-valued data are often handled by relating the manifold to a suitable Euclidean space, either by embedding the manifold or by projecting the data onto one or several tangent spaces. These approaches can result in poor predictive accuracy, and convoluted algorithms. In this paper, we propose an "intrinsic" approach to regression that works directly within the manifold. It involves taking a suitable probability distribution on the manifold, letting its parameter be a function of a predictor variable, such as time, then estimating that function non-parametrically via a "local likelihood" method that incorporates a kernel. We name the method kernelised likelihood estimation. The approach is conceptually simple, and generally applicable to different manifolds. We implement it with three different types of manifold-valued data that commonly appear in robotics applications. The results of these experiments show better predictive accuracy than projection-based algorithms.Comment: 17 pages, 15 figure

Memory resident parallel inverted index construction

Advances in cloud computing, 64-bit architectures and huge RAMs enable performing many search related tasks in memory.We argue that term-based partitioned parallel inverted index construction is among such tasks, and provide an efficient parallel framework that achieves this task. We show that by utilizing an efficient bucketing scheme we can eliminate the need for the generation of a global index and reduce the communication overhead without disturbing balancing constraint. We also propose and investigate assignment schemes that can further reduce communication overheads without disturbing balancing constraints. The conducted experiments indicate promising results. © 2012 Springer-Verlag London Limited

Criminal Information Mining

In the previous chapters, the different aspects of the authorship analysis problem were discussed. This chapter will propose a framework for extracting criminal information from the textual content of suspicious online messages. Archives of online messages, including chat logs, e-mails, web forums, and blogs, often contain an enormous amount of forensically relevant information about potential suspects and their illegitimate activities. Such information is usually found in either the header or body of an online document. The IP addresses, hostnames, sender and recipient addresses contained in the e-mail header, the user ID used in chats, and the screen names used in web-based communication help reveal information at the user or application level. For instance, information extracted from a suspicious e-mail corpus helps us to learn who the senders and recipients are, how often they communicate, and how many types of communities/cliques there are in a dataset. Such information also gives us an insight into the inter and intra-community patterns of communication. A clique or a community is a group of users who have an online communication link between them. Header content or user-level information is easy to extract and straightforward to use for the purposes of investigation

SE4SEE: A grid-enabled search engine for South-East Europe

Search Engine for South-East Europe (SE4SEE) is an application project aiming to develop a grid-enabled search engine that specifically targets the countries in the South-East Europe. It is one of the two selected regional applications currently implemented in the SEE-GRID FP6 project. This paper describes the design details of SE4SEE and provides an architectural overview of the application

Authorship Analysis Approaches

This chapter presents an overview of authorship analysis from multiple standpoints. It includes historical perspective, description of stylometric features, and authorship analysis techniques and their limitations

Factors That Affect the False-Negative Outcomes of Fine-Needle Aspiration Biopsy in Thyroid Nodules

Background. The purpose of this study was to assess the factors that affect the false-negative outcomes of fine-needle aspiration biopsies (FNABs) in thyroid nodules. Methods. Thyroid nodules that underwent FNAB and surgery between August 2005 and January 2012 were analyzed. FNABs were taken from the suspicious nodules regardless of nodule size. Results. Nodules were analyzed in 2 different groups: Group 1 was the false-negatives (n=81) and Group 2 was the remaining true-positives, true-negatives, and false-positives (n=649). A cytopathologist attended in 559 (77%) of FNAB procedures. There was a positive correlation between the nodule size and false-negative rates, and the absence of an interpreting cytopathologist for the examination of the FNAB procedure was the most significant parameter with a 76-fold increased risk of false-negative results. Conclusion. The contribution of cytopathologists extends the time of the procedure, and this could be a difficult practice in centres with high patient turnovers. We currently request the contribution of a cytopathologist for selected patients whom should be followed up without surgery