A template based user-teaching system for an Assistive Robot

Demographics issues, characterised by an increasing elderly population, are expected to be a major concern both in Europe and other countries around the world. A proposed cost and care solution to these issues has been suggested that uses assistive robots in 'smarthome' environments. The deployment of such integrated facilities presents many challenges, one of which concerns the customisation of such systems to meet the needs of the elderly person themselves. One approach is to allow the elderly person to actually teach the robot sufficient behaviours that meet their care requirements. The teaching could equally well be carried out by the elderly person's relatives or carers. The overriding premise being that teaching is both intuitive and 'non-technical'. As part of a European project investigating these issues we have deployed a commercially available robot in a fully sensorised but otherwise ordinary suburban house, and designed a non-technical teaching system, based on behavioural templates, to achieve this goal. We have evaluated this integrated system within the house with 20 participants in a Human-Robot interaction experiment. Results indicate that participants overall found the interface easy to use, and felt that they would be capable of using it in a real-life situation. There were also some salient individual differences within the sample

‘Teach Me - Show Me’- End-user personalisation of a smart home and companion robot

© 2015 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.Care issues and costs associated with an increasing elderly population is becoming a major concern for many countries. The use of assistive robots in ‘smart-home’ environments has been suggested as a possible partial solution to these concerns. One of the many challenges faced is the personalisation of the robot to meet the changing needs of the elderly person over time. One approach is to allow the elderly person, or their carers or relatives, to teach the robot to both recognise activities in the smart home and to teach it to carry out behaviours in response to these activities. The overriding premise being that such teaching is both intuitive and ‘non-technical’. As part of a European project researching and evaluating these issues a commercially available autonomous robot has been deployed in a fully sensorised but otherwise ordinary suburban house. Occupants of the house are equipped with a non-technical teaching and learning system. This paper details the design approach to the teaching, learning, robot and smart home systems as an integrated unit and presents results from an evaluation of the teaching component and a preliminary evaluation of the learning component in a Human-Robot interaction experiment. Results from this evaluation indicated that participants overall found this approach to personalisation useful, easy to use, and felt that they would be capable of using it in a real-life situation both for themselves and for others. However there were also some salient individual differences within the sample.Peer reviewe

Local Anomalies, Local Equivariant Cohomology and the Variational Bicomplex

The locality conditions for the vanishing of local anomalies in field theory are shown to admit a geometrical interpretation in terms of local equivariant cohomology, thus providing a method to deal with the problem of locality in the geometrical approaches to the study of local anomalies based on the Atiyah-Singer index theorem. The local cohomology is shown to be related to the cohomology of jet bundles by means of the variational bicomplex theory. Using these results and the techniques for the computation of the cohomology of invariant variational bicomplexes in terms of relative Gel'fand-Fuks cohomology introduced in [6], we obtain necessary and sufficient conditions for the cancellation of local gravitational and mixed anomalies.Comment: 36 pages. The paper is divided in two part

Probing Primordial Non-Gaussianity with Large-Scale Structure

We consider primordial non-Gaussianity due to quadratic corrections in the gravitational potential parametrized by a non-linear coupling parameter fnl. We study constraints on fnl from measurements of the galaxy bispectrum in redshift surveys. Using estimates for idealized survey geometries of the 2dF and SDSS surveys and realistic ones from SDSS mock catalogs, we show that it is possible to probe |fnl|~100, after marginalization over bias parameters. We apply our methods to the galaxy bispectrum measured from the PSCz survey, and obtain a 2sigma-constraint |fnl|< 1800. We estimate that an all sky redshift survey up to z~1 can probe |fnl|~1. We also consider the use of cluster abundance to constrain fnl and find that in order to be sensitive to |fnl|~100, cluster masses need to be determined with an accuracy of a few percent, assuming perfect knowledge of the mass function and cosmological parameters.Comment: 15 pages, 7 figure

Observation of Scaling Violations in Scaled Momentum Distributions at HERA

Charged particle production has been measured in deep inelastic scattering (DIS) events over a large range of $x$ and $Q^2$ using the ZEUS detector. The evolution of the scaled momentum, $x_p$, with $Q^2,$ in the range 10 to 1280 $GeV^2$, has been investigated in the current fragmentation region of the Breit frame. The results show clear evidence, in a single experiment, for scaling violations in scaled momenta as a function of $Q^2$.Comment: 21 pages including 4 figures, to be published in Physics Letters B. Two references adde

D* Production in Deep Inelastic Scattering at HERA

This paper presents measurements of D^{*\pm} production in deep inelastic scattering from collisions between 27.5 GeV positrons and 820 GeV protons. The data have been taken with the ZEUS detector at HERA. The decay channel $D^{*+}\to (D^0 \to K^- \pi^+) \pi^+$ (+ c.c.) has been used in the study. The $e^+p$ cross section for inclusive D^{*\pm} production with $5<Q^2<100 GeV^2$ and $y<0.7$ is 5.3 \pms 1.0 \pms 0.8 nb in the kinematic region {$1.3<p_T(D^{*\pm})<9.0$ GeV and $| \eta(D^{*\pm}) |<1.5$}. Differential cross sections as functions of p_T(D^{*\pm}), $\eta(D^{*\pm}), W$ and $Q^2$ are compared with next-to-leading order QCD calculations based on the photon-gluon fusion production mechanism. After an extrapolation of the cross section to the full kinematic region in p_T(D^{*\pm}) and $\eta$(D^{*\pm}), the charm contribution $F_2^{c\bar{c}}(x,Q^2)$ to the proton structure function is determined for Bjorken $x$ between 2 $\cdot$ 10$^{-4}$ and 5 $\cdot$ 10$^{-3}$.Comment: 17 pages including 4 figure

Observation of hard scattering in photoproduction events with a large rapidity gap at HERA

Events with a large rapidity gap and total transverse energy greater than 5 GeV have been observed in quasi-real photoproduction at HERA with the ZEUS detector. The distribution of these events as a function of the $\gamma p$ centre of mass energy is consistent with diffractive scattering. For total transverse energies above 12 GeV, the hadronic final states show predominantly a two-jet structure with each jet having a transverse energy greater than 4 GeV. For the two-jet events, little energy flow is found outside the jets. This observation is consistent with the hard scattering of a quasi-real photon with a colourless object in the proton.Comment: 19 pages, latex, 4 figures appended as uuencoded fil

Measurements of long-range near-side angular correlations in sNN=5\sqrt{s_{\text{NN}}}=5TeV proton-lead collisions in the forward region

Two-particle angular correlations are studied in proton-lead collisions at a nucleon-nucleon centre-of-mass energy of $\sqrt{s_{\text{NN}}}=5$TeV, collected with the LHCb detector at the LHC. The analysis is based on data recorded in two beam configurations, in which either the direction of the proton or that of the lead ion is analysed. The correlations are measured in the laboratory system as a function of relative pseudorapidity, $\Delta\eta$, and relative azimuthal angle, $\Delta\phi$, for events in different classes of event activity and for different bins of particle transverse momentum. In high-activity events a long-range correlation on the near side, $\Delta\phi \approx 0$, is observed in the pseudorapidity range $2.0<\eta<4.9$. This measurement of long-range correlations on the near side in proton-lead collisions extends previous observations into the forward region up to $\eta=4.9$. The correlation increases with growing event activity and is found to be more pronounced in the direction of the lead beam. However, the correlation in the direction of the lead and proton beams are found to be compatible when comparing events with similar absolute activity in the direction analysed.Comment: All figures and tables, along with any supplementary material and additional information, are available at https://lhcbproject.web.cern.ch/lhcbproject/Publications/LHCbProjectPublic/LHCb-PAPER-2015-040.htm

Evidence for the strangeness-changing weak decay Ξb−→Λb0π−\Xi_b^-\to\Lambda_b^0\pi^-

Using a $pp$ collision data sample corresponding to an integrated luminosity of 3.0~fb$^{-1}$, collected by the LHCb detector, we present the first search for the strangeness-changing weak decay $\Xi_b^-\to\Lambda_b^0\pi^-$. No $b$ hadron decay of this type has been seen before. A signal for this decay, corresponding to a significance of 3.2 standard deviations, is reported. The relative rate is measured to be ${{f_{\Xi_b^-}}\over{f_{\Lambda_b^0}}}{\cal{B}}(\Xi_b^-\to\Lambda_b^0\pi^-) = (5.7\pm1.8^{+0.8}_{-0.9})\times10^{-4}$, where $f_{\Xi_b^-}$ and $f_{\Lambda_b^0}$ are the $b\to\Xi_b^-$ and $b\to\Lambda_b^0$ fragmentation fractions, and ${\cal{B}}(\Xi_b^-\to\Lambda_b^0\pi^-)$ is the branching fraction. Assuming $f_{\Xi_b^-}/f_{\Lambda_b^0}$ is bounded between 0.1 and 0.3, the branching fraction ${\cal{B}}(\Xi_b^-\to\Lambda_b^0\pi^-)$ would lie in the range from $(0.57\pm0.21)\%$ to $(0.19\pm0.07)\%$.Comment: 7 pages, 2 figures, All figures and tables, along with any supplementary material and additional information, are available at https://lhcbproject.web.cern.ch/lhcbproject/Publications/LHCbProjectPublic/LHCb-PAPER-2015-047.htm