Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration

Turn-taking is essential to the structure of human teamwork. Humans are typically aware of team members' intention to keep or relinquish their turn before a turn switch, where the responsibility of working on a shared task is shifted. Future co-robots are also expected to provide such competence. To that end, this paper proposes the Cognitive Turn-taking Model (CTTM), which leverages cognitive models (i.e., Spiking Neural Network) to achieve early turn-taking prediction. The CTTM framework can process multimodal human communication cues (both implicit and explicit) and predict human turn-taking intentions in an early stage. The proposed framework is tested on a simulated surgical procedure, where a robotic scrub nurse predicts the surgeon's turn-taking intention. It was found that the proposed CTTM framework outperforms the state-of-the-art turn-taking prediction algorithms by a large margin. It also outperforms humans when presented with partial observations of communication cues (i.e., less than 40% of full actions). This early prediction capability enables robots to initiate turn-taking actions at an early stage, which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation (ICRA) 201

Chromatic quasisymmetric functions

We introduce a quasisymmetric refinement of Stanley's chromatic symmetric function. We derive refinements of both Gasharov's Schur-basis expansion of the chromatic symmetric function and Chow's expansion in Gessel's basis of fundamental quasisymmetric functions. We present a conjectural refinement of Stanley's power sum basis expansion, which we prove in special cases. We describe connections between the chromatic quasisymmetric function and both the $q$-Eulerian polynomials introduced in our earlier work and, conjecturally, representations of symmetric groups on cohomology of regular semisimple Hessenberg varieties, which have been studied by Tymoczko and others. We discuss an approach, using the results and conjectures herein, to the $e$-positivity conjecture of Stanley and Stembridge for incomparability graphs of $(3+1)$-free posets.Comment: 57 pages; final version, to appear in Advances in Mat

On Sequentially Cohen-Macaulay Complexes and Posets

The classes of sequentially Cohen-Macaulay and sequentially homotopy Cohen-Macaulay complexes and posets are studied. First, some different versions of the definitions are discussed and the homotopy type is determined. Second, it is shown how various constructions, such as join, product and rank-selection preserve these properties. Third, a characterization of sequential Cohen-Macaulayness for posets is given. Finally, in an appendix we outline connections with ring-theory and survey some uses of sequential Cohen-Macaulayness in commutative algebra.Comment: 1 Figur

Mesocale approach for fluidized beds

Fluid-particle flows are frequently encountered in industrial facilities and especially in chemical engineering processes. In this work, we focus on fluidized beds, which involve a fluid flow passing upward through a pack of particles with such a velocity that the fluid force acting on particles is larger than their weight