Peripersonal Space in the Humanoid Robot iCub

Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.CONACyT, Mexico (National Council of Science and Technology

Estudio del impacto ambiental de las ondas lineales y no lineales generados por tsunamis y huracanes en zonas costeras

“El desarrollo de la teoría de ondas no lineales para aplicaciones hidrodinámicas es muy actual e importante para México, un país con una línea costera muy larga y una industria turística desarrollada y con alta probabilidad de ser alcanzado por tsunamis locales, regionales o transoceánicos, así como por huracanes de gran intensidad. De ahí la importancia del estudio de procesos no lineales, como los tsunamis, mediante sistemas de ecuaciones diferenciales parciales no lineales como la ecuación de Schördinger no lineal, para comprender su comportamiento, su aplicación, así como la interacción con el ambiente y contribuir con el discernimiento de la complejidad ambiental, puesto que en ella convergen diferentes miradas y lenguajes sobre lo real que se construyen a través de epistemologías, racionalidades e imaginarios sobre la naturaleza. Se desarrolló y aplico los métodos matemáticos para encontrar las soluciones analíticas y numéricas de la NLSE generalizada y las propiedades de sus soluciones de tipo solitón, así como sus colisiones, propagación y destrucción, para diseñar elementos que disminuyan el impacto destructivo de las olas producidas por huracanes y olas gigantescas o tsunamis

Leveraging Domain Knowledge for Inclusive and Bias-aware Humanitarian Response Entry Classification

Accurate and rapid situation analysis during humanitarian crises is critical to delivering humanitarian aid efficiently and is fundamental to humanitarian imperatives and the Leave No One Behind (LNOB) principle. This data analysis can highly benefit from language processing systems, e.g., by classifying the text data according to a humanitarian ontology. However, approaching this by simply fine-tuning a generic large language model (LLM) involves considerable practical and ethical issues, particularly the lack of effectiveness on data-sparse and complex subdomains, and the encoding of societal biases and unwanted associations. In this work, we aim to provide an effective and ethically-aware system for humanitarian data analysis. We approach this by (1) introducing a novel architecture adjusted to the humanitarian analysis framework, (2) creating and releasing a novel humanitarian-specific LLM called HumBert, and (3) proposing a systematic way to measure and mitigate biases. Our experiments' results show the better performance of our approach on zero-shot and full-training settings in comparison with strong baseline models, while also revealing the existence of biases in the resulting LLMs. Utilizing a targeted counterfactual data augmentation approach, we significantly reduce these biases without compromising performance.Comment: Accepted at IJCAI 202

HumSet: Dataset of Multilingual Information Extraction and Classification for Humanitarian Crisis Response

Timely and effective response to humanitarian crises requires quick and accurate analysis of large amounts of text data - a process that can highly benefit from expert-assisted NLP systems trained on validated and annotated data in the humanitarian response domain. To enable creation of such NLP systems, we introduce and release HumSet, a novel and rich multilingual dataset of humanitarian response documents annotated by experts in the humanitarian response community. The dataset provides documents in three languages (English, French, Spanish) and covers a variety of humanitarian crises from 2018 to 2021 across the globe. For each document, HUMSET provides selected snippets (entries) as well as assigned classes to each entry annotated using common humanitarian information analysis frameworks. HUMSET also provides novel and challenging entry extraction and multi-label entry classification tasks. In this paper, we take a first step towards approaching these tasks and conduct a set of experiments on Pre-trained Language Models (PLM) to establish strong baselines for future research in this domain. The dataset is available at https://blog.thedeep.io/humset/.Comment: Published at Findings of EMNLP 202

Simulation, construction and characterization of a piezoelectric transducer using rexolite as acoustic matching

This article describes the simulation and characterization of an ultrasonic transducer using a new material called Rexolite to be used as a matching element. This transducer was simulated using a commercial piezoelectric ceramic PIC255 at 8 MHz. Rexolite, the new material, presents an excellent acoustic matching, specially in terms of the acoustic impedance of water. Finite elements simulations were used in this work. Rexolite was considered as a suitable material in the construction of the transducer due to its malleability and acoustic properties, to validate the simulations a prototype transducer was constructed. Experimental measurements were used to determine the resonance frequency of the prototype transducer. Simulated and experimental results were very similar showing that Rexolite may be an excellent matching, particularly for medical applications

Proactive Highly Ambulatory Sensor Routing (PHASeR) protocol for mobile wireless sensor networks

This paper presents a novel multihop routing protocol for mobile wireless sensor networks called PHASeR (Proactive Highly Ambulatory Sensor Routing). The proposed protocol uses a simple hop-count metric to enable the dynamic and robust routing of data towards the sink in mobile environments. It is motivated by the application of radiation mapping by unmanned vehicles, which requires the reliable and timely delivery of regular measurements to the sink. PHASeR maintains a gradient metric in mobile environments by using a global TDMA MAC layer. It also uses the technique of blind forwarding to pass messages through the network in a multipath manner. PHASeR is analysed mathematically based on packet delivery ratio, average packet delay, throughput and overhead. It is then simulated with varying mobility, scalability and traffic loads. The protocol gives good results over all measures, which suggests that it may also be suitable for a wider array of emerging applications

Cross-talk response analysis on a piezoelectric

The study of the cross-talk and its effects in the performance of a matrix array of piezoelectric elements is an important issue. This corresponds to the study of the cross mode of vibration of each one of the piezoelectric elements that form the ultrasonic array. The aim is to detect and measure the cross-talk that is generated for the cross mode of vibration. In order to accomplish this task, an array of 2x3 elements was designed and developed. This was constructed using 8 MHz piezoelectric ceramics. A number of configurations have been experimented, considering the excitation of an increasing number of elements, in order to detect and measure the propagation of wave interference. Initial results show the way cross-talk interferes the beam generated by the array, this causing attenuation of the main beam and other negative effects