Web Services in Implementation

Web services (WS) promise to expand and enrich the existing distributed computing arena with their ability to connect disparate systems and allow communication between them from anywhere and on any platform. Web services promise to revolutionise the way in which companies interact with each other and also how they come together or discover each other to form business alliances. This paper describes the implementation of a system that has been built and used as an evaluation tool for determining the challenges and advantages involved in the implementation of Web services – particularly in a small to medium enterprise (SME) scenario. Furthermore, a comparison has been drawn between the use of such a system and the use of more traditional technologies to address the same situation of integrating implementation

Challenges in Developing a Collaborative Robotic Assistant for Automotive Assembly Lines

Industrial robots are on the verge of emerging from their cages, and entering the final assembly to work along side humans. Towards this we are developing a collaborative robot capable of assisting humans in the final automotive assembly. Several algorithmic as well as design challenges exist when the robots enter the unpredictable, human-centric and time-critical environment of final assembly. In this work, we briefly discuss a few of these challenges along with developed solutions and proposed methodologies, and their implications for improving human-robot collaboration

ConTaCT: Deciding to Communicate during Time-Critical Collaborative Tasks in Unknown, Deterministic Domains

Communication between agents has the potential to improve team performance of collaborative tasks. However, communication is not free in most domains, requiring agents to reason about the costs and benefits of sharing information. In this work, we develop an online, decentralized communication policy, ConTaCT, that enables agents to decide whether or not to communicate during time-critical collaborative tasks in unknown, deterministic environments. Our approach is motivated by real-world applications, including the coordination of disaster response and search and rescue teams. These settings motivate a model structure that explicitly represents the world model as initially unknown but deterministic in nature, and that de-emphasizes uncertainty about action outcomes. Simulated experiments are conducted in which ConTaCT is compared to other multi-agent communication policies, and results indicate that ConTaCT achieves comparable task performance while substantially reducing communication overhead

Semi-Supervised Imitation Learning of Team Policies from Suboptimal Demonstrations

We present Bayesian Team Imitation Learner (BTIL), an imitation learning algorithm to model the behavior of teams performing sequential tasks in Markovian domains. In contrast to existing multi-agent imitation learning techniques, BTIL explicitly models and infers the time-varying mental states of team members, thereby enabling learning of decentralized team policies from demonstrations of suboptimal teamwork. Further, to allow for sample- and label-efficient policy learning from small datasets, BTIL employs a Bayesian perspective and is capable of learning from semi-supervised demonstrations. We demonstrate and benchmark the performance of BTIL on synthetic multi-agent tasks as well as a novel dataset of human-agent teamwork. Our experiments show that BTIL can successfully learn team policies from demonstrations despite the influence of team members' (time-varying and potentially misaligned) mental states on their behavior.Comment: Extended version of an identically-titled paper accepted at IJCAI 202

Learning Models of Sequential Decision-Making without Complete State Specification using Bayesian Nonparametric Inference and Active Querying

Learning models of decision-making behavior during sequential tasks is useful across a variety of applications, including human-machine interaction. In this paper, we present an approach to learning such models within Markovian domains based on observing and querying a decision-making agent. In contrast to classical approaches to behavior learning, we do not assume complete knowledge of the state features that impact an agent's decisions. Using tools from Bayesian nonparametric inference and time series of agents decisions, we first provide an inference algorithm to identify the presence of any unmodeled state features that impact decision making, as well as likely candidate models. In order to identify the best model among these candidates, we next provide an active querying approach that resolves model ambiguity by querying the decision maker. Results from our evaluations demonstrate that, using the proposed algorithms, an observer can identify the presence of latent state features, recover their dynamics, and estimate their impact on decisions during sequential tasks

Comparative performance of human and mobile robotic assistants in collaborative fetch-and-deliver tasks

There is an emerging desire across manufacturing industries to deploy robots that support people in their manual work, rather than replace human workers. This paper explores one such opportunity, which is to field a mobile robotic assistant that travels between part carts and the automotive final assembly line, delivering tools and materials to the human workers. We compare the performance of a mobile robotic assistant to that of a human assistant to gain a better understanding of the factors that impact its effectiveness. Statistically significant differences emerge based on type of assistant, human or robot. Interaction times and idle times are statistically significantly higher for the robotic assistant than the human assistant. We report additional differences in participant's subjective response regarding team fluency, situational awareness, comfort and safety. Finally, we discuss how results from the experiment inform the design of a more effective assistant.BMW Grou

Human-robot co-navigation using anticipatory indicators of human walking motion

Mobile, interactive robots that operate in human-centric environments need the capability to safely and efficiently navigate around humans. This requires the ability to sense and predict human motion trajectories and to plan around them. In this paper, we present a study that supports the existence of statistically significant biomechanical turn indicators of human walking motions. Further, we demonstrate the effectiveness of these turn indicators as features in the prediction of human motion trajectories. Human motion capture data is collected with predefined goals to train and test a prediction algorithm. Use of anticipatory features results in improved performance of the prediction algorithm. Lastly, we demonstrate the closed-loop performance of the prediction algorithm using an existing algorithm for motion planning within dynamic environments. The anticipatory indicators of human walking motion can be used with different prediction and/or planning algorithms for robotics; the chosen planning and prediction algorithm demonstrates one such implementation for human-robot co-navigation

Network Hamiltonian models reveal pathways to amyloid fibril formation

Amyloid fibril formation is central to the etiology of a wide range of serious human diseases, such as Alzheimer’s disease and prion diseases. Despite an ever growing collection of amyloid fibril structures found in the Protein Data Bank (PDB) and numerous clinical trials, therapeutic strategies remain elusive. One contributing factor to the lack of progress on this challenging problem is incomplete understanding of the mechanisms by which these locally ordered protein aggregates self-assemble in solution. Many current models of amyloid deposition diseases posit that the most toxic species are oligomers that form either along the pathway to forming fibrils or in competition with their formation, making it even more critical to understand the kinetics of fibrillization. A recently introduced topological model for aggregation based on network Hamiltonians is capable of recapitulating the entire process of amyloid fibril formation, beginning with thousands of free monomers and ending with kinetically accessible and thermodynamically stable amyloid fibril structures. The model can be parameterized to match the five topological classes encompassing all amyloid fibril structures so far discovered in the PDB. This paper introduces a set of network statistical and topological metrics for quantitative analysis and characterization of the fibrillization mechanisms predicted by the network Hamiltonian model. The results not only provide insight into different mechanisms leading to similar fibril structures, but also offer targets for future experimental exploration into the mechanisms by which fibrils form