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  • 1.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Berck, Peter
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Designing a Robot Which Paints With a Human: Visual Metaphors to Convey Contingency and Artistry2019Konferensbidrag (Refereegranskat)
    Abstract [en]

    Socially assistive robots could contribute to fulfilling an important need for interaction in contexts where human caregivers are scarce–such as art therapy, where peers, or patients and therapists, can make art together. However, current art-making robots typically generate art either by themselves, or as tools under the control of a human artist; how to make art together with a human in a good way has not yet received much attention, possibly because some concepts related to art, such as emotion and creativity, are not yet well understood. The current work reports on our use of a collaborative prototyping approach to explore this concept of a robot which can paint together with people. The result is a proposed design, based on an idea of using visual metaphors to convey contingency and artistry. Our aim is that the identified considerations will help support next steps, toward supporting positive experiences for people through art-making with a robot.

  • 2.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Bigun, Josef
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    PastVision: Exploring “Seeing” into the Near Past with Thermal Touch Sensing and Object Detection – For Robot Monitoring of Medicine Intake by Dementia Patients2017Konferensbidrag (Refereegranskat)
    Abstract [en]

    We present PastVision, a proof-of-concept approach that explores combining thermal touch sensing and object detection to infer recent actions by a person which have not been directly observed by a system. Inferring such past actions has received little attention yet in the literature, but would be highly useful in scenarios in which sensing can fail (e.g., due to occlusions) and the cost of not recognizing an action is high. In particular, we focus on one such application, involving a robot which should monitor if an elderly person with dementia has taken medicine. For this application, we explore how to combine detection of touches and objects, as well as how heat traces vary based on materials and a person’s grip, and how robot motions and activity models can be leveraged. The observed results indicate promise for the proposed approach.

  • 3.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Bigun, Josef
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    PastVision+: Thermovisual Inference of Recent Medicine Intake by Detecting Heated Objects and Cooled Lips2017Ingår i: Frontiers in Robotics and AI, E-ISSN 2296-9144, Vol. 4, artikel-id 61Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This article addresses the problem of how a robot can infer what a person has done recently, with a focus on checking oral medicine intake in dementia patients. We present PastVision+, an approach showing how thermovisual cues in objects and humans can be leveraged to infer recent unobserved human-object interactions. Our expectation is that this approach can provide enhanced speed and robustness compared to existing methods, because our approach can draw inferences from single images without needing to wait to observe ongoing actions and can deal with short-lasting occlusions; when combined, we expect a potential improvement in accuracy due to the extra information from knowing what a person has recently done. To evaluate our approach, we obtained some data in which an experimenter touched medicine packages and a glass of water to simulate intake of oral medicine, for a challenging scenario in which some touches were conducted in front of a warm background. Results were promising, with a detection accuracy of touched objects of 50% at the 15 s mark and 0% at the 60 s mark, and a detection accuracy of cooled lips of about 100 and 60% at the 15 s mark for cold and tepid water, respectively. Furthermore, we conducted a follow-up check for another challenging scenario in which some participants pretended to take medicine or otherwise touched a medicine package: accuracies of inferring object touches, mouth touches, and actions were 72.2, 80.3, and 58.3% initially, and 50.0, 81.7, and 50.0% at the 15 s mark, with a rate of 89.0% for person identification. The results suggested some areas in which further improvements would be possible, toward facilitating robot inference of human actions, in the context of medicine intake monitoring.

  • 4.
    Cooney, Martin
    et al.
    Advanced Telecommunications Research Institute International IRC/HIL, Keihanna Science City, Kyoto, Japan.
    Kanda, Takayuki
    Advanced Telecommunications Research Institute International IRC/HIL, Keihanna Science City, Kyoto, Japan.
    Alissandrakis, Aris
    Center for Learning and Knowledge Technologies Organization, Linnaeus University, Växjö, Sweden.
    Ishiguro, Hiroshi
    Advanced Telecommunications Research Institute International IRC/HIL, Keihanna Science City, Kyoto, Japan.
    Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot2014Ingår i: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 6, nr 2, s. 173-193Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Robots designed to co-exist with humans in domestic and public environments should be capable of interacting with people in an enjoyable fashion in order to be socially accepted. In this research, we seek to set up a small humanoid robot with the capability to provide enjoyment to people who pick up the robot and play with it by hugging, shaking and moving the robot in various ways. Inertial sensors inside a robot can capture how the robot’s body is moved when people perform such “full-body gestures”. Unclear is how a robot can recognize what people do during play, and how such knowledge can be used to provide enjoyment. People’s behavior is complex, and naïve designs for a robot’s behavior based only on intuitive knowledge from previous designs may lead to failed interactions. To solve these problems, we model people’s behavior using typical full-body gestures observed in free interaction trials, and devise an interaction design based on avoiding typical failures observed in play sessions with a naïve version of our robot. The interaction design is completed by investigating how a robot can provide “reward” and itself suggest ways to play during an interaction. We then verify experimentally that our design can be used to provide enjoyment during a playful interaction. By describing the process of how a smallhumanoid robot can be designed to provide enjoyment, we seek to move one step closer to realizing companion robots which can be successfully integrated into human society. © 2013 Springer Science+Business Media Dordrecht.

  • 5.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Karlsson, Stefan M.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Impressions of Size-Changing in a Companion Robot2015Ingår i: PhyCS 2015 – 2nd International Conference on Physiological Computing Systems, Proceedings / [ed] Hugo Plácido da Silva, Pierre Chauvet, Andreas Holzinger, Stephen Fairclough & Dennis Majoe, SciTePress, 2015, s. 118-123Konferensbidrag (Refereegranskat)
    Abstract [en]

    Physiological data such as head movements can be used to intuitively control a companion robot to perform useful tasks. We believe that some tasks such as reaching for high objects or getting out of a person’s way could be accomplished via size changes, but such motions should not seem threatening or bothersome. To gain insight into how size changes are perceived, the Think Aloud Method was used to gather typical impressions of a new robotic prototype which can expand in height or width based on a user’s head movements. The results indicate promise for such systems, also highlighting some potential pitfalls.

  • 6.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Leister, Wolfgang
    Norsk Regnesentral, Oslo, Norway.
    Using the Engagement Profile to Design an Engaging Robotic Teaching Assistant for Students2019Ingår i: Robotics, E-ISSN 2218-6581, Vol. 8, nr 1, artikel-id 21Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    We report on an exploratory study conducted at a graduate school in Sweden with a humanoid robot, Baxter. First, we describe a list of potentially useful capabilities for a robot teaching assistant derived from brainstorming and interviews with faculty members, teachers, and students. These capabilities consist of reading educational materials out loud, greeting, alerting, allowing remote operation, providing clarifications, and moving to carry out physical tasks. Secondly, we present feedback on how the robot's capabilities, demonstrated in part with the Wizard of Oz approach, were perceived, and iteratively adapted over the course of several lectures, using the EngagementProfile tool. Thirdly, we discuss observations regarding the capabilities and the development process. Our findings suggest that using a social robot as a teachingassistant is promising using the chosen capabilities and Engagement Profile tool. We find that enhancing the robot's autonomous capabilities and further investigating the role of embodiment are some important topics to be considered in future work. © 2019 by the authors.

  • 7.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Menezes, Maria Luiza Recena
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Design for an Art Therapy Robot: An Explorative Review of the Theoretical Foundations for Engaging in Emotional and Creative Painting with a Robot2018Ingår i: Multimodal Technologies Interact. Special Issue Emotions in Robots: Embodied Interaction in Social and Non-Social Environments, ISSN 2414-4088, Vol. 2, nr 3, artikel-id 52Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Social robots are being designed to help support people’s well-being in domestic and public environments. To address increasing incidences of psychological and emotional difficulties such as loneliness, and a shortage of human healthcare workers, we believe that robots will also play a useful role in engaging with people in therapy, on an emotional and creative level, e.g., in music, drama, playing, and art therapy. Here, we focus on the latter case, on an autonomous robot capable of painting with a person. A challenge is that the theoretical foundations are highly complex; we are only just beginning ourselves to understand emotions and creativity in human science, which have been described as highly important challenges in artificial intelligence. To gain insight, we review some of the literature on robots used for therapy and art, potential strategies for interacting, and mechanisms for expressing emotions and creativity. In doing so, we also suggest the usefulness of the responsive art approach as a starting point for art therapy robots, describe a perceived gap between our understanding of emotions in human science and what is currently typically being addressed in engineering studies, and identify some potential ethical pitfalls and solutions for avoiding them. Based on our arguments, we propose a design for an art therapy robot, also discussing a simplified prototype implementation, toward informing future work in the area.

  • 8.
    Cooney, Martin
    et al.
    Hiroshi Ishiguro Lab (HIL), Advanced Telecommunications Research Institute International (ATR), Seika, Japan.
    Nishio, Shuichi
    Hiroshi Ishiguro Lab (HIL), Advanced Telecommunications Research Institute International (ATR), Seika, Japan.
    Ishiguro, Hiroshi
    Hiroshi Ishiguro Lab (HIL), Advanced Telecommunications Research Institute International (ATR), Seika, Japan.
    Affectionate Interaction with a Small Humanoid Robot Capable of Recognizing Social Touch Behavior2014Ingår i: ACM Transactions on Interactive Intelligent Systems, ISSN 2160-6455, Vol. 4, nr 4, artikel-id 19Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Activity recognition, involving a capability to recognize people’s behavior and its underlying significance, will play a crucial role in facilitating the integration of interactive robotic artifacts into everyday human environments. In particular, social intelligence in recognizing affectionate behavior will offer value by allowing companion robots to bond meaningfully with interacting persons. The current article addresses the issue of designing an affectionate haptic interaction between a person and a companion robot by exploring how a small humanoid robot can behave to elicit affection while recognizing touches. We report on an experiment conducted to gain insight into how people perceive three fundamental interactive strategies in which a robot is either always highly affectionate, appropriately affectionate, or superficially unaffectionate (emphasizing positivity, contingency, and challenge, respectively). Results provide insight into the structure of affectionate interaction between humans and humanoid robots—underlining the importance of an interaction design expressing sincere liking, stability and variation—and suggest the usefulness of novel modalities such as warmth and cold. © 2014 ACM.

  • 9.
    Cooney, Martin
    et al.
    Advanced Telecommunications Research Institute International (ATR) Hiroshi Ishiguro Lab (HIL), 2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan & Department of Systems Innovation, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan.
    Nishio, Shuichi
    Advanced Telecommunications Research Institute International (ATR) Hiroshi Ishiguro Lab (HIL), 2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan.
    Ishiguro, Hiroshi
    Advanced Telecommunications Research Institute International (ATR) Hiroshi Ishiguro Lab (HIL), 2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan & Department of Systems Innovation, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan.
    Designing Robots for Well-being: Theoretical Background and Visual Scenes of Affectionate Play with a Small Humanoid Robot2014Ingår i: Lovotics, ISSN 2090-9888, Vol. 1, nr 1, artikel-id 1000101Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Social well-being, referring to a subjectively perceived long-term state of happiness, life satisfaction, health, and other prosperity afforded by social interactions, is increasingly being employed to rate the success of human social systems. Although short-term changes in well-being can be difficult to measure directly, two important determinants can be assessed: perceived enjoyment and affection from relationships. The current article chronicles our work over several years toward achieving enjoyable and affectionate interactions with robots, with the aim of contributing to the perception of social well-being in interacting persons. Emphasis has been placed on both describing in detail the theoretical basis underlying our work, and relating the story of each of several designs from idea to evaluation in a visual fashion. For the latter, we trace the course of designing four different robotic artifacts intended to further our understanding of how to provide enjoyment, elicit affection, and realize one specific scenario for affectionate play. As a result, by describing (a) how perceived enjoyment and affection contribute to social well-being, and (b) how a small humanoid robot can proactively engage in enjoyable and affectionate play—recognizing people’s behavior and leveraging this knowledge—the current article informs the design of companion robots intended to facilitate a perception of social well-being in interacting persons during affectionate play.

  • 10.
    Cooney, Martin
    et al.
    Hiroshi Ishiguro Laboratory, Advanced Telecommunications, Research Institute International (ATR), 2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan & Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, Japan.
    Nishio, Shuichi
    Hiroshi Ishiguro Laboratory, Advanced Telecommunications, Research Institute International (ATR), 2-2-2 Hikaridai, Keihanna Science City, Kyoto, Japan.
    Ishiguro, Hiroshi
    Hiroshi Ishiguro Laboratory, Advanced Telecommunications, Research Institute International (ATR), 2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka, Japan.
    Importance of Touch for Conveying Affection in a Multimodal Interaction with a Small Humanoid Robot2015Ingår i: International Journal of Humanoid Robotics, ISSN 0219-8436, Vol. 12, nr 1, artikel-id 1550002Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    To be accepted as a part of our everyday lives, companion robots will require the capability to communicate socially, recognizing people's behavior and responding appropriately. In particular, we hypothesized that a humanoid robot should be able to recognize affectionate touches conveying liking or dislike because (a) a humanoid form elicits expectations of a high degree of social intelligence, (b) touch behavior plays a fundamental and crucial role in human bonding, and (c) robotic responses providing affection could contribute to people's quality of life. The hypothesis that people will seek to affectionately touch a robot needed to be verified because robots are typically not soft or warm like humans, and people can communicate through various other modalities such as vision and sound. The main challenge faced was that people's social norms are highly complex, involving behavior in multiple channels. To deal with this challenge, we adopted an approach in which we analyzed free interactions and also asked participants to rate short video-clips depicting human–robot interaction. As a result, we verified that touch plays an important part in the communication of affection from a person to a humanoid robot considered capable of recognizing cues in touch, vision, and sound. Our results suggest that designers of affectionate interactions with a humanoid robot should not ignore the fundamental modality of touch.

  • 11.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Ong, Linda
    I+ srl, Florence, Italy.
    Pashami, Sepideh
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Järpe, Eric
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Ashfaq, Awais
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Avoiding Improper Treatment of Dementia Patients by Care Robots2019Konferensbidrag (Refereegranskat)
    Abstract [en]

    The phrase “most cruel and revolting crimes” has been used to describe some poor historical treatment of vulnerable impaired persons by precisely those who should have had the responsibility of protecting and helping them. We believe we might be poised to see history repeat itself, as increasingly humanlike aware robots become capable of engaging in behavior which we would consider immoral in a human–either unknowingly or deliberately. In the current paper we focus in particular on exploring some potential dangers affecting persons with dementia (PWD), which could arise from insufficient software or external factors, and describe a proposed solution involving rich causal models and accountability measures: Specifically, the Consequences of Needs-driven Dementia-compromised Behaviour model (C-NDB) could be adapted to be used with conversation topic detection, causal networks and multi-criteria decision making, alongside reports, audits, and deterrents. Our aim is that the considerations raised could help inform the design of care robots intended to support well-being in PWD.

  • 12.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Pashami, Sepideh
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Pinheiro Sant'Anna, Anita
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Fan, Yuantao
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Nowaczyk, Sławomir
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Pitfalls of Affective Computing: How can the automatic visual communication of emotions lead to harm, and what can be done to mitigate such risks?2018Ingår i: WWW '18 Companion Proceedings of the The Web Conference 2018, New York, NY: ACM Publications, 2018, s. 1563-1566Konferensbidrag (Refereegranskat)
    Abstract [en]

    What would happen in a world where people could "see'' others' hidden emotions directly through some visualizing technology Would lies become uncommon and would we understand each other better Or to the contrary, would such forced honesty make it impossible for a society to exist The science fiction television show Black Mirror has exposed a number of darker scenarios in which such futuristic technologies, by blurring the lines of what is private and what is not, could also catalyze suffering. Thus, the current paper first turns an eye towards identifying some potential pitfalls in emotion visualization which could lead to psychological or physical harm, miscommunication, and disempowerment. Then, some countermeasures are proposed and discussed--including some level of control over what is visualized and provision of suitably rich emotional information comprising intentions--toward facilitating a future in which emotion visualization could contribute toward people's well-being. The scenarios presented here are not limited to web technologies, since one typically thinks about emotion recognition primarily in the context of direct contact. However, as interfaces develop beyond today's keyboard and monitor, more information becomes available also at a distance--for example, speech-to-text software could evolve to annotate any dictated text with a speaker's emotional state.

  • 13.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Sant'Anna, Anita
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Avoiding Playfulness Gone Wrong: Exploring Multi-objective Reaching Motion Generation in a Social Robot2017Ingår i: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 9, nr 4, s. 545-562Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Companion robots will be able to perform useful tasks in homes and public places, while also providing entertainment through playful interactions. “Playful” here means fun, happy, and humorous. A challenge is that generating playful motions requires a non-trivial understanding of how people attribute meaning and intentions. The literature suggests that playfulness can lead to some undesired impressions such as that a robot is obnoxious, untrustworthy, unsafe, moving in a meaningless fashion, or boring. To generate playfulness while avoiding such typical failures, we proposed a model for the scenario of a robot arm reaching for an object: some simplified movement patterns such as sinusoids are structured toward appearing helpful, clear about goals, safe, and combining a degree of structure and anomaly. We integrated our model into a mathematical framework (CHOMP) and built a new robot, Kakapo, to perform dynamically generated motions. The results of an exploratory user experiment were positive, suggesting that: Our proposed system was perceived as playful over the course of several minutes. Also a better impression resulted compared with an alternative playful system which did not use our proposed heuristics; furthermore a negative effect was observed for several minutes after showing the alternative motions, suggesting that failures are important to avoid. And, an inverted u-shaped correlation was observed between motion length and degree of perceived playfulness, suggesting that motions should neither be too short or too long and that length is also a factor which can be considered when generating playful motions. A short follow-up study provided some additional support for the idea that playful motions which seek to avoid failures can be perceived positively. Our intent is that these exploratory results will provide some insight for designing various playful robot motions, toward achieving some good interactions. © 2017, The Author(s).

  • 14.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Yang, Can
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Arunesh, Sanjana
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Padi Siva, Abhilash
    Högskolan i Halmstad, Akademin för informationsteknologi.
    David, Jennifer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Teaching Robotics with Robot Operating System (ROS): A Behavior Model Perspective2018Konferensbidrag (Refereegranskat)
    Abstract [en]

    Robotics skills are in high demand, but learning robotics can be difficult due to the wide range of required knowledge, increasingly complex and diverse platforms, and components requiring dedicated software. One way to mitigate such problems is by utilizing a standard framework such as Robot Operating System (ROS), which facilitates development through the reuse of opensource code—a challenge is that learning curves can be steep for students who are also first-time users. In the current paper, we suggest the use of a behavior model to structure the learning of complex frameworks like ROS in an engaging way. A practical example is provided, of integrating ROS into a robotics course called the “Design of Embedded and Intelligent Systems” (DEIS), along with feedback suggesting that some students responded positively to learning experiences enabled by our approach. Furthermore, some course materials, videos, and code have been made available online, which we hope might provide useful insights.

  • 15.
    Lundström, Jens
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Laboratoriet för intelligenta system.
    Ourique de Morais, Wagner
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Cooney, Martin
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    A Holistic Smart Home Demonstrator for Anomaly Detection and Response2015Ingår i: 2015 IEEE International Conference on Pervasive Computing and Communication Workshops (PerCom Workshops), Piscataway, NJ: IEEE Press, 2015, s. 330-335Konferensbidrag (Refereegranskat)
    Abstract [en]

    Applying machine learning methods in scenarios involving smart homes is a complex task. The many possible variations of sensors, feature representations, machine learning algorithms, middle-ware architectures, reasoning/decision schemes, and interactive strategies make research and development tasks non-trivial to solve.In this paper, the use of a portable, flexible and holistic smart home demonstrator is proposed to facilitate iterative development and the acquisition of feedback when testing in regard to the above-mentioned issues. Specifically, the focus in this paper is on scenarios involving anomaly detection and response. First a model for anomaly detection is trained with simulated data representing a priori knowledge pertaining to a person living in an apartment. Then a reasoning mechanism uses the trained model to infer and plan a reaction to deviating activities. Reactions are carried out by a mobile interactive robot to investigate if a detected anomaly constitutes a true emergency. The implemented demonstrator was able to detect and respond properly in 18 of 20 trials featuring normal and deviating activity patterns, suggesting the feasibility of the proposed approach for such scenarios. © IEEE 2015

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