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IEEE International Conference on Robotics and Automation (ICRA)

作者： Saket Joshi Paul Schermerhorn Roni Khardon Matthias Scheutz School of Electrical Engineering and Computer Science Oregon State University Corvallis OR USA Cognitive Science Program Indiana University Bloomington IN USA Department of Computer Science Tufts University Medford MA USA

Hybrid reactive-deliberative architectures in robotics combine reactive sub-policies for fast action execution with goal sequencing and deliberation. The need for replanning, however, presents a challenge for reactivity and hinders the potential for guarantees about the plan quality. In this paper, we argue that one can integrate abstract planning provided by symbolic dynamic programming in first order logic into a reactive robotic architecture, and that such an integration is in fact natural and has advantages over traditional approaches. In particular, it allows the integrated system to spend off-line time planning for a policy, and then use the policy reactively in open worlds, in situations with unexpected outcomes, and even in new environments, all by simply reacting to a state change executing a new action proposed by the policy. We demonstrate the viability of the approach by integrating the FODD-Planner with the robotic DIARC architecture showing how an appropriate interface can be defined and that this integration can yield robust goal-based action execution on robots in open worlds.

关键词： Robot sensing systems Planning Approximation methods Abstracts Computer architecture

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Dogs or Not Dogs? Examining ACI Authors' Reporting on Animal Participants' Willingness to Engage in Research: A Spotlight on Mediated and Contingent Consent 23

Dogs or Not Dogs? Examining ACI Authors' Reporting on Animal...

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Proceedings of the Tenth International Conference on Animal-Computer Interaction

作者： Eli B. McGraw Cristina Bosco Lisa Brey Christena Nippert-Eng Department of Informatics Luddy School of Informatics Computing and Engineering and the Cognitive Science Program Indiana University USA Department of Informatics Luddy School of Informatics Computing and Engineering Indiana University USA

ISBN: (纸本)9798400716560

How do Animal-Computer Interaction (ACI) researchers working with live animal participants assess the animals’ willingness to participate in their research? In this paper we present the results of a systematic literature review designed to answer this question by examining the Proceedings of the ACM International Animal Computer Interaction Conference. From 2016-2022, these proceedings included 38 full papers that reported results from research with live animal participants. We found 1) only 74% or 28/38 of the papers reported how they assessed animal participants’ willingness to engage during their research, 2) the authors of papers focused on species other than dogs had a much higher rate of providing this information than did the authors of dog-based studies (100% or 12/12 non-dog papers v 62% or 16/26 of dog-based papers), 3) most researchers who addressed the issue of an animal participant’s willingness to engage in the research relied on some form of mediated consent, informed by behavioral observation methods, to do so. However, the researchers focused on non-dog species were much more likely than researchers focused on dogs to include elements of contingent consent in their protocols (75% (9/12) of the non-dog studies v 12% (3/26) of the dog-related studies). We argue that providing each other with more details about our research methods and possibly more fully embracing the principles of contingent consent would further ACI researchers’ existing ethical commitment to our animal participants, increase our adherence to standard scientific research practice, and accelerate the continued development of the field of Animal-Computer Interaction.

关键词： Animal-Computer Interaction animal behavior animal well-being animal-centered design animal-centered ethics contingent consent dogs mediated consent multi-species interaction design reporting practices research methods scientific transparency voluntary engagement

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LFP beta power predicts cursor stationarity in BMI task

LFP beta power predicts cursor stationarity in BMI task

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2009 4th International IEEE/EMBS Conference on Neural engineering, NER '09

作者： Ranade, Gireeja V. Ganguly, Karunesh Carmena, Jose Department of Electrical Engineering and Computer Sciences University of California Berkeley CA United States Helen Wills Neruoscience Institute University of California Berkeley CA United States Program in Cognitive Science University of California Berkeley CA United States Department of Neurology University of California San Francisco CA United States

ISBN: (纸本)9781424420735

Beta band oscillations in the local field potential (LFP) have been previously related to behavior in motor tasks. We investigated the correlations between beta oscillations and movement state for brain-machine interfaces. Two macaque monkeys were trained to perform a center-out motor task on a computer under normal movement control and under a 'brain control' paradigm, where neural firing directly controls the cursor. In both cases, LFP beta power decreased after movement onset. High beta power was predominantly observed with low movement velocity and vice versa. This observation was used to predict the stationarity of a computer cursor during brain control. ©2009 IEEE.

关键词： Interface states

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Simulating problem difficulty in arithmetic cognition through dynamic connectionist models 17

Simulating problem difficulty in arithmetic cognition throug...

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17th International Conference on cognitive Modeling, ICCM 2019

作者： Cho, Sungjae Lim, Jaeseo Hickey, Chris Park, Jung Ae Zhang, Byoung-Tak Interdisciplinary Program in Cognitive Science Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of Department of Psychology Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of Department of Computer Science and Engineering Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of

ISBN: (纸本)9780998508238

The present study aims to investigate similarities between how humans and connectionist models experience difficulty in arithmetic problems. Problem difficulty was operationalized by the number of carries involved in solving a given problem. Problem difficulty was measured in humans by response time, and in models by computational steps. The present study found that both humans and connectionist models experience difficulty similarly when solving binary addition and subtraction. Specifically, both agents found difficulty to be strictly increasing with respect to the number of carries. Furthermore, the models mimicked the increasing standard deviation of response time seen in humans. Another notable similarity is that problem difficulty increases more steeply in subtraction than in addition, for both humans and connectionist models. Further investigation on two model hyperparameters - confidence threshold and hidden dimension - shows higher confidence thresholds cause the model to take more computational steps to arrive at the correct answer. Likewise, larger hidden dimensions cause the model to take more computational steps to correctly answer arithmetic problems;however, this effect by hidden dimensions is negligible. © ICCM *** rights reserved.

关键词： Recurrent neural networks

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3D-Printed electrochemical sensor-integrated transwell systems

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Microsystems & Nanoengineering 2020年第1期6卷 357-368页

作者： Pradeep Ramiah Rajasekaran Ashley Augustiny Chapin David N.Quan Jens Herberholz William E.Bentley Reza Ghodssi Institute for Systems Research University of MarylandCollege ParkMDUSA Fischell Department of Bioengineering University of MarylandCollege ParkMDUSA Department of Psychology and Neuroscience and Cognitive Science Program University of MarylandCollege ParkMDUSA Institute for Bioscience and Biotechnology Research University of MarylandCollege ParkMDUSA Robert E.Fischell Institute for Biomedical Devices University of MarylandCollege ParkMDUSA Department of Electrical and Computer Engineering University of MarylandCollege ParkMDUSA

This work presents a 3D-printed,modular,electrochemical sensor-integrated transwell system for monitoring cellular and molecular events in situ without sample extraction or microfluidics-assisted downstream *** additive manufacturing techniques such as 3D printing,shadow masking,and molding are used to fabricate this modular system,which is autoclavable,biocompatible,and designed to operate following standard operating protocols(SOPs)of cellular *** to the platform is a flexible porous membrane,which is used as a cell culture substrate similarly to a commercial transwell *** electrochemical sensors fabricated on the membrane allow direct access to cells and their products.A pair of gold electrodes on the top side of the membrane measures impedance over the course of cell attachment and growth,characterized by an exponential decrease(~160%at 10Hz)due to an increase in the double layer capacitance from secreted extracellular matrix(ECM)*** voltammetry(CV)sensor electrodes,fabricated on the bottom side of the membrane,enable sensing of molecular release at the site of cell culture without the need for downstream ***-time detection of ferrocene dimethanol injection across the membrane showed a three order-of-magnitude higher signal at the membrane than in the bulk media after reaching *** modular sensor-integrated transwell system allows unprecedented direct,real-time,and noninvasive access to physical and biochemical information,which cannot be obtained in a conventional transwell system.

关键词： transwell electrochemical culture

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A low-power CMOS neural amplifier with amplitude measurements for spike sorting

A low-power CMOS neural amplifier with amplitude measurement...

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2004 IEEE International Symposium on Circuits and Systems - Proceedings

作者： Horiuchi, T. Swindell, T. Sander, D. Abshire, P. Electrical Engineering Department University of Maryland College Park MD 20742 United States Institute for Systems Research University of Maryland College Park MD 20742 United States Neurosci./Cognitive Science Program University of Maryland College Park MD 20742 United States Electrical Engineering Department Pennsylvania State University State College PA 16801 United States

Integrated, low-power, low-noise CMOS neural amplifiers have recently grown in importance as large microelectrode arrays have begun to be practical. With an eye to a future where thousands of signals must be transmitted over a limited bandwidth link or be processed in situ, we are developing low-power neural amplifiers with integrated pre-filtering and measurements of the spike signal to facilitate spike-sorting and data reduction prior to transmission to a data-acquisition system. We have fabricated a prototype circuit in a commercially-available 1.5μm, 2-metal, 2-poly CMOS process that occupies approximately 91,000 square μm. We report circuit characteristics for a 1.5V power supply, suitable for single cell battery operation. In one specific configuration, the circuit bandpass filters the incoming signal from 22Hz to 6.7kHz while providing a gain of 42.5dB. With an amplifier power consumption of 0.8 μW, the rms input-referred noise is 20.6μV.

关键词： Biomedical engineering

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Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter

Multi-Object RANSAC: Efficient Plane Clustering Method in a ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Seunghyeon Lim Youngjae Yoo Jun Ki Lee Byoung-Tak Zhang Interdisciplinary Program in Cognitive Science Seoul National University Seoul Korea Department of Computer Science and Engineering Seoul National University Seoul Korea AIIS Seoul National University Seoul Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we propose a novel method for plane clustering specialized in cluttered scenes using an RGB-D camera and validate its effectiveness through robot grasping experiments. Unlike existing methods, which focus on large- scale indoor structures, our approach—Multi-Object RANSAC emphasizes cluttered environments that contain a wide range of objects with different scales. It enhances plane segmentation by generating subplanes in Deep Plane Clustering (DPC) module, which are then merged with the final planes by postprocessing. DPC rearranges the point cloud by voting layers to make subplane clusters, trained in a self-supervised manner using pseudo-labels generated from RANSAC. Multi-Object RANSAC demonstrates superior plane instance segmentation performances over other recent RANSAC applications. We conducted an experiment on robot suction-based grasping, comparing our method with vision-based grasping network and RANSAC applications. The results from this real-world scenario showed its remarkable performance surpassing the baseline methods, highlighting its potential for advanced scene understanding and manipulation.

关键词： Point cloud compression Instance segmentation Clustering methods Robot vision systems Grasping Cameras Clutter

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Identification of Features in ANN's Black Box using Dimensional Reduction and Correlation Analysis: A Case Study of Cardiovascular Disease Dataset

Identification of Features in ANN's Black Box using Dimensio...

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International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

作者： Boby Siswanto Yaya Heryadi Wayan Suparta Antoni Wibowo Haryono Soeparno Lukas Computer Science Department BINUS Graduate Program-Doctor of Computer Science Bina Nusantara University Jakarta Indonesia Cognitive Engineering Research Group (CERG) Atma Jaya University Jakarta Indonesia

ISBN: (纸本)9781665499705

Artificial Neural Network (ANN) is a machine learning algorithm that can perform classification. ANN has limitations; namely, it has a black box working principle, which is unsure which feature is the most influential. This study is to identify the most influential features inside the ANN's black box using a classification model by applying Principal Component Analysis (PCA) dimension reduction combined with Pearson correlation analysis. The result of the proposed model can identify the name of the main features of the data inside the ANN's black box. This study uses two public Kaggle cardiovascular datasets. The first dataset consists of 13 features, and the second dataset consists of 12 features. The result is height and gender are the most influential features in the first dataset with the correlation value of 0.734; sex and smoking are the most influential features in the second dataset with the correlation value of 0.728. Black box model result with 2 PCA's features against a model with height and gender features in the first dataset resulting from the same accuracy on the test dataset of the classification prediction results with the value of 49.90%, while on the second dataset 58.30%.

关键词： Dimensionality reduction Analytical models Correlation Mechatronics Machine learning algorithms Artificial neural networks Predictive models

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Development of affective modeling for toilet seat comfort

Development of affective modeling for toilet seat comfort

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IEEE International Conference on Industrial engineering and engineering Management

作者： S. Park Y. L. Rhie J. H. Lee M. Kim K. J. Lee I. Lee M. H. Yun Interdisciplinary Program in Cognitive Science Seoul National University Republic of Korea Department of Industrial Engineering Seoul National University Republic of Korea Coway Corporation Republic of Korea

ISBN: (纸本)9781509036660

Since the comfort feeling and satisfaction of a toilet seat is important for the defecation, we investigated the design parameters and affective attributes for toilet seats, and developed the affective model that explains the level of customer satisfaction. To achieve, objective measurements of design parameters and total 19 number of relevant affective attributes including appropriateness of each design parameter were collected from literature review and user interview. Then, a subjective experiment was conducted on five different toilet seat samples. As a result, 6 factors of surface and fatigue, appropriateness of toilet size, accessibility, immaculateness, centroid, and physical tensity were revealed by factor analysis. An affective model for seat comfort was also developed by regression analysis, and the relationships between each factor and design parameters were investigated through correlation analysis. This study is expected to contribute in improvement of toilet seat comfort as a preliminary study.

关键词： Thigh Buttocks Fatigue Regression analysis Stability analysis Coherence Interviews

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Semantic categories of artifacts and animals reflect efficient coding 41

Semantic categories of artifacts and animals reflect efficie...

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41st Annual Meeting of the cognitive science Society: Creativity + Cognition + Computation, CogSci 2019

作者： Zaslavsky, Noga Regier, Terry Tishby, Naftali Kemp, Charles Edmond and Lily Safra Center for Brain Sciences Hebrew University Jerusalem9190401 Israel Department of Linguistics University of California BerkeleyCA94720 United States Cognitive Science Program University of California BerkeleyCA94720 United States Benin School of Computer Science and Engineering Hebrew University Jerusalem9190401 Israel School of Psychological Sciences University of Melbourne ParkvilleVIC3010 Australia

ISBN: (纸本)0991196775

It has been argued that semantic categories across languages reflect pressure for efficient communication. Recently, this idea has been cast in terms of a general information-theoretic principle of efficiency, the Information Bottleneck (IB) principle, and it has been shown that this principle accounts for the emergence and evolution of named color categories across languages, including soft structure and patterns of inconsistent naming. However, it is not yet clear to what extent this account generalizes to semantic domains other than color. Here we show that it generalizes to two qualitatively different semantic domains: names for containers, and for animals. First, we show that container naming in Dutch and French is near-optimal in the IB sense, and that IB broadly accounts for soft categories and inconsistent naming patterns in both languages. Second, we show that a hierarchy of animal categories derived from IB captures cross-linguistic tendencies in the growth of animal taxonomies. Taken together, these findings suggest that fundamental information-theoretic principles of efficient coding may shape semantic categories across languages and across domains. © cognitive science Society: Creativity + Cognition + Computation, CogSci *** rights reserved.

关键词： Semantics

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