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Hey robot, which way are you going? Nonverbal motion legibility cues for human-robot spatial interaction

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arXiv 2021年

作者： Hetherington, Nicholas J. Croft, Elizabeth A. van der Loos, H.F. Machiel The Department of Mechanical Engineering University of British Columbia Canada The Departments of Mechanical and Aerospace Engineering and Electrical and Computer Systems Engineering Monash University Australia

Mobile robots have recently been deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with pedestrians. Pedestrians that encounter these robots without prior understanding of the robots' behaviour can experience discomfort, confusion, and delayed social acceptance. In this work we designed and evaluated nonverbal robot motion legibility cues, which communicate a mobile robot's motion intention to pedestrians. We compared a motion legibility cue using Projected Arrows to one using Flashing Lights. We designed the cues to communicate path information, goal information, or both, and explored different Robot Movement Scenarios. We conducted an online user study with 229 participants using videos of the motion legibility cues. Our results show that the absence of cues was not socially acceptable, and that Projected Arrows were the more socially acceptable cue in most experimental conditions. We conclude that the presence and choice of motion legibility cues can positively influence robots' acceptance and successful deployment in public spaces. © 2021, CC BY-NC-ND.

关键词： Robot programming

Technology Roadmap for Flexible Sensors

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ACS NANO 2023年第6期17卷 5211-5295页

作者： Luo, Yifei Abidian, Mohammad Reza Ahn, Jong-Hyun Akinwande, Deji Andrews, Anne M. Antonietti, Markus Bao, Zhenan Berggren, Magnus Berkey, Christopher A. Bettinger, Christopher John Chen, Jun Chen, Peng Cheng, Wenlong Cheng, Xu Choi, Seon-Jin Chortos, Alex Dagdeviren, Canan Dauskardt, Reinhold H. Di, Chong-an Dickey, Michael D. Duan, Xiangfeng Facchetti, Antonio Fan, Zhiyong Fang, Yin Feng, Jianyou Feng, Xue Gao, Huajian Gao, Wei Gong, Xiwen Guo, Chuan Fei Guo, Xiaojun Hartel, Martin C. He, Zihan Ho, John S. Hu, Youfan Huang, Qiyao Huang, Yu Huo, Fengwei Hussain, Muhammad M. Javey, Ali Jeong, Unyong Jiang, Chen Jiang, Xingyu Kang, Jiheong Karnaushenko, Daniil Khademhosseini, Ali Kim, Dae-Hyeong Kim, Il-Doo Kireev, Dmitry Kong, Lingxuan Lee, Chengkuo Lee, Nae-Eung Lee, Pooi See Lee, Tae-Woo Li, Fengyu Li, Jinxing Liang, Cuiyuan Lim, Chwee Teck Lin, Yuanjing Lipomi, Darren J. Liu, Jia Liu, Kai Liu, Nan Liu, Ren Liu, Yuxin Liu, Yuxuan Liu, Zhiyuan Liu, Zhuangjian Loh, Xian Jun Lu, Nanshu Lv, Zhisheng Magdassi, Shlomo Malliaras, George G. Matsuhisa, Naoji Nathan, Arokia Niu, Simiao Pan, Jieming Pang, Changhyun Pei, Qibing Peng, Huisheng Qi, Dianpeng Ren, Huaying Rogers, John A. Rowe, Aaron Schmidt, Oliver G. Sekitani, Tsuyoshi Seo, Dae-Gyo Shen, Guozhen Sheng, Xing Shi, Qiongfeng Someya, Takao Song, Yanlin Stavrinidou, Eleni Su, Meng Sun, Xuemei Takei, Kuniharu Tao, Xiao-Ming Tee, Benjamin C. K. Thean, Aaron Voon-Yew Trung, Tran Quang Wan, Changjin Wang, Huiliang Wang, Joseph Wang, Ming Wang, Sihong Wang, Ting Wang, Zhong Lin Weiss, Paul S. Wen, Hanqi Xu, Sheng Xu, Tailin Yan, Hongping Yan, Xuzhou Yang, Hui Yang, Le Yang, Shuaijian Yin, Lan Yu, Cunjiang Yu, Guihua Yu, Jing Yu, Shu-Hong Yu, Xinge Zamburg, Evgeny Zhang, Haixia Zhang, Xiangyu Zhang, Xiaosheng Zhang, Xueji Zhang, Yihui Zhang, Yu Zhao, Siyuan Zhao, Xuanhe Zheng, Yuanjin Zheng, Yu-Qing Zheng, Zijian Zhou, Tao Zhu, Bowen Zhu, Ming Zhu, Rong Zhu, Yangzhi Zhu, Yong Zou, Guijin Chen, Xiaodong 08-03 Innovis Singapore 138634 Republic of Singapore Innovative Centre for Flexible Devices (iFLEX) School of Materials Science and Engineering Nanyang Technological University Singapore 639798 Singapore Department of Biomedical Engineering University of Houston Houston Texas 77024 United States School of Electrical and Electronic Engineering Yonsei University Seoul 03722 Republic of Korea Department of Electrical and Computer Engineering The University of Texas at Austin Austin Texas 78712 United States Microelectronics Research Center The University of Texas at Austin Austin Texas 78758 United States Department of Chemistry and Biochemistry California NanoSystems Institute and Department of Psychiatry and Biobehavioral Sciences Semel Institute for Neuroscience and Human Behavior and Hatos Center for Neuropharmacology University of California Los Angeles Los Angeles California 90095 United States Colloid Chemistry Department Max Planck Institute of Colloids and Interfaces 14476 Potsdam Germany Department of Chemical Engineering Stanford University Stanford California 94305 United States Laboratory of Organic Electronics Department of Science and Technology Campus Norrköping Linköping University 83 Linköping Sweden Wallenberg Initiative Materials Science for Sustainability (WISE) and Wallenberg Wood Science Center (WWSC) SE-100 44 Stockholm Sweden Department of Materials Science and Engineering Stanford University Stanford California 94301 United States Department of Biomedical Engineering and Department of Materials Science and Engineering Carnegie Mellon University Pittsburgh Pennsylvania 15213 United States Department of Bioengineering University of California Los Angeles Los Angeles California 90095 United States School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore 637457 Singapore Nanobionics Group Department of Chemical and Biological Engineering Monash University Clayton Australia 3800 Monash

Humans rely increasingly on sensors to address grand challenges and to improve quality of life in the era of digitalization and big data. For ubiquitous sensing, flexible sensors are developed to overcome the limitations of conventional rigid counterparts. Despite rapid advancement in bench-side research over the last decade, the market adoption of flexible sensors remains limited. To ease and to expedite their deployment, here, we identify bottlenecks hindering the maturation of flexible sensors and propose promising solutions. We first analyze continued...challenges in achieving satisfactory sensing performance for real-world applications and then summarize issues in compatible sensor-biology interfaces, followed by brief discussions on powering and connecting sensor networks. Issues en route to commercialization and for sustainable growth of the sector are also analyzed, highlighting environmental concerns and emphasizing nontechnical issues such as business, regulatory, and ethical considerations. Additionally, we look at future intelligent flexible sensors. In proposing a comprehensive roadmap, we hope to steer research efforts towards common goals and to guide coordinated development strategies from disparate communities. Through such collaborative

关键词： soft materials mechanics engineering flexible electronics conformable sensors bioelectronics human-machine interfaces body area sensor networks technology translation sustainable electronics

MetaTrading: An Immersion-Aware Model Trading Framework for Vehicular Metaverse Services

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arXiv 2024年

作者： Wu, Hongjia Zeng, Hui Xiong, Zehui Kang, Jiawen Cai, Zhiping Chan, Tse-Tin Niyato, Dusit Han, Zhu Department of Mathematics and Information Technology The Education University of Hong Kong Hong Kong The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore School of Automation Guangdong University of Technology China College of Computer National University of Defense Technology China College of Computing and Data Science Nanyang Technological University Singapore Department of Electrical and Computer Engineering The University of Houston HoustonTX77004 United States Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of

Updates of extensive Internet of Things (IoT) data are critical to the immersion of vehicular metaverse services. However, providing high-quality and sustainable data in unstable and resource-constrained vehicular networks remains a significant challenge. To address this problem, we put forth a novel immersion-aware model trading framework that incentivizes metaverse users (MUs) to contribute learning models trained by their latest local data for augmented reality (AR) services in the vehicular metaverse, while preserving their privacy through federated learning. To comprehensively evaluate the contribution of locally trained learning models provided by MUs to AR services, we design a new immersion metric that captures service immersion by considering the freshness and accuracy of learning models, as well as the amount and potential value of raw data used for training. We model the trading interactions between metaverse service providers (MSPs) and MUs as an equilibrium problem with equilibrium constraints (EPEC) to analyze and balance their costs and gains. Moreover, considering dynamic network conditions and privacy concerns, we formulate the reward decisions of MSPs as a multi-agent Markov decision process. Then, a fully distributed dynamic reward method based on deep reinforcement learning is presented, which operates without any private information about MUs and other MSPs. Experimental results demonstrate that the proposed framework can effectively provide higher-value models for object detection and classification in AR services on real AR-related vehicle datasets compared to benchmark schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Markov processes

The Age of Generative AI and AI-Generated Everything

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arXiv 2023年

作者： Du, Hongyang Niyato, Dusit Kang, Jiawen Xiong, Zehui Zhang, Ping Cui, Shuguang Shen, Xuemin Mao, Shiwen Han, Zhu Jamalipour, Abbas Vincent Poor, H. Kim, Dong In School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore School of Automation Guangdong University of Technology Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore487372 Singapore State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications China Chinese University of Hong Kong Shenzhen China Department of Electrical and Computer Engineering University of Waterloo WaterlooONN2L 3G1 Canada Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States Department of Electrical and Computer Engineering University of Houston HoustonTX77004 United States Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of School of Electrical and Information Engineering University of Sydney SydneyNSW2006 Australia Department of Electrical and Computer Engineering Princeton University PrincetonNJ08544 United States Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Generative AI (GAI) has emerged as a significant advancement in artificial intelligence, renowned for its language and image generation capabilities. This paper presents "AIGenerated Everything" (AIGX), a concept that extends GAI beyond mere content creation to real-time adaptation and control across diverse technological domains. In networking, AIGX collaborates closely with physical, data link, network, and application layers to enhance real-time network management that responds to various system and service settings as well as application and user requirements. Networks, in return, serve as crucial components in further AIGX capability optimization through the AIGX lifecycle, i.e., data collection, distributed pre-training, and rapid decision-making, thereby establishing a mutually enhancing interplay. Moreover, we offer an in-depth case study focused on power allocation to illustrate the interdependence between AIGX and networking systems. Through this exploration, the article analyzes the significant role of GAI for networking, clarifies the ways networks augment AIGX functionalities, and underscores the virtuous interactive cycle they form. This article paves the way for subsequent future research aimed at fully unlocking the potential of GAI and networks. © 2023, CC BY.

关键词： Decision making

Symbiotic Sensing and Communication: Framework and Beamforming design

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arXiv 2024年

作者： Xia, Fanghao Fei, Zesong Wang, Xinyi Yuan, Weijie Wu, Qingqing Liu, Yuanwei Quek, Tony Q.S. The School of Information and Electronics Beijing Institute of Technology Beijing100081 China The Department of Electrical and Electronic Engineering Southern University of Science and Technology Shenzhen518055 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom The Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore487372 Singapore

In this paper, we propose a novel symbiotic sensing and communication (SSAC) framework, comprising a base station (BS) and a passive sensing node. In particular, the BS transmits communication waveform to serve vehicle users (VUEs), while the sensing node is employed to execute sensing tasks based on the echoes in a bistatic manner, thereby avoiding the issue of self-interference. Besides the weak target of interest, the sensing node tracks VUEs and shares sensing results with BS to facilitate sensing-assisted beamforming. By considering both fully digital arrays and hybrid analog-digital (HAD) arrays, we investigate the beamforming design in the SSAC system. We first derive the Cramér-Rao lower bound (CRLB) of the two-dimensional angles of arrival estimation as the sensing metric. Next, we formulate an achievable sum rate maximization problem under the CRLB constraint, where the channel state information is reconstructed based on the sensing results. Then, we propose two penalty dual decomposition (PDD)based alternating algorithms for fully digital and HAD arrays, respectively. Simulation results demonstrate that the proposed algorithms can achieve an outstanding data rate with effective localization capability for both VUEs and the weak target. In particular, the HAD beamforming design exhibits remarkable performance gain compared to conventional schemes, especially with fewer radio frequency chains. Copyright © 2024, The Authors. All rights reserved.

关键词： Cramer-Rao bounds

Self-Supervised 3D Action Representation Learning with Skeleton Cloud Colorization

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arXiv 2023年

作者： Yang, Siyuan Liu, Jun Lu, Shijian Hwa, Er Meng Hu, Yongjian Kot, Alex C. The Rapid-Rich Object Search Lab Interdisciplinary Graduate Programme Nanyang Technological University Singapore The Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore The School of Computer Science & Engineering Nanyang Technological University Singapore The School of Electrical and Electronic Engineering Nanyang Technological University Singapore The South China University of Technology Guangzhou China

3D Skeleton-based human action recognition has attracted increasing attention in recent years. Most of the existing work focuses on supervised learning which requires a large number of labeled action sequences that are often expensive and time-consuming to annotate. In this paper, we address self-supervised 3D action representation learning for skeleton-based action recognition. We investigate self-supervised representation learning and design a novel skeleton cloud colorization technique that is capable of learning spatial and temporal skeleton representations from unlabeled skeleton sequence data. We represent a skeleton action sequence as a 3D skeleton cloud and colorize each point in the cloud according to its temporal and spatial orders in the original (unannotated) skeleton sequence. Leveraging the colorized skeleton point cloud, we design an auto-encoder framework that can learn spatial-temporal features from the artificial color labels of skeleton joints effectively. Specifically, we design a two-steam pretraining network that leverages fine-grained and coarse-grained colorization to learn multi-scale spatial-temporal features. In addition, we design a Masked Skeleton Cloud Repainting task that can pretrain the designed auto-encoder framework to learn informative representations. We evaluate our skeleton cloud colorization approach with linear classifiers trained under different configurations, including unsupervised, semi-supervised, fully-supervised, and transfer learning settings. Extensive experiments on NTU RGB+D, NTU RGB+D 120, PKU-MMD, NW-UCLA, and UWA3D datasets show that the proposed method outperforms existing unsupervised and semi-supervised 3D action recognition methods by large margins and achieves competitive performance in supervised 3D action recognition as well. Copyright © 2023, The Authors. All rights reserved.

关键词： Musculoskeletal system

A Precise and Rapid Early Pregnancy Test: Development of a Novel and Fully Automated Electrochemical Point-of-Care Biosensor for Human Urine Samples

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SSRN

SSRN 2022年

作者： Yuksel, Mustafa Luo, Wei McCloy, Brad Mills, Jason Kayaharman, Muhammed Yeow, John T.W. Dept. of Systems Design Engineering University of Waterloo ON Canada SannTek Labs Inc WaterlooON Canada Dept. of Electrical and Computer Engineering University of Waterloo ON Canada Waterloo Institute for Nanotechnology University of Waterloo ON Canada

Human chorionic gonadotropin (hCG), a glycoprotein hormone secreted from the placenta, is an important biomarker for pregnancy. In this study, we designed a precise, rapid and fully automatic device with an electrochemical point-of-care biosensor capable of quantitative hCG detection from human urine samples for early pregnancy detection. Gold and Ag/AgCl electrodes, whose structure with optimum isopotential region and current density, were simulated using COMSOL Multiphysics® software and custom-made from Flex Medical. The sensing surface was fabricated with DSP self-assembled monolayers (SAMs) and covalently immobilized anti-hCG-beta antibody. The detection method involved a sandwich assay using anti-hCG alpha-HRP. Based on an automated agitation design implemented in our device, the surface reaction rate is significantly improved comparing to routinely performed sandwich assays, and therefore a rapid detection of very low concentration can be achieved. Electrochemical impedance spectroscopy (EIS) and chronoamperometry (CA) measurements were used to characterize the immobilization of the antibodies and to determine the sensor activities respectively. The sensors exhibited a detection limit of 2.17 mIU/ml with a detection range of 0 to 100 mIU/ml in agreement with clinical hCG levels. They responded very well to hCG, but not to luteinizing hormone (LH), which has a high degree of cross-reactivity with hCG. The results showed that the immunosensor has high specificity, good reproducibility, and long-term stability for the detection of hCG in urine samples. © 2022, The Authors. All rights reserved.

关键词： Antibodies

Herd Routes: A Preventative IoT-Based System for Improving Female Pedestrian Safety on City Streets

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arXiv 2022年

作者： Woodburn, Madeleine Griggs, Wynita M. Mareček, Jakub Shorten, Robert N. The Dyson School of Design Engineering Imperial College London South Kingston United Kingdom The Department of Civil Engineering The Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3800 Australia The Czech Technical University in Prague Czech Republic

Over two thirds of women of all ages in the UK have experienced some form of sexual harassment in a public space. Recent tragic incidents involving female pedestrians have highlighted some of the personal safety issues that women still face in cities today. There exist many popular location-based safety applications as a result of this;however, these applications tend to take a reactive approach where action is taken only after an incident has occurred. This paper proposes a preventative approach to the problem by creating safer public environments through societal incentivisation. The proposed system, called "Herd Routes", improves the safety of female pedestrians by generating busier pedestrian routes as a result of route incentivisation. A novel application of distributed ledgers is proposed to provide security and trust, a record of system users' locations and IDs, and a platform for token exchange. A proof-of-concept was developed using the simulation package SUMO (Simulation of Urban Mobility), and a smartphone app. was built in Android Studio so that pedestrian Hardware-in-the-Loop testing could be carried out to validate the technical feasibility and desirability of the system. With positive results from the initial testing of the proof-of-concept, further development could significantly contribute towards creating safer pedestrian routes through cities, and tackle the societal change that is required to improve female pedestrian safety in the long term. Copyright © 2022, The Authors. All rights reserved.

关键词： Pedestrian safety

Cartpole Problem with PDL and GP Using Multi-objective Fitness Functions Differing in a Priori Knowledge 1

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14th International Conference on Multi-disciplinary Trends in Artificial Intelligence, MIWAI 2021

作者： Shannon, Peter David Nehaniv, Chrystopher L. Phon-Amnuaisuk, Somnuk Adaptive Systems Research Group Centre for Computer Science & Informatics Research University of Hertfordshire Hatfield United Kingdom Laksmana College of Business Bandar Seri Begawan Brunei Department of Systems Design Engineering University of Waterloo WaterlooON Canada Department of Electrical & Computer Engineering University of Waterloo WaterlooON Canada School of Computing and Informatics Universiti of Teknologi Brunei Bandar Seri Begawan Brunei

ISBN: (数字)9783030802530

ISBN: (纸本)9783030802523

We present a study looking at the effect of a priori domain knowledge on an EA fitness function. Our experiment has two aims: (1) applying an existing NSGA-II framework for GP with PDL to the cartpole problem—applying GP & PDL to cartpole and a purely behavioral problem for the first time—and (2) contrasting two multi-objective fitness functions: one with high and the other with low a priori domain knowledge. In our experiment we created two populations with an EA, varying in the number of objectives use for the fitness function, 2 objective criteria to represent low a priori knowledge and 3 to represent high. With fitness functions tailored to find specifically prescribed solutions we expect greater discriminating power and more feedback to an evolutionary process. This comes at the cost of excluding some unexpected solutions from the evolutionary process and placing a greater burden on the designer. We address the question: how large is the disadvantage for the low a priori fitness function in a worst-case scenario, where innovative solutions will not enhance performance. This question is interesting because we would prefer to guide EA with simple, easy to create and understand, objective criteria rather than complex and highly specific criteria. Understanding any associated penalty for using simple, easy to create fitness functions, is crucial in assessing how much effort and should be put into designing objective criteria. © 2021, Springer Nature Switzerland AG.

关键词： Domain Knowledge