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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dong-Guw Lee Kyu-Seob Song Dong-Soo Kwon Department of Mechanical Engineering Seoul National University Seoul Republic of Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Republic of Korea CEO of EasyEndo Surgical Inc. Daejeon Republic of Korea

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

Face spoofing detection could be used in conjunction with face recognition or facial expression recognition in social robots for better interaction with the users. Recent works have employed thermal image-based spoofing detection due to its competitive spoofing detection performance. However, existing methods utilized indoor thermal images which put a limit on using thermal image-based spoofing detection in outdoor environments. Moreover, several thermal image-based spoofing detection datasets consist of facial images at a frontal viewpoint, which would be put a limit on the usage in social robots with short heights. In this paper, we present our novel thermal image dataset for spoofing detection in outdoor environments. Unlike most existing datasets, our dataset is collected in outdoor environments with the camera facing the upper view to simulate the viewpoint of a social robot. To cover diverse outdoor environments, the dataset was collected at varying locations, times, and weather. Furthermore, we trained an event recognition-based spoofing detection on our collected dataset and also have provided benchmarking results for several baselines. Our spoofing detection method based on MobileNetV2 yielded a spoofing detection accuracy of 96.04% and GFLOPs of 0.88. Our dataset will be open-sourced for users pursuing academic research and will be available upon request to the authors.

关键词： Heating systems Degradation Image recognition Three-dimensional displays Face recognition Social robots Robot vision systems

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Design of a High-level Teleoperation Interface Resilient to the Effects of Unreliable Robot Autonomy

Design of a High-level Teleoperation Interface Resilient to ...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Samuel S. White Keion W. Bisland Michael C. Collins Zhi Li Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

High-level control is generally preferred for the control of complex robot platforms and by users inexperienced with robot teleoperation. However, high-level teleoperation interfaces can be less effective if the robot autonomy is not reliable. To address this problem, it is important to understand how the users' preference of teleoperation interface may vary with the reliability of the robot autonomy, and understand what design features ameliorate the frustration and effort caused by unreliable *** paper proposes a graphical user interface for high-level robot control. The framework of the interface enables teleoperators to control a robot at the action level, and incorporates a simple but effective design that enables teleoperators to recover from task failure in a number of ways. We conducted a user study (N = 25) to compare the performance and user experience when using the proposed high-level interface to a low-level interface (i.e., gamepad) for robot low-level control, on a representative manipulation task. We also investigated if the high-level teleoperation interface remains effective if the reliability of robot autonomy decreases. Our results show that a high-level interface able to handle the most frequent errors is resilient to the effects of unreliable robot autonomy. Although the total task completion time increased as the robot autonomy becomes unreliable, the users' perception of workload and task performance are not affected. Through the user study, we also reveal the desirable interface features.

关键词： Teleoperators Robot control Reliability engineering User experience Task analysis Robots Graphical user interfaces

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Dynamic hypergames for synthesis of deceptive strategies with temporal logic objectives

arXiv

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arXiv 2020年

作者： Li, Lening Ma, Haoxiang Kulkarni, Abhishek N. Fu, Jie Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Faculty of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

In this paper, we study the use of deception for strategic planning in adversarial environments. We model the interaction between the agent (player 1) and the adversary (player 2) as a two-player concurrent game in which the adversary has incomplete information about the agent’s task specification in temporal logic. During the online interaction, the adversary can infer the agent’s intention from observations and adapt its strategy so as to prevent the agent from satisfying the task. To plan against such an adaptive opponent, the agent must leverage its knowledge about the adversary’s incomplete information to influence the behavior of the opponent, and thereby being deceptive. To synthesize a deceptive strategy, we introduce a class of hypergame models that capture the interaction between the agent and its adversary given asymmetric, incomplete information. A hypergame is a hierarchy of games, perceived differently by the agent and its adversary. We develop the solution concept of this class of hypergames and show that the subjectively rationalizable strategy for the agent is deceptive and maximizes the probability of satisfying the task in temporal logic. This deceptive strategy is obtained by modeling the opponent evolving perception of the interaction and integrating the opponent model into proactive planning. Following the deceptive strategy, the agent chooses actions to influence the game history as well as to manipulate the adversary’s perception so that it takes actions that benefit the goal of the agent. We demonstrate the correctness of our deceptive planning algorithm using robot motion planning examples with temporal logic objectives and design a detection mechanism to notify the agent of potential errors in modeling of the adversary’s behavior. Copyright © 2020, The Authors. All rights reserved.

关键词： Markov processes

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Modelling Companion Animals' Well-being based on Activity Recognition and Biological Rhythms Monitoring

Modelling Companion Animals' Well-being based on Activity Re...

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International Conference on Computational Science and Computational Intelligence (CSCI)

作者： Hazar Zilelioglu Ioana Ocnarescu Ghazaleh Khodabandelou Abdelghani Chibani Clément Bataille Jérôme Mlynarczyk Yacine Amirat Solène Le Bars LISSI Laboratory University of Paris Est-Créteil (UPEC) Capgemini Engineering Paris France Robotics by Design Lab Strate School of Design Paris France Frog Lab Frog Design Paris France BNP Paribas Cardif Cardif Lab Paris France Future of Healthcare Program Capgemini Engineering Paris France

Human-animal companionship is a particular relationship where the well-being of a companion animal entirely depends on their human partner's care. However, proper care of an animal companion can become challenging with aging due to autonomy loss (i.e., motor or cognitive disabilities). In this regard, this very early-stage study proposes a data collection protocol centered on pet dogs, over several days in the context of an elderly-pet relationship. The goals of this study include dog activity recognition (e.g., resting, running, eating, etc.) and behaviour modelling. In order to do so, machine learning techniques will be used and daily behaviour patterns will be modeled over several days using Markov models. This research consolidates a data base on animal behaviour while bringing insights on how to measure the well-being of animals at home.

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Game-theoretic model predictive control with data-driven identification of vehicle model for head-to-head autonomous racing

arXiv

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arXiv 2021年

作者： Jung, Chanyoung Lee, Seungwook Seong, Hyunki Finazzi, Andrea Shim, David Hyunchul School of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of KAIST Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

Resolving edge-cases in autonomous driving, head-to-head autonomous racing is getting a lot of attention from the industry and academia. In this study, we propose a game-theoretic model predictive control (MPC) approach for head-to-head autonomous racing and data-driven model identification method. For the practical estimation of nonlinear model parameters, we adopted the hyperband algorithm, which is used for neural model training in machine learning. The proposed controller comprises three modules: 1) game-based opponents’ trajectory predictor, 2) high-level race strategy planner, and 3) MPC-based low-level controller. The game-based predictor was designed to predict the future trajectories of competitors. Based on the prediction results, the high-level race strategy planner plans several behaviors to respond to various race circumstances. Finally, the MPC-based controller computes the optimal control commands to follow the trajectories. The proposed approach was validated under various racing circumstances in an official simulator of the Indy Autonomous Challenge. The experimental results show that the proposed method can effectively overtake competitors, while driving through the track as quickly as possible without collisions. © 2021, CC BY-NC-SA.

关键词： Model predictive control

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Supply Chain Sustainability in Disruption: SC Intelligence, Customer Knowledge Transfer, and the Mediating Role of IS/IT

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IEEE engineering Management Review 2025年

作者： Ratna, Silvia Saide, Saide Rater, Salya Svyazhanovna, Baizakova Saule Herzavina, Herzavina Faculty of Information Technology Department of Informatics Engineering and Department of Information Systems Banjarmasin Indonesia State Islamic University of Sultan Syarif Kasim Riau Universitas Islam Negeri Sultan Syarif Kasim Riau-UIN SUSKA Riau Department of Information Systems Faculty of Science and Technology Indonesia PRO Knowledge Indonesia Pekanbaru Indonesia Universitas Pahlawan Tuanku Tambusai Indonesia Lembaga Enreach UIN Suska Riau Indonesia Politeknik Aceh Selatan Department of Informatics Engineering Aceh Indonesia Information Communication Technologies Robotics in Arkalyk Pedagogical Institute Master of Natural Sciences Educational Program for the Informatics Computer Science Kazakhstan Universitas Pahlawan Tuanku Tambusai Department of Informatics Engineering Indonesia National Taiwan University of Science and Technology Taiwan

Knowledge resource and information system/technology (IS/IT) capability have been considered to improve firm performance, however there is still a gap regarding the sustainability of supply chain to face and recover from disruption (e.g., COVID-19). Questionnaire-based surveys was adopted and received feedback from sixty (160) Indonesian companies or about 28.07% of response rate. © 1973-2011 IEEE.

关键词： customer knowledge transfer disruption information system/technology (IS/IT) responding knowledge management resource-based view (RBV) Supply chain (SC) sustainability supply chain knowledge transfer

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engineering a Wide Range Band-Gap of Anatase TiO2 Via Easy-Controlled Solvothermal Method

SSRN

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SSRN 2024年

作者： Mulyanti, Budi Anshar, Aghisna Nuthfah Hasanah, Lilik Wulandari, Chandra Pawinanto, Roer Eka Hamidah, Ida Berhanuddin, Dilla D. Rusydi, Andrivo Study Program of Electrical Engineering Universitas Pendidikan Indonesia Jl. Dr. Setiabudhi 229 Jawa Barat Bandung40154 Indonesia TVET Research Center Universitas Pendidikan Indonesia Jl. Dr. Setiabudhi 229 Jawa Barat Bandung40154 Indonesia Study Program of Physics Universitas Pendidikan Indonesia Jl. Dr. Setiabudhi 229 Jawa Barat Bandung40154 Indonesia Study Program of Industrial Automation and Robotics Engineering Education Universitas Pendidikan Indonesia Jl. Dr..Setiabudhi 229 Jawa Barat Bandung40154 Indonesia Study Program of Automotive Engineering Education Universitas Pendidikan Indonesia Jl. Dr. Setiabudhi 229 Jawa Barat Bandung40154 Indonesia Research Complex Universiti Kebangsaan Malaysia Level 4 Selangor Bangi43600 Malaysia Department of Physics National University of Singapore 2 Science Drive 3 Singapore117542 Singapore Singapore Synchrotron Light Source National University of Singapore 5 Research Link Singapore117603 Singapore

Titanium dioxide (TiO2) is a semiconductor material with many applications, such as surface-enhanced Raman spectroscopy (SERS), photocatalysts, water treatment, and photoelectrochemicals. Controlling the properties of anatase TiO2 is typically challenging during TiO2 synthesis. Generally, achieving this control necessitates intricate conditions and processes. The solvothermal method is expected to be easier to control the formation of TiO2 with well-defined morphology and good crystallinity, hence, the band gap can be tuned well. However, there has been a lack of research on the effect of solvents in the solvothermal method of TiO2 synthesis on the optical band gap. Herewith, we report an easy-controlled solvothermal method by varying the type and composition of the solvent to modify the band gap of anatase TiO2. Interestingly, ultraviolet-visible (UV-Vis) analysis reveals an anatase TiO2 optical band gap between 1.66 to 3.60 eV, indicating that TiO2 obtained can be operated in the UV to visible light region. The solvents utilized for the titanium (IV) isopropoxide (TTIP) precursor in TiO2 synthesis are isopropanol (IPA), methanol (META), and ethanol (ETA). X-ray diffraction, Raman spectroscopy, and scanning electron microscopy show anatase TiO2 single crystalline phases synthesized by IPA and ETA solvents and the combination of polycrystalline and amorphous morphology TiO2 synthesized by META solvent. Anatase single crystalline phases are achieved for the solvent mixture with a composition ratio of IPA:ETA solvents of 1:2, 1:1, and 2:1. Our result shows that the optical band gap of single crystalline phase TiO2 can be engineered in a wide range via solvothermal method for green and sustainable material. © 2024, The Authors. All rights reserved.

关键词： Titanium dioxide

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Evaluating the Robustness of Complementary Channel Ferroelectric FETs Against Total Ionizing Dose Towards Radiation-Tolerant Embedded Nonvolatile Memory

TechRxiv

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TechRxiv 2023年

作者： Jiang, Zhouhang Guo, Zixiang Luo, Xuyi Sayed, Munazza Faris, Zubair Mulaosmanovic, Halid Duenkel, Stefan Soss, Steven Beyer, Sven Gong, Xiao Kurinec, Santosh Narayanan, Vijaykrishnan Amrouch, Hussam Zhang, Enxia Fleetwood, Daniel M. Schrimpf, Ronald D. Ni, Kai The Microsystems Engineering Ph.D. Program The Mechanical Engineering Rochester Institute of Technology RochesterNY14623 United States The Department of Electrical and Computer Engineering Vanderbilt University NashvilleTN37235 United States University of Stuttgart Stuttgart70174 Germany Germany The Munich Institute of Robotics and Machine Intelligence Arcisstrasse 21 Munich80333 Germany The GlobalFoundries Fab1 LLC Dresden Germany The Department of Electrical Computer Engineering National University of Singapore 119077 Singapore The Department of Computer Science and Engineering Penn State University University ParkPA16802 United States The Department of Electrical and Microelectric Engineering Rochester Institute of Technology RochesterNY14623 United States

In this work, a thorough assessment of the robustness of complementary channel HfO2 ferroelectric FET (FeFET) against total ionizing dose (TID) radiation is conducted, with the goal of determining its suitability for use as high-performance and energy-efficient embedded nonvolatile memory (eNVM) for space applications. We demonstrate that: i) ferroelectric HfO2 thin film is robust against X-ray and proton irradiation;ii) FeFET exhibits a polarization state dependent radiation sensitivity where the high-VTH (HVT) state sees noticeable negative VTH shift and low-VTH (LVT) is immune to irradiation, irrespective of the channel type;iii) the state dependence is ascribed to the depolarization field in the HVT, which points toward the channel and facilitates the transport and trapping of radiation-generated holes close to the channel. In the future, radiation hardening techniques need to be considered. © 2023, CC BY.

关键词： Radiation effects

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CelesTE, theomorphic device for cognitive support of older adults

CelesTE, theomorphic device for cognitive support of older a...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Gabriele Trovato Yegang Du Scean Mitchell Franco Pariasca Trevejo Rodrigo Lopez Condori Masao Katagiri Rio Obe Manishk Gawande Sarah Cosentino Mehrbod Manavi Felix Carros Rainer Wieching Innovative Global Program Shibaura Institute of Technology Tokyo Japan Future Robotics Organization Waseda University Tokyo Japan Facultad de Ciencias e Ingeniería (Faculty of Science and Engineering) Pontificia Universidad Catolica del Peru (Pontifical Catholic University of Perú PUCP) School of International Liberal Studies Waseda University Tokyo Japan International Research Center for Neurointelligence The University of Tokyo Japan University of Siegen Germany University of Siegen Germany and Fraunhofer FIT Germany

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

Healthy ageing is a challenge in societies that can be coped with the help of socially assistive robots. This study introduces CelesTE, a theomorphic device designed to support the well-being of older adults. Building upon the foundations laid by SanTO, the Catholic robot, CelesTE takes the form of an angel in prayer and aims to engage users, particularly those of the Christian Catholic faith. The paper delves into CelesTE’s conceptual evolution, addressing challenges related to religious perceptions, fallibility, and user interaction. Quantitative and qualitative feedback was collected from 14 participants across three European countries. Results indicate generally positive acceptance, although limitation were found. Negative responses are considered particularly valuable for CelesTE’s future development.

关键词： Buildings Europe Aging Assistive robots Older adults Robots

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Deep Learning Fast MRI Using Channel Attention in Magnitude Domain

Deep Learning Fast MRI Using Channel Attention in Magnitude ...

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IEEE International Symposium on Biomedical Imaging

作者： Joonhyung Lee Hyunjong Kim HyungJin Chung Jong Chul Ye Department of Bio and Brain Engineering KAIST Korea Robotics Program KAIST Korea KAIST Korea

ISBN: (数字)9781538693308

ISBN: (纸本)9781538693315

Magnetic resonance imaging (MRI) acquisition is an inherently slow process whose acceleration has been the subject of much investigation. In recent years, the explosive advance of deep learning techniques for computer vision and image reconstruction has led to the investigation of deep neural networks for the reconstruction of MRI with under-sampled k-space. In this work, we propose a new image domain architecture that directly produces a sum-of-squares image from under-sampled multi-coil MRI acquisition. This model, called BarbellNet, is a fully convolutional neural network architecture that utilizes the channel attention mechanism using the residual channel attention block (RCAB). Through extensive experiments with the fastMRI data set, we confirm the efficacy of BarbellNet.

关键词： Training Magnetic resonance imaging Image reconstruction Machine learning Measurement Acceleration Feature extraction

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