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- Kondyli, Vasiliki, 1989-
(författare)
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Behavioural Principles for the Design of Human-Centred Cognitive Technologies : The Case of Visuo-Locomotive Experience
- 2023
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The successful application, usability, and social emancipation of AI technologies necessitates that the design and implementation of technical systems be founded on human-centred principles, be it cognitive or behavioural, social, ethical etc. Towards this objective, this thesis develops an interdisciplinary methodology for embedding cognitive behavioural principles in the design and development of next-generation human-centred AI technologies that aim to assist and empower humans in everyday life.The interdisciplinary methodology developed in this research categorically focusses on two key aspects pertaining to human-centred technology design and engineering: (1) human behavioural precedents; and (2) cognitively founded representational and computational modalities:Human behavioural precedents are established by systematically analysing human visuo-locomotive experience during everyday activities involving (embodied) multimodal interactions. We conduct naturalistic behavioural experiments focusing on aspects of visual perception (e.g., inattention blindness) and spatial cognition (e.g., orientation, navigation) in diverse settings of everyday mobility. As specific -in-the-wild- experimental contexts, we focus on behavioural aspects involved in everyday (human) navigation and driving.Representational and computational modalities are developed based on cognitively-driven articulation of behavioural precedents. Particularly, a cognitive model of visuospatial complexity for grounding embodied multimodal interactions is developed by incorporating behavioural precedents pertaining to representations of space, motion, and interaction. Furthermore, precedents concerning human preferences are used as a basis for semantically-driven computational synthesis (e.g. in the generation and manipulation of spatial morphologies), and in the articulation of human-centred evaluation and standardisation of AI systems.As case studies we demonstrate the developed methodology in the backdrop of two application domains: (a) design assistance technologies, and (b) autonomous driving. More broadly, this thesis emphasises the need for embedding ecologically valid behavioural knowledge within the development of "human-centred" technologies. Furthermore, this research paves the way for the development of systems that understand, interpret and anticipate human behaviour under ecologically valid naturalistic circumstances.
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| 2. |
- Dandan, Kinan, 1976-
(författare)
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Enabling Surface Cleaning Robot for Large Food Silo
- 2019
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Working conditions in the dry cleaning and sanitation of confined interior spaces are often extreme, and workers need overall protection with tight clothing, helmets, face mask, earmuffs, and respirators. The environment is dirty, noisy with bad visibility and heavy with a high static work load. Dry cleaning is mainly practised in silos for grain, foodstuff and flour, etc. The inside of the silo is a hazardous environment due to many factors such as an unsafe oxygen level, engulfment, biological, mechanical, electrical, and atmospheric hazards. The requirements of the EU norms related to hygiene and food quality indicate that silos should be cleaned frequently and cleaning is obligatory after a silo is totally emptied. Therefore, there is an increased societal need for silo cleaning and a natural necessity to replace humans by robot manipulators in executing this risky and dangerous job.This thesis presents a new concept of a flexible crawling mechanism for an industrial food cleaning robot, which is evaluated from the viewpoint of the capability to work inside a large food silo, scanning the desired surface, and performing the cleaning task. The main research questions investigated in this thesis are about: how to select the most important characteristics in designing a robot to fulfil the surface cleaning operation of a large confined space; how the crawling movement affects the dynamic behaviour of the robot mechanism; how the cleaning process affects the dynamic behaviour of the robot mechanism; how to develop the control of the robot to realize the locomotion and the cleaning process.The structure of the robot and the cleaning technology are well defined after an overview of the existing technologies and solutions for cleaning large confined spaces. The robot design is based on a suspension and crawling system, using minimal actuators, where the force of gravity is well used to simplify the control system and to stabilise the robot. Further, the static and dynamic analysis of the mechanical system is studied. In addition, the control architecture of the system is performed, where the required sensors and control algorithm are given. A scale model testing has also been used to verify the locomotion of the concept, while simple controllers and algorithms are used to manage the motions of the prototype.
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