| 1. |
- Coradeschi, Silvia, 1968-, et al.
(författare)
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GiraffPlus : combining social interaction and long term monitoring for promoting independent living
- 2013
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Ingår i: 2013 6TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTIONS (HSI). - New York : IEEE. - 9781467356374 - 9781467356350 ; , s. 578-585
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Konferensbidrag (refereegranskat)abstract
- Early detection and adaptive support to changing individual needs related to ageing is an important challenge in today’s society. In this paper we present a system called GiraffPlus that aims at addressing such a challenge and is developed in an on-going European project. The system consists of a network of home sensors that can be automatically configured to collect data for a range of monitoring services; a semi-autonomous telepresence robot; a sophisticated context recognition system that can give high-level and long term interpretations of the collected data and respond to certain events; and personalized services delivered through adaptive user interfaces for primary users. The system performs a range of services including data collection and analysis of long term trends in behaviors and physiological parameters (e.g. relating to sleep or daily activity); warnings, alarms and reminders; and social interaction through the telepresence robot. The latter is based on the Giraff telepresence robot, which is already in place in a number of homes. Particular emphasis is put on user evaluation outside the laboratories. A distinctive aspect of the project is that the GiraffPlus system will be installed and evaluated in at least 15 homes of elderly people. The concept of “useworthiness” is central in order to assure that the GiraffPlus system provides services that are easy to use and worth using. In addition, by using existing and affordable components we strive to achieve a system that is affordable and close to commercialization.
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| 2. |
- Palumbo, Filippo, et al.
(författare)
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Sensor Network Infrastructure for a Home Care Monitoring System
- 2014
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Ingår i: Sensors. - Basel : MDPI AG. - 1424-8220. ; 14:3, s. 3833-3860
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents the sensor network infrastructure for a home care system that allows long-term monitoring of physiological data and everyday activities. The aim of the proposed system is to allow the elderly to live longer in their home without compromising safety and ensuring the detection of health problems. The system offers the possibility of a virtual visit via a teleoperated robot. During the visit, physiological data and activities occurring during a period of time can be discussed. These data are collected from physiological sensors (e.g., temperature, blood pressure, glucose) and environmental sensors (e.g., motion, bed/chair occupancy, electrical usage). The system can also give alarms if sudden problems occur, like a fall, and warnings based on more long-term trends, such as the deterioration of health being detected. It has been implemented and tested in a test environment and has been deployed in six real homes for a year-long evaluation. The key contribution of the paper is the presentation of an implemented system for ambient assisted living (AAL) tested in a real environment, combining the acquisition of sensor data, a flexible and adaptable middleware compliant with the OSGistandard and a context recognition application. The system has been developed in a European project called GiraffPlus.
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| 3. |
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| 4. |
- Coradeschi, Silvia, 1968-
(författare)
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Anchoring symbols to sensory data
- 1999
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Intelligent agents embedded in physical environments need the ability to connect, or anchor, the symbols used to perform abstract reasoning to the physical entities which these symbols refer to. Anchoring must deal with indexical and objective references, definite and indefinite identifiers, and a temporary impossibility to perceive physical entities. Furthermore it needs to rely on sensor data which is inherently affected by uncertainty, and to deal with ambiguities. In this thesis, we outline the concept of anchoring and its functionalities. Moreover we define the general structure for an anchoring module and we present an implementation of the anchoring functionalities in two different domains: an autonomous airborne vehicle for traffic surveillance and a mobile ground vehicle performing navigation.
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| 5. |
- Coradeschi, Silvia, 1968-, et al.
(författare)
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A short review of symbol grounding in robotic and intelligent systems
- 2013
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Ingår i: Künstliche Intelligenz. - : Springer Science and Business Media LLC. - 0933-1875 .- 1610-1987. ; 27:2, s. 129-136
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Forskningsöversikt (refereegranskat)abstract
- This paper gives an overview of the research papers published in Symbol Grounding in the period from the beginning of the 21st century up 2012. The focus is in the use of symbol grounding for robotics and intelligent system. The review covers a number of subtopics, that include, physical symbol grounding, social symbol grounding, symbol grounding for vision systems, anchoring in robotic systems, and learning symbol grounding in software systems and robotics. This review is published in conjunction with a special issue on Symbol Grounding in the Künstliche Intelligenz Journal.
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| 6. |
- Coradeschi, Silvia, 1968-, et al.
(författare)
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Social robotic telepresence
- 2011
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Ingår i: the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2011).HRI. - New York, NY, USA : ACM Digital Library. - 9781450305617 ; , s. 5-6
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Konferensbidrag (refereegranskat)
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| 7. |
- Daoutis, Marios, 1984-, et al.
(författare)
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Cooperative knowledge based perceptual anchoring
- 2012
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Ingår i: International journal on artificial intelligence tools. - : World Scientific. - 0218-2130. ; 21:3
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Tidskriftsartikel (refereegranskat)abstract
- In settings where heterogenous robotic systems interact with humans, information from the environment must be systematically captured, organized and maintained in time. In this work, we propose a model for connecting perceptual information to semantic information in a multi-agent setting. In particular, we present semantic cooperative perceptual anchoring, that captures collectively acquired perceptual information and connects it to semantically expressed commonsense knowledge. We describe how we implemented the proposed model in a smart environment, using different modern perceptual and knowledge representation techniques. We present the results of the systemand investigate different scenarios in which we use the common sense together with perceptual knowledge, for communication, reasoning and exchange of information.
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| 8. |
- Daoutis, Marios, 1984-, et al.
(författare)
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Integrating common sense in physically embedded intelligent systems
- 2009
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Ingår i: Intelligent environments 2009. - Amsterdam : IOS Press. - 9781607500346 ; , s. 212-219
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Konferensbidrag (refereegranskat)abstract
- In this paper we describe an implemented framework that integrates knowledge representation and reasoning in a symbiotic system. In such systems a number of heterogeneous sensors pervasively embedded in the environment, mobile robots and humans co-exist and communicate. In this work, the integration is mediated through perceptual anchoring, which creates and maintains the correspondences between the symbol system and the perceptual data that refer to the same physical object. The overall framework is evaluated using ResearchCyc as the knowledge representation and reasoning system, within the context of a physical testbed, which consists of a small apartment-like home.
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| 9. |
- Daoutis, Marios, 1984-, et al.
(författare)
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Towards concept anchoring for cognitive robots
- 2012
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Ingår i: Intelligent Service Robotics. - : Springer Berlin/Heidelberg. - 1861-2784 .- 1861-2776. ; 5:4, s. 213-228
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Tidskriftsartikel (refereegranskat)abstract
- We present a model for anchoring categorical conceptual information which originates from physical perception and the web. The model is an extension of the anchoring framework which is used to create and maintain over time semantically grounded sensor information. Using the augmented anchoring framework that employs complex symbolic knowledge from a commonsense knowledge base, we attempt to ground and integrate symbolic and perceptual data that are available on the web. We introduce conceptual anchors which are representations of general, concrete conceptual terms. We show in an example scenario how conceptual anchors can be coherently integrated with perceptual anchors and commonsense information for the acquisition of novel concepts.
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| 10. |
- Kiselev, Andrey, 1982-, et al.
(författare)
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Evaluation of using semi-autonomy features in mobile robotic telepresence systems
- 2015
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Ingår i: Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015. - New York, USA : IEEE conference proceedings. - 9781467373388 ; , s. 147-152
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Konferensbidrag (refereegranskat)abstract
- Mobile robotic telepresence systems used for social interaction scenarios require that users steer robots in a remote environment. As a consequence, a heavy workload can be put on users if they are unfamiliar with using robotic telepresence units. One way to lessen this workload is to automate certain operations performed during a telepresence session in order to assist remote drivers in navigating the robot in new environments. Such operations include autonomous robot localization and navigation to certain points in the home and automatic docking of the robot to the charging station. In this paper we describe the implementation of such autonomous features along with user evaluation study. The evaluation scenario is focused on the first experience on using the system by novice users. Importantly, that the scenario taken in this study assumed that participants have as little as possible prior information about the system. Four different use-cases were identified from the user behaviour analysis.
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| 11. |
- Kristoffersson, Annica, 1980-, et al.
(författare)
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A review of mobile robotic telepresence
- 2013
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Ingår i: Advances in Human-Computer Interaction. - : Hindawi Limited. - 1687-5893 .- 1687-5907. ; 2013, s. 902316-
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Forskningsöversikt (refereegranskat)abstract
- Mobile Robotic Telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly and office environments. In this review, an overview of the various systems, application areas and challenges found in literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this review provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.
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| 12. |
- Kristoffersson, Annica, 1980-, et al.
(författare)
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Assessment of interaction quality in mobile robotic telepresence : an elderly perspective
- 2014
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Ingår i: Interaction Studies. - : John Benjamins Publishing Company. - 1572-0373 .- 1572-0381. ; 15:2, s. 343-357
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we focus on spatial formations when interacting via mobile robotic telepresence (MRP) systems. Previous research has found that those who used a MRP system to make a remote visit (pilot users) tended to use different spatial formations from what is typical in human-human interaction. In this paper, we present the results of a study where a pilot user interacted with ten elderly via a MRP system. Intentional deviations from known accepted spatial formations were made in order to study their effect on interaction quality from the local user perspective. Using a retrospective interviews technique, the elderly commented on the interaction and confirmed the importance of adhering to acceptable spatial configurations. The results show that there is a mismatch between pilot user behaviour and local user preference and that it is important to evaluate a MRP system from two perspectives, the pilot user’s and the local user’s.
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| 13. |
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| 14. |
- Kristoffersson, Annica, 1980-, et al.
(författare)
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User-centered evaluation of robotic telepresence for an elderly population
- 2010
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Konferensbidrag (refereegranskat)abstract
- The goal of our studies is to iteratively refine prototypes of the robot by involving end users in development cycles of the prototype throughout the project. The evaluations will be conducted with the aim of maximizing usability across geographic, demographic and cultural boundaries, as well as diverse home environments and user preferences and attitudes. The project ExCITE focuses on end users’ perspectives when using a robotic telepresence platform, the Giraff. The Giraff system consists of a tiltable screen and web camera mounted on a moveable robotic base that can be teleoperated. Our application area is elder care. We motivate the use of telepresence in elder care as a way to ensure safety, facilitate independent living and enhance social interaction.
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| 15. |
- Loutfi, Amy, 1978-, et al.
(författare)
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Electronic noses for food quality : a review
- 2015
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Ingår i: Journal of Food Engineering. - : Elsevier. - 0260-8774 .- 1873-5770. ; 144, s. 103-111
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Forskningsöversikt (refereegranskat)abstract
- This paper provides a review of the most recent works in electronic noses used in the food industry. Focus is placed on the applications within food quality monitoring that is, meat, milk, fish, tea, coffee and wines. This paper demonstrates that there is a strong commonality between the different application area in terms of the sensors used and the data processing algorithms applied. Further, this paper provides a critical outlook on the developments needed in this field for transitioning from research platforms to industrial instruments applied in real contexts.
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| 16. |
- Loutfi, Amy, et al.
(författare)
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Odor Recognition for Intelligent Systems
- 2008
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Ingår i: IEEE Intelligent Systems. - Los Alamitos, CA : IEEE Computer Society. - 1541-1672. ; 23:1, s. 41-48
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Tidskriftsartikel (refereegranskat)abstract
- An electronic nose is an intelligent sensing device that uses a gas sensor array of partial and overlapping selectivity along with a pattern-recognition component to distinguish between simple and complex odors. To date, researchers have used e-noses in many applications and domains, from the food industry to medical diagnosis. A next stage in e-nose development is to introduce artificial olfaction into integrated systems, so e-noses can work with other sensors on more complex platforms, such as on mobile robots or in intelligent environments. Here, the authors offer an overview of the more critical challenges in integrating this important sense into intelligent systems. They also discuss Pippi, a mobile robot that uses different sensing modalities (visual, sonar, tactile, and e-nose sensors) along with high-level processes (planners and symbolic reasoning) to accomplish several olfactory-related tasks.
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| 17. |
- Loutfi, Amy, 1978-, et al.
(författare)
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Using e-noses for environmental monitoring
- 2009
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Ingår i: Proc. 12<sup>th</sup> EuCheMS International Conference on Chemistry and the Environment, June 14-17, Stockholm. ; , s. 46-
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Konferensbidrag (refereegranskat)
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| 18. |
- Loutfi, Amy, et al.
(författare)
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Using Knowledge Representation for Perceptual Anchoring in a Robotic System
- 2008
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Ingår i: International Journal on Artificial Intelligence Tools. - 0218-2130. ; 17:5, s. 925-944
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Tidskriftsartikel (refereegranskat)abstract
- In this work we introduce symbolic knowledge representation and reasoning capabilities to enrich perceptual anchoring. The idea that encompasses perceptual anchoring is the creation and maintenance of a connection between the symbolic and perceptual description that refer to the same object in the environment. In this work we further extend the symbolic layer by combining a knowledge representation and reasoning (KRR) system with the anchoring module to exploit a knowledge inference mechanisms. We implemented a prototype of this novel approach to explore through initial experimentation the advantages of integrating a symbolic knowledge system to the anchoring framework in the context of an intelligent home. Our results show that using the KRR we are better able to cope with ambiguities in the anchoring module through exploitation of human robot interaction.
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| 19. |
- Längkvist, Martin, 1983-, et al.
(författare)
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Fast Classification of Meat Spoilage Markers Using Nanostructured ZnO Thin Films and Unsupervised Feature Learning
- 2013
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Ingår i: Sensors. - : MDPI AG. - 1424-8220. ; 13:2, s. 1578-1592
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Tidskriftsartikel (refereegranskat)abstract
- This paper investigates a rapid and accurate detection system for spoilage in meat. We use unsupervised feature learning techniques (stacked restricted Boltzmann machines and auto-encoders) that consider only the transient response from undoped zinc oxide, manganese-doped zinc oxide, and fluorine-doped zinc oxide in order to classify three categories: the type of thin film that is used, the type of gas, and the approximate ppm-level of the gas. These models mainly offer the advantage that features are learned from data instead of being hand-designed. We compare our results to a feature-based approach using samples with various ppm level of ethanol and trimethylamine (TMA) that are good markers for meat spoilage. The result is that deep networks give a better and faster classification than the feature-based approach, and we thus conclude that the fine-tuning of our deep models are more efficient for this kind of multi-label classification task.
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| 20. |
- Persson, Andreas, 1980-, et al.
(författare)
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I would like some food : anchoring objects to semantic web informationin human-robot dialogue interactions
- 2013
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Ingår i: Social Robotics. - Cham : Springer. - 9783319026749 - 9783319026756 ; , s. 361-370
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Konferensbidrag (refereegranskat)abstract
- Ubiquitous robotic systems present a number of interesting application areas for socially assistive robots that aim to improve quality of life. In particular the combination of smart home environments and relatively inexpensive robots can be a viable technological solutions for assisting elderly and persons with disability in their own home. Such services require an easy interface like spoken dialogue and the ability to refer to physical objects using semantic terms. This paper presents an implemented system combining a robot and a sensor network deployed in a test apartment in an elderly residence area. The paper focuses on the creation and maintenance (anchoring) of the connection between the semantic information present in the dialogue with perceived physical objects in the home. Semantic knowledge about concepts and their correlations are retrieved from on-line resources and ontologies, e.g. WordNet, and sensor information is provided by cameras distributed in the apartment.
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| 21. |
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| 22. |
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| 23. |
- Trincavelli, Marco, 1978-, et al.
(författare)
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Classification of odours for mobile robots using an ensemble of linear classifiers
- 2009
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Ingår i: Olfaction and electronic nose. - : American Institute of Physics (AIP). - 9780735406742 ; , s. 475-478
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Konferensbidrag (refereegranskat)abstract
- This paper investigates the classification of odours using an electronic nose mounted on a mobile robot. The samples are collected as the robot explores the environment. Under such conditions, the sensor response differs from typical three phase sampling processes. In this paper, we focus particularly on the classification problem and how it is influenced by the movement of the robot. To cope with these influences, an algorithm consisting of an ensemble of classifiers is resented. Experimental results show that this algorithm increases classification performance compared to other traditional classification methods.
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| 24. |
- Trincavelli, Marco, 1981-, et al.
(författare)
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Towards environmental monitoring with mobile robots
- 2008
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Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. - New York, NY, USA : IEEE. - 9781424420575 ; , s. 2210-2215
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Konferensbidrag (refereegranskat)abstract
- In this paper we present initial experiments towards environmental monitoring with a mobile platform. A prototype of a pollution monitoring robot was set up which measures the gas distribution using an “electronic nose” and provides three dimensional wind measurements using an ultrasonic anemometer. We describe the design of the robot and the experimental setup used to run trials under varying environmental conditions. We then present the results of the gas distribution mapping. The trials which were carried out in three uncontrolled environments with very different properties:an enclosed indoor area, a part of a long corridor with open ends and a high ceiling, and an outdoor scenario are presented and discussed.
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| 25. |
- Ullberg, Jonas, 1981-, et al.
(författare)
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On-line ADL recognition with prior knowledge
- 2010
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Ingår i: STAIRS 2010. - Amsterdam : IOS Press. - 9781607506751 ; , s. 354-366
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Konferensbidrag (refereegranskat)abstract
- This paper addresses the problem of recognizing activities of daily living. The novelty lies in the use of an existing knowledge base (ConceptNet) to introduce prior knowledge into the system in order to reduce the amount of learning required to deploy the system in a real environment. The use of household objects is central in the recognition of activities that are being performed, and we attach semantic meaning to both the objects and activities that are being recognized. The paper describes a framework which is specifically geared towards realizing activity recognition systems which leverage prior knowledge. A preliminary implementation of a neural network based recognition system built on this framework is shown, and the added value of prior knowledge is evaluated through the use of various data sets.
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