Autonomous Robots for Services-State of the Art, Challenges, and Research Areas

It has been almost half a century since the first interest in autonomous robots was shown, and research is still continuing to improve their ability to make perfectly conscious decisions from a user safety point of view. These autonomous robots are now at a fairly advanced level, which means that their adoption rate in social environments is also increasing. This article reviews the current state of development of this technology and highlights the evolution of interest in it. We analyze and discuss specific areas of its use, for example, its functionality and current level of development. Finally, challenges related to the current level of research and new methods that are still being developed for the wider adoption of these autonomous robots are highlighted.

Reinforcement-Learning-Based Robust Resource Management for Multi-Radio Systems

The advent of the Internet of Things (IoT) has triggered an increased demand for sensing devices with multiple integrated wireless transceivers. These platforms often support the advantageous use of multiple radio technologies to exploit their differing characteristics. Intelligent radio selection techniques allow these systems to become highly adaptive, ensuring more robust and reliable communications under dynamic channel conditions. In this paper, we focus on the wireless links between devices equipped by deployed operating personnel and intermediary access-point infrastructure. We use multi-radio platforms and wireless devices with multiple and diverse transceiver technologies to produce robust and reliable links through the adaptive control of available transceivers. In this work, the term 'robust' refers to communications that can be maintained despite changes in the environmental and radio conditions, i.e., during periods of interference caused by non-cooperative actors or multi-path or fading conditions in the physical environment. In this paper, a multi-objective reinforcement learning (MORL) framework is applied to address a multi-radio selection and power control problem. We propose independent reward functions to manage the trade-off between the conflicting objectives of minimised power consumption and maximised bit rate. We also adopt an adaptive exploration strategy for learning a robust behaviour policy and compare its online performance to conventional methods. An extension to the multi-objective state-action-reward-state-action (SARSA) algorithm is proposed to implement this adaptive exploration strategy. When applying adaptive exploration to the extended multi-objective SARSA algorithm, we achieve a 20% increase in the F1 score in comparison to one with decayed exploration policies.

Nanoenabled Trainable Systems: From Biointerfaces to Biomimetics

In the dynamic biological system, cells and tissues adapt to diverse environmental conditions and form memories, an essential aspect of training for survival and evolution. An understanding of the biological training principles will inform the design of biomimetic materials whose properties evolve with the environment and offer routes to programmable soft materials, neuromorphic computing, living materials, and biohybrid robotics. In this perspective, we examine the mechanisms by which cells are trained by environmental cues. We outline the artificial platforms that enable biological training and examine the relationship between biological training and biomimetic materials design. We place emphasis on nanoscale material platforms which, given their applicability to chemical, mechanical and electrical stimulation, are critical to bridging natural and synthetic systems.

Emotion-Driven Analysis and Control of Human-Robot Interactions in Collaborative Applications

The utilization of robotic systems has been increasing in the last decade. This increase has been derived by the evolvement in the computational capabilities, communication systems, and the information systems of the manufacturing systems which is reflected in the concept of Industry 4.0. Furthermore, the robotics systems are continuously required to address new challenges in the industrial and manufacturing domain, like keeping humans in the loop, among other challenges. Briefly, the keeping humans in the loop concept focuses on closing the gap between humans and machines by introducing a safe and trustworthy environment for the human workers to work side by side with robots and machines. It aims at increasing the engagement of the human as the automation level increases rather than replacing the human, which can be nearly impossible in some applications. Consequently, the collaborative robots (Cobots) have been created to allow physical interaction with the human worker. However, these cobots still lack of recognizing the human emotional state. In this regard, this paper presents an approach for adapting cobot parameters to the emotional state of the human worker. The approach utilizes the Electroencephalography (EEG) technology for digitizing and understanding the human emotional state. Afterwards, the parameters of the cobot are instantly adjusted to keep the human emotional state in a desirable range which increases the confidence and the trust between the human and the cobot. In addition, the paper includes a review on technologies and methods for emotional sensing and recognition. Finally, this approach is tested on an ABB YuMi cobot with commercially available EEG headset.

Triple Stiffness: A Bioinspired Strategy to Combine Load-Bearing, Durability, and Impact-Resistance

Structures with variable stiffness have received increasing attention in the fields of robotics, aerospace, structural, and biomedical engineering. This is because they not only adapt to applied loads, but can also combine mutually exclusive properties. Here inspired by insect wings, the concept of "triple stiffness" is introduced and applied to engineering systems that exhibit three distinct deformability regimes. By implementing "flexible joints," "mechanical stoppers," and "buckling zones," structures are engineered to be not only load-bearing and durable, but also impact-resistant. To practice the performance of the design concept in real-life applications, the developed structures are integrated into 3D printed airplane wing models that withstood collisions without failure. The concept developed here opens new avenues for the development of structural elements that are load-bearing, durable, and impact-resistant at the same time.

A Cyber-Physical-Human System for One-to-Many UAS Operations: Cognitive Load Analysis

The continuing development of avionics for Unmanned Aircraft Systems (UASs) is introducing higher levels of intelligence and autonomy both in the flight vehicle and in the ground mission control, allowing new promising operational concepts to emerge. One-to-Many (OTM) UAS operations is one such concept and its implementation will require significant advances in several areas, particularly in the field of Human-Machine Interfaces and Interactions (HMI2). Measuring cognitive load during OTM operations, in particular Mental Workload (MWL), is desirable as it can relieve some of the negative effects of increased automation by providing the ability to dynamically optimize avionics HMI2 to achieve an optimal sharing of tasks between the autonomous flight vehicles and the human operator. The novel Cognitive Human Machine System (CHMS) proposed in this paper is a Cyber-Physical Human (CPH) system that exploits the recent technological developments of affordable physiological sensors. This system focuses on physiological sensing and Artificial Intelligence (AI) techniques that can support a dynamic adaptation of the HMI2 in response to the operators' cognitive state (including MWL), external/environmental conditions and mission success criteria. However, significant research gaps still exist, one of which relates to a universally valid method for determining MWL that can be applied to UAS operational scenarios. As such, in this paper we present results from a study on measuring MWL on five participants in an OTM UAS wildfire detection scenario, using Electroencephalogram (EEG) and eye tracking measurements. These physiological data are compared with a subjective measure and a task index collected from mission-specific data, which serves as an objective task performance measure. The results show statistically significant differences for all measures including the subjective, performance and physiological measures performed on the various mission phases. Additionally, a good correlation is found between the two physiological measurements and the task index. Fusing the physiological data and correlating with the task index gave the highest correlation coefficient (CC = 0.726 ± 0.14) across all participants. This demonstrates how fusing different physiological measurements can provide a more accurate representation of the operators' MWL, whilst also allowing for increased integrity and reliability of the system.

A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control

In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive units that specialize in a local sensorimotor map. Different from traditional estimation algorithms, the proposed method requires little data to train and constrain it (the number of required data points can be analytically determined) and has rigorous stability properties (the conditions to satisfy Lyapunov stability are derived). Numerical simulations and experimental results are presented to validate the proposed method.

Personalized Tracking of Physical Activity in Children Using a Wearable Heart Rate Monitor

Serious games are video games that are intended to support learning while entertaining. They are considered valuable tools to improve user-specific skills or facilitate educational or therapeutic processes, especially in children. One of the disadvantages of computer games, in general, is their promotion of sedentary habits, considered as a significant risk factor for developing diseases such as obesity and hypertension. Exergames are serious games created to overcome the disadvantages of traditional computer games by promoting physical activity while playing. This study describes the development and evaluation of an adaptive component to monitor physical activity in children while using an exergame. The system is based on wearable technology to measure heart rate and perform real-time customizations in the exergame. To evaluate the adaptive component, an experiment was conducted with 30 children between 5 and 7 years of age, where the adaptive system was contrasted with a conventional interactive system (an exergame without adaptive component). It was demonstrated that the computer game, using the adaptive component, was able to change in real-time some of its functionalities based on the user characteristics. Increased levels of heart rate and caloric expenditure were significant in some of the game scenarios using the adaptive component. Although a formal user experience evaluation was not performed, excellent game playability and adherence by users were observed.

The last Talmudic demon? The role of ritual in cultural transmission

Recent work on the evolution of religion has approached religions as adaptive complexes of traits consisting of cognitive, neurological, affective, behavioural and developmental features that are organized into a self-regulating feedback system. Religious systems, it has been argued, derive from ancestral ritual systems and continue to be fuelled by ritual performances. One key prediction that emerges from this systemic approach is that the success of religious beliefs will be related to how well they are connected to rituals and integrated with other elements of the religious system. Here, I examine this prediction by exploring the rich world of Jewish demonology. As a case study, I briefly survey the historical trajectory of demonic beliefs across Jewish communities and focus on one demon, a ruach ra'ah, that has survived the vicissitudes of Jewish history and maintained its relevance in contemporary Jewish communities. I argue that it has done so because of its linkage with a morning handwashing ritual and its effective integration into the core elements of Jewish religious systems. This article is part of the theme issue 'Ritual renaissance: new insights into the most human of behaviours'.

The Personalization of Conversational Agents in Health Care: Systematic Review

BACKGROUND

The personalization of conversational agents with natural language user interfaces is seeing increasing use in health care applications, shaping the content, structure, or purpose of the dialogue between humans and conversational agents.

OBJECTIVE

The goal of this systematic review was to understand the ways in which personalization has been used with conversational agents in health care and characterize the methods of its implementation.

METHODS

We searched on PubMed, Embase, CINAHL, PsycInfo, and ACM Digital Library using a predefined search strategy. The studies were included if they: (1) were primary research studies that focused on consumers, caregivers, or health care professionals; (2) involved a conversational agent with an unconstrained natural language interface; (3) tested the system with human subjects; and (4) implemented personalization features.

RESULTS

The search found 1958 publications. After abstract and full-text screening, 13 studies were included in the review. Common examples of personalized content included feedback, daily health reports, alerts, warnings, and recommendations. The personalization features were implemented without a theoretical framework of customization and with limited evaluation of its impact. While conversational agents with personalization features were reported to improve user satisfaction, user engagement and dialogue quality, the role of personalization in improving health outcomes was not assessed directly.

CONCLUSIONS

Most of the studies in our review implemented the personalization features without theoretical or evidence-based support for them and did not leverage the recent developments in other domains of personalization. Future research could incorporate personalization as a distinct design factor with a more careful consideration of its impact on health outcomes and its implications on patient safety, privacy, and decision-making.

False Data Detection for Fog and Internet of Things Networks

The Internet of Things (IoT) context brings new security issues due to billions of smart end-devices both interconnected in wireless networks and connected to the Internet by using different technologies. In this paper, we propose an attack-detection method, named Data Intrusion Detection System (DataIDS), based on real-time data analysis. As end devices are mainly resource constrained, Fog Computing (FC) is introduced to implement the DataIDS. FC increases storage, computation capabilities, and processing capabilities, allowing it to detect promptly an attack with respect to security solutions on the Cloud. This paper also considers an attack tree to model threats and vulnerabilities of Fog/IoT scenarios with heterogeneous devices and suggests countermeasure costs. We verify the performance of the proposed DataIDS, implementing a testbed with several devices that measure different physical quantities and by using standard data-gathering protocols.

Technologies for Monitoring Lifestyle Habits Related to Brain Health: A Systematic Review

Brain health refers to the preservation of brain integrity and function optimized for an individual’s biological age. Several studies have demonstrated that our lifestyles habits impact our brain health and our cognitive and mental wellbeing. Monitoring such lifestyles is thus critical and mobile technologies are essential to enable such a goal. Three databases were selected to carry out the search. Then, a PRISMA and PICOTS based criteria for a more detailed review on the basis of monitoring lifestyle aspects were used to filter the publications. We identified 133 publications after removing duplicates. Fifteen were finally selected from our criteria. Many studies still use questionnaires as the only tool for monitoring and do not apply advanced analytic or AI approaches to fine-tune results. We anticipate a transformative boom in the near future developing and implementing solutions that are able to integrate, in a flexible and adaptable way, data from technologies and devices that users might already use. This will enable continuous monitoring of objective data to guide the personalized definition of lifestyle goals and data-driven coaching to offer the necessary support to ensure adherence and satisfaction.

Computing Pressure-Deformation Maps for Braided Continuum Robots

This paper presents a method for computing sensorimotor maps of braided continuum robots driven by pneumatic actuators. The method automatically creates a lattice-like representation of the sensorimotor map that preserves the topology of the input space by arranging its nodes into clusters of related data. Deformation trajectories can be simply represented with adjacent nodes whose values smoothly change along the lattice curve; this facilitates the computation of controls and the prediction of deformations in systems with unknown mechanical properties. The proposed model has an adaptive structure that can recalibrate to cope with changes in the mechanism or actuators. An experimental study with a robotic prototype is conducted to validate the proposed method.

Serendipitous Offline Learning in a Neuromorphic Robot

We demonstrate a hybrid neuromorphic learning paradigm that learns complex sensorimotor mappings based on a small set of hard-coded reflex behaviors. A mobile robot is first controlled by a basic set of reflexive hand-designed behaviors. All sensor data is provided via a spike-based silicon retina camera (eDVS), and all control is implemented via spiking neurons simulated on neuromorphic hardware (SpiNNaker). Given this control system, the robot is capable of simple obstacle avoidance and random exploration. To train the robot to perform more complex tasks, we observe the robot and find instances where the robot accidentally performs the desired action. Data recorded from the robot during these times is then used to update the neural control system, increasing the likelihood of the robot performing that task in the future, given a similar sensor state. As an example application of this general-purpose method of training, we demonstrate the robot learning to respond to novel sensory stimuli (a mirror) by turning right if it is present at an intersection, and otherwise turning left. In general, this system can learn arbitrary relations between sensory input and motor behavior.

Serendipity: A Delightful Surprise that Requires Insight

Since serendipity is the focus of this column, its definition is explored first. Then, qualitative and quantitative research methodologies are compared as to how they handle such unexpected findings. Next, the nature of complex adaptive systems is discussed. Here it is suggested that modifications to extant quantitative methodologies, including the incorporation of serendipitous findings, are requisite to explain the nature of dynamic ever-evolving systems.

Secure cooperation of autonomous mobile sensors using an underwater acoustic network

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.