The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

Socially assistive robotic platforms are now a realistic option for the long-term care of ageing populations. Elderly users may benefit from many services provided by robots operating in different environments, such as providing assistance inside apartments, serving in shared facilities of buildings or guiding people outdoors. In this paper, we present the experience gained within the EU FP7 ROBOT-ERA project towards the objective of implementing easy-to-use and acceptable service robotic system for the elderly. In particular, we detail the user-centred design and the experimental evaluation in realistic environments of a web-based multi-modal user interface tailored for elderly users of near future multi-robot services. Experimental results demonstrate positive evaluation of usability and willingness to use by elderly users, especially those less experienced with technological devices who could benefit more from the adoption of robotic services. Further analyses showed how multi-modal modes of interaction support more flexible and natural elderly–robot interaction, make clear the benefits for the users and, therefore, increase its acceptability. Finally, we provide insights and lessons learned from the extensive experimentation, which, to the best of our knowledge, is one of the largest experimentation of a multi-robot multi-service system so far.     

Tissue-level segmentation and tracking of cells in growing plant roots

With the spread of systems approaches to biological research, there is increasing demand for methods and tools capable of extracting quantitative measurements of biological samples from individual and time-based sequences of microscope images. To this end, we have developed a software tool for tissue level segmentation and automatic tracking of a network of cells in confocal images of the roots of the model plant Arabidopsis thaliana. The tool implements a novel hybrid technique, which is a combination of the recently developed Network Snakes technique and MCMC-based particle filters and incorporates automatic initialisation of the network snakes. A novel method of evaluation of network-structured multi-target tracking is also presented, and is used to evaluate the developed tracking framework for accuracy and robustness against several timelapse sequences of Arabidopsis roots. Evaluation results are presented, along with a comparison between the results of the component techniques and the hybrid approach. The results show that the hybrid approach performed consistently well at all levels of complexity and better than the component methods alone.     

Computing planar swept polygons under translation

A translational sweep is the translating of a polygon, called the generatrix G, around another polygon, called the directrix D, under two conditions: (1) G is always in contact with D; and (2) the interiors of G and D do not intersect. Three classes of translational sweep are studied, including the case in which both G and D are convex; the case in which G is convex, D monotone; and the case in which both are monotone. Efficient algorithms for computing the trajectory and the swept area as well as geometric and computational properties are presented for each class. A notion called the inverse generatrix, which reveals a duality between the trajectory and the swept polygon, is introduced to reduce complexity.     

Complementary‐based coalition formation for energy microgrids

In recent years, the notion of electrical energy microgrids (MGs), in which communities share their locally generated power, has gained increasing interest. Typically, the energy generated comes from renewable resources, which means that its availability is variable, ie, sometimes there may be energy surpluses and at other times energy deficits. This energy variability can be ameliorated by trading energy with a connected electricity grid. However, since main electricity grids are subject to faults or other outages, it can be advantageous for energy MGs to form coalitions and share their energy among themselves. In this work, we present our model for the dynamic formation of such MG coalitions. In our model, MGs form coalitions on the basis of complementary weather patterns. Our agent‐based model, which is scalable and affords autonomy among the MGs participating in the coalition (agents can join and depart from coalitions at any time), features methods to reduce overall “discomfort” so that, even when all participating MGs in a coalition experience deficits, they can share energy so that their overall discomfort is reduced. We demonstrate the efficacy of our model by showing empirical studies conducted with real energy production and consumption data.     

Intruder alert! Optimization models for solving the mobile robot graph-clear problem

We develop optimization approaches to the graph-clear problem, a pursuit-evasion problem where mobile robots must clear a facility of intruders. The objective is to minimize the number of robots required. We contribute new formal results on progressive and contiguous assumptions and their impact on algorithm completeness. We present mixed-integer linear programming and constraint programming models, as well as new heuristic variants for the problem, comparing them to previously proposed heuristics. Our empirical work indicates that our heuristic variants improve on those from the literature, that constraint programming finds better solutions than the heuristics in run-times reasonable for the application, and that mixed-integer linear programming is superior for proving optimality. Given their performance and the appeal of the model-and-solve framework, we conclude that the proposed optimization methods are currently the most suitable for the graph-clear problem.     

Nanoparticle‐embedded polymer‐dispersed liquid crystal for paper‐like displays

Abstract— A polymer‐dispersed liquid‐crystal (PDLC) matrix template embedded with nano/microparticles can be backfilled/infiltrated with a dye‐doped liquid crystal for a paper‐like reflective display. In this way, a desirable degree of diffusion can be realized to reduce the viewing‐angle dependency of a gain reflector and metallic glare without changing other electro‐optical properties.     

Classification-based objective functions

Backpropagation, similar to most learning algorithms that can form complex decision surfaces, is prone to overfitting. This work presents classification-based objective functions, an approach to training artificial neural networks on classification problems. Classification-based learning attempts to guide the network directly to correct pattern classification rather than using common error minimization heuristics, such as sum-squared error (SSE) and cross-entropy (CE), that do not explicitly minimize classification error. CB1 is presented here as a novel objective function for learning classification problems. It seeks to directly minimize classification error by backpropagating error only on misclassified patterns from culprit output nodes. CB1 discourages weight saturation and overfitting and achieves higher accuracy on classification problems than optimizing SSE or CE. Experiments on a large OCR data set have shown CB1 to significantly increase generalization accuracy over SSE or CE optimization, from 97.86% and 98.10%, respectively, to 99.11%. Comparable results are achieved over several data sets from the UC Irvine Machine Learning Database Repository, with an average increase in accuracy from 90.7% and 91.3% using optimized SSE and CE networks, respectively, to 92.1% for CB1. Analysis indicates that CB1 performs a fundamentally different search of the feature space than optimizing SSE or CE and produces significantly different solutions. Editor: Risto Miikkulainen     

A method for evaluating rigor and industrial relevance of technology evaluations

One of the main goals of an applied research field such as software engineering is the transfer and widespread use of research results in industry. To impact industry, researchers developing technologies in academia need to provide tangible evidence of the advantages of using them. This can be done trough step-wise validation, enabling researchers to gradually test and evaluate technologies to finally try them in real settings with real users and applications. The evidence obtained, together with detailed information on how the validation was conducted, offers rich decision support material for industry practitioners seeking to adopt new technologies and researchers looking for an empirical basis on which to build new or refined technologies. This paper presents model for evaluating the rigor and industrial relevance of technology evaluations in software engineering. The model is applied and validated in a comprehensive systematic literature review of evaluations of requirements engineering technologies published in software engineering journals. The aim is to show the applicability of the model and to characterize how evaluations are carried out and reported to evaluate the state-of-research. The review shows that the model can be applied to characterize evaluations in requirements engineering. The findings from applying the model also show that the majority of technology evaluations in requirements engineering lack both industrial relevance and rigor. In addition, the research field does not show any improvements in terms of industrial relevance over time.     

A method for mapping Australian woody vegetation cover by linking continental-scale field data and long-term Landsat time series

There is a significant need to provide nationwide consistent information for land managers and scientists to assist with property planning, vegetation monitoring applications, risk assessment, and conservation activities at an appropriate spatial scale. We created maps of woody vegetation cover of Australia using a consistent method applied across the continent, and made them accessible. We classified pixels as woody or not woody, quantified their foliage projective cover, and classed them as forest or other wooded lands based on their cover density. The maps provide, for the first time, cover density estimates of Australian forests and other wooded lands with the spatial detail required for local-scale studies. The maps were created by linking field data, collected by a network of collaborators across the continent, to a time series of Landsat-5 TM and Landsat-7 ETM+ images for the period 2000–2010. The fractions of green vegetation cover, non-green vegetation cover, and bare ground were calculated for each pixel using a previously developed spectral unmixing approach. Time series statistics, for the green vegetation cover, were used to classify each pixel as either woody or not using a random forest classifier. An estimate of woody foliage projective cover was made by calibration with field measurements, and woody pixels classified as forest where the foliage cover was at least 0.1. Validation of the foliage projective cover with field measurements gave a coefficient of determination, R²,of 0.918 and root mean square error of 0.070. The user’s and producer’s accuracies for areas mapped as forest were high at 92.2% and 95.9%, respectively. The user’s and producers’s accuracies were lower for other wooded lands at 75.7% and 61.3%, respectively. Further research into methods to better separate areas with sparse woody vegetation from those without woody vegetation is needed. The maps provide information that will assist in gaining a better understanding of our natural environment. Applications range from the continental-scale activity of estimating national carbon stocks, to the local scale activities of assessing habitat suitability and property planning.