Perception of own and robot engagement in human–robot interactions and their dependence on robotics knowledge

Communication between socially assistive robots and humans might be facilitated by intuitively understandable mechanisms. To investigate the effects of some key nonverbal gestures on a human’s own engagement and robot engagement experienced by humans, participants read a series of instructions to a robot that responded with nods, blinks, changes in gaze direction, or a combination of these. Unbeknown to the participants, the robot had no form of speech processing or gesture recognition, but simply measured speech volume levels, responding with gestures whenever a lull in sound was detected. As measured by visual analogue scales, engagement of participants was not differentially affected by the different responses of the robot. However, their perception of the robot’s engagement in the task, its likability and its understanding of the instructions depended on the gesture presented, with nodding being the most effective response. Participants who self-reported greater robotics knowledge reported higher overall engagement and greater success at developing a relationship with the robot. However, self-reported robotics knowledge did not differentially affect the impact of robot gestures. This suggests that greater familiarity with robotics may help to maximise positive experiences for humans involved in human–robot interactions without affecting the impact of the type of signal sent by the robot.     

Classification of cardiac sound signals using constrained tunable-Q wavelet transform

The features extracted from the cardiac sound signals are commonly used for detection and identification of heart valve disorders. In this paper, we present a new method for classification of cardiac sound signals using constrained tunable-Q wavelet transform (TQWT). The proposed method begins with a constrained TQWT based segmentation of cardiac sound signals into heart beat cycles. The features obtained from heart beat cycles of separately reconstructed heart sounds and murmur can better represent the various types of cardiac sound signals than that from containing both. Therefore, heart sounds and murmur have been separated using constrained TQWT. Then the proposed novel raw feature set has been created by the parameters that have been optimized while constraining the output of TQWT together with that of extracted by using time-domain representation and Fourier–Bessel (FB) expansion of separated heart sounds and murmur. However, the adaptively selected features have been used to obtain the final feature set for subsequent classification of cardiac sound signals using least squares support vector machine (LS-SVM) with various kernel functions. The performance of the proposed method has been validated with publicly available datasets and the results have been compared with the existing short-time Fourier transform (STFT) based method. The proposed method shows higher percentage classification accuracy of 94.01 as compared to 93.53 of STFT based method. In comparison with STFT based method, it is noteworthy that the proposed method uses well defined and lower dimensionality of feature vector that can reduce the computational complexity.     

L2 disturbance attenuation for highly dissipative nonlinear spatially distributed processes via HJI approach

For many practical industrial spatially distributed processes (SDPs), their dynamics are usually described by highly dissipative nonlinear partial differential equations (PDEs). In this paper, we address the L₂ disturbance attenuation problem of nonlinear SDPs using the Hamilton–Jacobi–Isaacs (HJI) approach. Firstly, by collecting an ensemble of PDE states, Karhunen–Loève decomposition (KLD) is employed to compute empirical eigenfunctions (EEFs) of the SDP based on the method of snapshots. Subsequently, these EEFs together with singular perturbation (SP) technique are used to obtain a finite-dimensional slow subsystem of ordinary differential equation (ODE) that accurately describes the dominant dynamics of the PDE system. Secondly, based on the slow subsystem, the L₂ disturbance attenuation problem is reformulated and a finite-dimensional H_∞ controller is synthesized in terms of the HJI equation. Moreover, the stability and L₂-gain performance of the closed-loop PDE system are analyzed. Thirdly, since the HJI equation is a nonlinear PDE that has proven to be impossible to solve analytically, we combine the method of weighted residuals (MWR) and simultaneous policy update algorithm (SPUA) to obtain its approximate solution. Finally, the simulation studies are conducted on a nonlinear diffusion-reaction process and a temperature cooling fin of high-speed aerospace vehicle, and the achieved results demonstrate the effectiveness of the developed control method.     

A Dantzig–Wolfe decomposition algorithm for linear economic model predictive control of dynamically decoupled subsystems

This paper presents a warm-started Dantzig–Wolfe decomposition algorithm tailored to economic model predictive control of dynamically decoupled subsystems. We formulate the constrained optimal control problem solved at each sampling instant as a linear program with state space constraints, input limits, input rate limits, and soft output limits. The objective function of the linear program is related directly to the cost of operating the subsystems, and the cost of violating the soft output constraints. Simulations for large-scale economic power dispatch problems show that the proposed algorithm is significantly faster than both state-of-the-art linear programming solvers, and a structure exploiting implementation of the alternating direction method of multipliers. It is also demonstrated that the control strategy presented in this paper can be tuned using a weighted ℓ₁-regularization term. In the presence of process and measurement noise, such a regularization term is critical for achieving a well-behaved closed-loop performance.     

Optimal control of the production–inventory system with deteriorating items and tradable emission permits

Using the well-known Arrow and Karlin (1958) Arrow, K.J., and Karlin, S. (1958), ‘Production over Time with Increasing Marginal Costs’, in Studies in the Mathematical Theory of Inventory and Production, eds. K.J. Arrow and S. Karlin, Stanford: Stanford University Press, pp. 61–69. [Google Scholar] dynamic production–inventory model and the model with tradable emission permits which was presented by Dobos (2005 Dobos, I. (2005), ‘The Effects of Emission Trading on Production and Inventories in the Arrow–Karlin Model’, International Journal of Production Economics, 93–94, 301–308.[Crossref], [Web of Science ®] , [Google Scholar], 2007) Dobos I. (2007), ‘Tradable Emission Permits and Production-inventory Strategies of the Firm’, International Journal of Production Economics, 108, 329–333.[Crossref], [Web of Science ®] , [Google Scholar], we develop a model of the production–inventory system with deteriorating items and tradable emission permits. The objective of this paper is to apply the optimal control theory to solve the production–inventory problem with deteriorating items and tradable emission permits, and derive the optimal inventory level and the optimal production rate that minimise the total cost. The results are discussed with a numerical example and a sensitivity analysis of the optimal solution with respect to the parameters of the production–inventory system is carried out.     

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T–S fuzzy approach

By utilising Takagi–Sugeno (T–S) fuzzy set approach, this paper addresses the robust H_∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics’ enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T–S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H_∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T–S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.     

How social distance shapes human–robot interaction

This paper investigates how social distance can serve as a lens through which we can understand human–robot relationships and develop guidelines for robot design. In two studies, we examine the effects of distance based on physical proximity (proxemic distance), organizational status (power distance), and task structure (task distance) on people׳s experiences with and perceptions of a humanlike robot. In Study 1, participants (n=32) played a card-matching game with a humanlike robot. We manipulated the power distance (supervisor vs. subordinate) and proxemic distance (close vs. distant) between participants and the robot. Participants who interacted with the supervisor robot reported a more positive user experience when the robot was close than when the robot was distant, while interactions with the subordinate robot resulted in a more positive experience when the robot was distant than when the robot was close. In Study 2, participants (n=32) played the game in two different task distances (cooperation vs. competition) and proxemic distances (close vs. distant). Participants who cooperated with the robot reported a more positive experience when the robot was distant than when it was close. In contrast, competing with the robot resulted in a more positive experience when it was close than when the robot was distant. The findings from the two studies highlight the importance of consistency between the status and proxemic behaviors of the robot and of task interdependency in fostering cooperation between the robot and its users. This work also demonstrates how social distance may guide efforts toward a better understanding of human–robot interaction and the development of effective design guidelines.     

A comprehensive approach to evaluating watershed models for predicting river flow regimes critical to downstream ecosystem services

Selection of strategies that help reduce riverine inputs requires numerical models that accurately quantify hydrologic processes. While numerous models exist, information on how to evaluate and select the most robust models is limited. Toward this end, we developed a comprehensive approach that helps evaluate watershed models in their ability to simulate flow regimes critical to downstream ecosystem services. We demonstrated the method using the Soil and Water Assessment Tool (SWAT), the Hydrological Simulation Program–FORTRAN (HSPF) model, and Distributed Large Basin Runoff Model (DLBRM) applied to the Maumee River Basin (USA). The approach helped in identifying that each model simulated flows within acceptable ranges. However, each was limited in its ability to simulate flows triggered by extreme weather events, owing to algorithms not being optimized for such events and mismatched physiographic watershed conditions. Ultimately, we found HSPF to best predict river flow, whereas SWAT offered the most flexibility for evaluating agricultural management practices.     

Retaining and attracting users in social networking services: An empirical investigation of cyber migration

Users are the most critical strategic resource of any online social networking service (SNS). This paper offers strategic recommendations for SNS providers based on an empirical study exploring why users switch from a primary SNS to others. We first identify important characteristics that combine to distinguish SNSs from conventional information systems, then develop a “cyber migration” research model that includes push, pull and mooring factors which influence user intention to switch from one SNS to another. Findings from a field survey of 180 users reveal four significant factors that promote switching: dissatisfaction with socialization support, dissatisfaction with entertainment value, continuity cost, and peer influence. Strategies grounded in these factors are suggested for SNS providers to better attract and retain users.