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1. Real-Time Multi-Modal Human–Robot Collaboration Using Gestures and Speech

   https://doi.org/10.1115/1.4054297  

   Chen, Haodong ; Leu, Ming C. ; Yin, Zhaozheng ( October 2022 , Journal of Manufacturing Science and Engineering)

   Abstract As artificial intelligence and industrial automation are developing, human–robot collaboration (HRC) with advanced interaction capabilities has become an increasingly significant area of research. In this paper, we design and develop a real-time, multi-model HRC system using speech and gestures. A set of 16 dynamic gestures is designed for communication from a human to an industrial robot. A data set of dynamic gestures is designed and constructed, and it will be shared with the community. A convolutional neural network is developed to recognize the dynamic gestures in real time using the motion history image and deep learning methods. An improved open-source speech recognizer is used for real-time speech recognition of the human worker. An integration strategy is proposed to integrate the gesture and speech recognition results, and a software interface is designed for system visualization. A multi-threading architecture is constructed for simultaneously operating multiple tasks, including gesture and speech data collection and recognition, data integration, robot control, and software interface operation. The various methods and algorithms are integrated to develop the HRC system, with a platform constructed to demonstrate the system performance. The experimental results validate the feasibility and effectiveness of the proposed algorithms and the HRC system.
2. Design of a Real-Time Human-Robot Collaboration System Using Dynamic Gestures

   https://doi.org/10.1115/IMECE2020-23650  

   Chen, Haodong ; Leu, Ming C. ; Tao, Wenjin ; Yin, Zhaozheng ( November 2020 , Proceedings of the ASME 2020 International Mechanical Engineering Congress and Exposition (IMECE 2020))

   With the development of industrial automation and artificial intelligence, robotic systems are developing into an essential part of factory production, and the human-robot collaboration (HRC) becomes a new trend in the industrial field. In our previous work, ten dynamic gestures have been designed for communication between a human worker and a robot in manufacturing scenarios, and a dynamic gesture recognition model based on Convolutional Neural Networks (CNN) has been developed. Based on the model, this study aims to design and develop a new real-time HRC system based on multi-threading method and the CNN. This system enables the real-time interaction between a human worker and a robotic arm based on dynamic gestures. Firstly, a multi-threading architecture is constructed for high-speed operation and fast response while schedule more than one task at the same time. Next, A real-time dynamic gesture recognition algorithm is developed, where a human worker’s behavior and motion are continuously monitored and captured, and motion history images (MHIs) are generated in real-time. The generation of the MHIs and their identification using the classification model are synchronously accomplished. If a designated dynamic gesture is detected, it is immediately transmitted to the robotic arm to conduct a real-time response. Amore »Graphic User Interface (GUI) for the integration of the proposed HRC system is developed for the visualization of the real-time motion history and classification results of the gesture identification. A series of actual collaboration experiments are carried out between a human worker and a six-degree-of-freedom (6 DOF) Comau industrial robot, and the experimental results show the feasibility and robustness of the proposed system.

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3. On the Complexity and Approximability of Optimal Sensor Selection for Kalman Filtering

   https://doi.org/10.23919/ACC.2018.8431016  

   Ye, Lintao ; Roy, Sandip ; Sundaram, Shreyas ( June 2018 , 2018 Annual American Control Conference (ACC))

   Given a linear dynamical system, we consider the problem of selecting (at design-time) an optimal set of sensors (subject to certain budget constraints) to minimize the trace of the steady state error covariance matrix of the Kalman filter. Previous work has shown that this problem is NP-hard for certain classes of systems and sensor costs; in this paper, we show that the problem remains NP-hard even for the special case where the system is stable and all sensor costs are identical. Furthermore, we show the stronger result that there is no constant-factor (polynomial-time) approximation algorithm for this problem. This contrasts with other classes of sensor selection problems studied in the literature, which typically pursue constant-factor approximations by leveraging greedy algorithms and submodularity of the cost function. Here, we provide a specific example showing that greedy algorithms can perform arbitrarily poorly for the problem of design-time sensor selection for Kalman filtering.
4. A Multi-match Approach to the Author Uncertainty Problem

   https://doi.org/10.2478/jdis-2019-0006  

   Carley, Stephen F. ; Porter, Alan L. ; Youtie, Jan L. ( June 2019 , Journal of Data and Information Science)

   Abstract Purpose The ability to identify the scholarship of individual authors is essential for performance evaluation. A number of factors hinder this endeavor. Common and similarly spelled surnames make it difficult to isolate the scholarship of individual authors indexed on large databases. Variations in name spelling of individual scholars further complicates matters. Common family names in scientific powerhouses like China make it problematic to distinguish between authors possessing ubiquitous and/or anglicized surnames (as well as the same or similar first names). The assignment of unique author identifiers provides a major step toward resolving these difficulties. We maintain, however, that in and of themselves, author identifiers are not sufficient to fully address the author uncertainty problem. In this study we build on the author identifier approach by considering commonalities in fielded data between authors containing the same surname and first initial of their first name. We illustrate our approach using three case studies. Design/methodology/approach The approach we advance in this study is based on commonalities among fielded data in search results. We cast a broad initial net—i.e., a Web of Science (WOS) search for a given author’s last name, followed by a comma, followed by the first initial of his ormore »her first name (e.g., a search for ‘John Doe’ would assume the form: ‘Doe, J’). Results for this search typically contain all of the scholarship legitimately belonging to this author in the given database (i.e., all of his or her true positives), along with a large amount of noise, or scholarship not belonging to this author (i.e., a large number of false positives). From this corpus we proceed to iteratively weed out false positives and retain true positives. Author identifiers provide a good starting point—e.g., if ‘Doe, J’ and ‘Doe, John’ share the same author identifier, this would be sufficient for us to conclude these are one and the same individual. We find email addresses similarly adequate—e.g., if two author names which share the same surname and same first initial have an email address in common, we conclude these authors are the same person. Author identifier and email address data is not always available, however. When this occurs, other fields are used to address the author uncertainty problem. Commonalities among author data other than unique identifiers and email addresses is less conclusive for name consolidation purposes. For example, if ‘Doe, John’ and ‘Doe, J’ have an affiliation in common, do we conclude that these names belong the same person? They may or may not; affiliations have employed two or more faculty members sharing the same last and first initial. Similarly, it’s conceivable that two individuals with the same last name and first initial publish in the same journal, publish with the same co-authors, and/or cite the same references. Should we then ignore commonalities among these fields and conclude they’re too imprecise for name consolidation purposes? It is our position that such commonalities are indeed valuable for addressing the author uncertainty problem, but more so when used in combination. Our approach makes use of automation as well as manual inspection, relying initially on author identifiers, then commonalities among fielded data other than author identifiers, and finally manual verification. To achieve name consolidation independent of author identifier matches, we have developed a procedure that is used with bibliometric software called VantagePoint (see www.thevantagepoint.com) While the application of our technique does not exclusively depend on VantagePoint, it is the software we find most efficient in this study. The script we developed to implement this procedure is designed to implement our name disambiguation procedure in a way that significantly reduces manual effort on the user’s part. Those who seek to replicate our procedure independent of VantagePoint can do so by manually following the method we outline, but we note that the manual application of our procedure takes a significant amount of time and effort, especially when working with larger datasets. Our script begins by prompting the user for a surname and a first initial (for any author of interest). It then prompts the user to select a WOS field on which to consolidate author names. After this the user is prompted to point to the name of the authors field, and finally asked to identify a specific author name (referred to by the script as the primary author) within this field whom the user knows to be a true positive (a suggested approach is to point to an author name associated with one of the records that has the author’s ORCID iD or email address attached to it). The script proceeds to identify and combine all author names sharing the primary author’s surname and first initial of his or her first name who share commonalities in the WOS field on which the user was prompted to consolidate author names. This typically results in significant reduction in the initial dataset size. After the procedure completes the user is usually left with a much smaller (and more manageable) dataset to manually inspect (and/or apply additional name disambiguation techniques to). Research limitations Match field coverage can be an issue. When field coverage is paltry dataset reduction is not as significant, which results in more manual inspection on the user’s part. Our procedure doesn’t lend itself to scholars who have had a legal family name change (after marriage, for example). Moreover, the technique we advance is (sometimes, but not always) likely to have a difficult time dealing with scholars who have changed careers or fields dramatically, as well as scholars whose work is highly interdisciplinary. Practical implications The procedure we advance has the ability to save a significant amount of time and effort for individuals engaged in name disambiguation research, especially when the name under consideration is a more common family name. It is more effective when match field coverage is high and a number of match fields exist. Originality/value Once again, the procedure we advance has the ability to save a significant amount of time and effort for individuals engaged in name disambiguation research. It combines preexisting with more recent approaches, harnessing the benefits of both. Findings Our study applies the name disambiguation procedure we advance to three case studies. Ideal match fields are not the same for each of our case studies. We find that match field effectiveness is in large part a function of field coverage. Comparing original dataset size, the timeframe analyzed for each case study is not the same, nor are the subject areas in which they publish. Our procedure is more effective when applied to our third case study, both in terms of list reduction and 100% retention of true positives. We attribute this to excellent match field coverage, and especially in more specific match fields, as well as having a more modest/manageable number of publications. While machine learning is considered authoritative by many, we do not see it as practical or replicable. The procedure advanced herein is both practical, replicable and relatively user friendly. It might be categorized into a space between ORCID and machine learning. Machine learning approaches typically look for commonalities among citation data, which is not always available, structured or easy to work with. The procedure we advance is intended to be applied across numerous fields in a dataset of interest (e.g. emails, coauthors, affiliations, etc.), resulting in multiple rounds of reduction. Results indicate that effective match fields include author identifiers, emails, source titles, co-authors and ISSNs. While the script we present is not likely to result in a dataset consisting solely of true positives (at least for more common surnames), it does significantly reduce manual effort on the user’s part. Dataset reduction (after our procedure is applied) is in large part a function of (a) field availability and (b) field coverage.« less
5. Interactive Architectural Design with Diverse Solution Exploration

   https://doi.org/10.1109/TVCG.2019.2938961  

   Berseth, Glen ; Haworth, Brandon ; Usman, Muhammad ; Schaumann, Davide ; Khayatkhoei, Mahyar ; Kapadia, Mubbasir Turab ; Faloutsos, Petros ( September 2019 , IEEE Transactions on Visualization and Computer Graphics)

   In architectural design, architects explore a vast amount of design options to maximize various performance criteria, while adhering to specific constraints. In an effort to assist architects in such a complex endeavour, we propose IDOME, an interactive system for computer-aided design optimization. Our approach balances automation and control by efficiently exploring, analyzing, and filtering space layouts to inform architects' decision-making better. At each design iteration, IDOME provides a set of alternative building layouts which satisfy user-defined constraints and optimality criteria concerning a user-defined space parametrization. When the user selects a design generated by IDOME, the system performs a similar optimization process with the same (or different) parameters and objectives. A user may iterate this exploration process as many times as needed. In this work, we focus on optimizing built environments using architectural metrics by improving the degree of visibility, accessibility, and information gaining for navigating a proposed space. This approach, however, can be extended to support other kinds of analysis as well. We demonstrate the capabilities of IDOME through a series of examples, performance analysis, user studies, and a usability test. The results indicate that IDOME successfully optimizes the proposed designs concerning the chosen metrics and offers a satisfactory experiencemore »for users with minimal training.« less