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Location Reasoning of Target Objects Based on Human Common Sense and Robot Experiences 基于人类常识和机器人经验的目标物体位置推理
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-13 DOI: 10.1109/TCDS.2024.3442862
Yueguang Ge;Yinghao Cai;Shuo Wang;Shaolin Zhang;Tao Lu;Haitao Wang;Junhang Wei
The location reasoning of target objects in robot-operated environment is a challenging task. Objects that robots need to interact with are often located at a distance or are contained within containers, making them inaccessible for direct observation by the robot. The uncertainty of the storage location of the target objects and the lack of reasoning ability present considerable challenges. In this article, we propose a method for semantic localization of robot-operated objects based on human common sense and robot experiences. Instead of reasoning the object storage locations solely based on the category of the target object, a probabilistic ontology model is introduced to represent uncertain knowledge in the task of object localization, which combines the expressive power of classical first-order logic and the inference capability of Bayesian inference. The target location is then estimated using the probabilistic ontologies with dynamic integration of human common sense and robot experiences. Experimental results in both simulation and real-world environments demonstrate the effectiveness of the proposed integration of human common sense and robot experiences in the task of semantic localization of robot-operated objects.
机器人操作环境中目标物体的位置推理是一项具有挑战性的任务。机器人需要与之交互的物体通常位于一段距离之外,或者包含在容器中,这使得机器人无法直接观察到它们。目标物体存储位置的不确定性和推理能力的缺乏给该系统提出了相当大的挑战。在本文中,我们提出了一种基于人类常识和机器人经验的机器人操作对象语义定位方法。将经典一阶逻辑的表达能力与贝叶斯推理的推理能力相结合,引入概率本体模型来表示对象定位任务中的不确定性知识,而不是仅仅根据目标对象的类别来推理对象的存储位置。然后利用人类常识和机器人经验动态集成的概率本体估计目标位置。仿真和现实环境中的实验结果表明,在机器人操作对象的语义定位任务中,人类常识和机器人经验的集成是有效的。
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引用次数: 0
Multimodal Emotion Fusion Mechanism and Empathetic Responses in Companion Robots 多模态情感融合机制与陪伴机器人的情感反应
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-13 DOI: 10.1109/TCDS.2024.3442203
Xiaofeng Liu;Qincheng Lv;Jie Li;Siyang Song;Angelo Cangelosi
The ability of humanoid robots to exhibit empathetic facial expressions and provide corresponding responses is essential for natural human–robot interaction. To enhance this, we integrate the GPT3.5 model with a facial expression recognition model, creating a multimodal emotion recognition system. Additionally, we address the challenge of realistically mimicking human facial expressions by designing the physical structure of a humanoid robot. Initially, we develop a humanoid robot capable of adjusting the positions of its facial organs and neck through servo displacement to achieve more natural facial expressions. Subsequently, to overcome the current limitation where emotional interaction robots struggle to accurately recognize user emotions, we introduce a coupled generative pretrained transformer (GPT)-based multimodal emotion recognition method that utilizes both text and images, thereby enhancing the robot's emotion recognition accuracy. Finally, we integrate the GPT-3.5 model to generate empathetic responses based on recognized user emotional states and language text, which are then mapped onto the robot to enable empathetic expressions that can achieve a more comfortable human–machine interaction experience. Experimental results on benchmark databases demonstrate that the performance of the coupled GPT-based multimodal emotion recognition method using text and images outperforms other approaches, and it possesses unique empathetic response capabilities relative to alternative methods.
类人机器人表现出移情面部表情并提供相应反应的能力对于自然的人机交互至关重要。为了增强这一点,我们将GPT3.5模型与面部表情识别模型相结合,创建了一个多模态情绪识别系统。此外,我们通过设计人形机器人的物理结构来解决逼真地模仿人类面部表情的挑战。首先,我们开发了一种能够通过伺服位移调整其面部器官和颈部位置的类人机器人,以实现更自然的面部表情。随后,为了克服当前情感交互机器人难以准确识别用户情感的局限性,我们引入了一种基于耦合生成预训练转换器(GPT)的多模态情感识别方法,该方法同时利用文本和图像,从而提高了机器人的情感识别精度。最后,我们整合GPT-3.5模型,根据识别的用户情绪状态和语言文本生成共情反应,然后将其映射到机器人上,使共情表达能够实现更舒适的人机交互体验。在基准数据库上的实验结果表明,基于gpt的文本和图像耦合多模态情感识别方法的性能优于其他方法,并且相对于其他方法具有独特的移情响应能力。
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引用次数: 0
An Impedance Recognition Framework Based on Electromyogram for Physical Human–Robot Interaction 基于肌电图的物理人机交互阻抗识别框架
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-13 DOI: 10.1109/TCDS.2024.3442172
Jing Luo;Chaoyi Zhang;Chao Zeng;Yiming Jiang;Chenguang Yang
In physical human–robot interaction (pHRI), the interaction profiles, such as impedance and interaction force are greatly influenced by the operator's muscle activities, impedance and interaction force between the robot and the operator. Actually, parameters of interaction profiles are easy to be measured, such as position, velocity, acceleration, and muscle activities. However, the impedance cannot be directly measured. In some areas, it is difficult to capture the force information, especially where the force sensor is hard to be attached on the robots. In this sense, it is worth developing a feasible and simple solution to recognize the impedance parameters by exploring the potential relationship among the above mentioned interaction profiles. To this end, a framework of impedance recognition based on different time-based weight membership functions with broad learning system (TWMF-BLS) is developed for stable/unstable pHRI. Specifically, a linear weight membership function and a nonlinear weight membership function are proposed for stable and unstable pHRI by using the hybrid features for estimating the interaction force. And then the human arm impedance can be estimated without a biological model or a robot's model. Experimental results have demonstrated the feasibility and effectiveness of the proposed approach.
在人机物理交互(pHRI)中,操作者的肌肉活动、机器人与操作者之间的阻抗和作用力等对人机交互的阻抗和作用力等影响很大。实际上,交互剖面的参数很容易测量,例如位置、速度、加速度和肌肉活动。然而,阻抗不能直接测量。在一些领域,力的信息很难被捕获,特别是在力传感器很难被安装在机器人上的地方。从这个意义上说,通过探索上述相互作用曲线之间的潜在关系,开发一种可行且简单的方法来识别阻抗参数是值得的。为此,针对稳定/不稳定pHRI,提出了一种基于不同时基权重隶属函数的广义学习系统阻抗识别框架(TWMF-BLS)。具体地说,利用混合特征估计了稳定和不稳定的pHRI的相互作用力,提出了线性权隶属函数和非线性权隶属函数。人类手臂的阻抗可以在没有生物模型或机器人模型的情况下进行估计。实验结果证明了该方法的可行性和有效性。
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引用次数: 0
IEEE Transactions on Cognitive and Developmental Systems Information for Authors 电气和电子工程师学会《认知与发展系统》期刊 为作者提供的信息
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-12 DOI: 10.1109/TCDS.2024.3436255
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引用次数: 0
IEEE Transactions on Cognitive and Developmental Systems Publication Information 电气和电子工程师学会认知与发展系统论文集》出版信息
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-12 DOI: 10.1109/TCDS.2024.3436251
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引用次数: 0
IEEE Computational Intelligence Society Information 电气和电子工程师学会计算智能学会信息
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-12 DOI: 10.1109/TCDS.2024.3436253
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引用次数: 0
Reinforcement-Learning-Based Multi-Unmanned Aerial Vehicle Optimal Control for Communication Services With Limited Endurance 基于强化学习的多无人机优化控制,用于续航时间有限的通信服务
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-12 DOI: 10.1109/TCDS.2024.3441865
Lu Dong;Pinle Ding;Xin Yuan;Andi Xu;Jie Gui
This article investigates the service path problem of multi-unmanned aerial vehicle (multi-UAV) providing communication services to multiuser in urban environments with limited endurance. Our goal is to learn an optimal multi-UAV centralized control policy that will enable UAVs to find the illumination areas in urban environments through curiosity-driven exploration and harvest energy to continue providing communication services to users. First, we propose a reinforcement learning (RL)-based multi-UAV centralized control strategy to maximize the accumulated communication service score. In the proposed framework, curiosity can act as an internal incentive signal, allowing UAVs to explore the environment without any prior knowledge. Second, a two-phase exploring protocol is proposed for practical implementation. Compared to the baseline method, our proposed method can achieve a significantly higher accumulated communication service score in the exploitation-intensive phase. The results demonstrate that the proposed method can obtain accurate service paths over the baseline method and handle the exploration-exploitation tradeoff well.
研究了多架无人机在有限续航力的城市环境下为多用户提供通信服务的服务路径问题。我们的目标是学习一种最优的多无人机集中控制策略,使无人机能够通过好奇心驱动的探索找到城市环境中的照明区域,并收集能量,继续为用户提供通信服务。首先,我们提出了一种基于强化学习(RL)的多无人机集中控制策略,以最大化累积通信服务评分。在提出的框架中,好奇心可以作为一种内部激励信号,允许无人机在没有任何先验知识的情况下探索环境。其次,提出了一种两阶段探索协议,用于实际实现。与基线方法相比,我们提出的方法可以在开发密集阶段获得更高的累计通信服务分数。结果表明,该方法能较基线方法获得准确的服务路径,并能较好地处理勘探与开采的权衡问题。
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引用次数: 0
Channel-Selection-Based Temporal Convolutional Network for Patient-Specific Epileptic Seizure Detection 基于信道选择的时态卷积网络用于特定患者癫痫发作检测
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-07-25 DOI: 10.1109/TCDS.2024.3433551
Guangming Wang;Xiyuan Lei;Wen Li;Won Hee Lee;Lianchi Huang;Jialin Zhu;Shanshan Jia;Dong Wang;Yang Zheng;Hua Zhang;Badong Chen;Gang Wang
Since sudden and recurrent epileptic seizures seriously affect people's lives, computer-aided automatic seizure detection is crucial for precise diagnosis and prompt treatment. A novel seizure detection algorithm named channel selection-based temporal convolutional network (CS-TCN) was proposed in this article. First, electroencephalogram (EEG) recordings were segmented into 2-s intervals and features were extracted from both the time and frequency domains. Then, the expanded fisher score channel selection method was employed to select channels that contribute the most to seizure detection. Finally, the features from selected EEG channels were fed into the TCN to capture inherent temporal dependencies of EEG signals and detect seizure events. Children Hospital Boston and Massachusetts Institute of Technology (CHB-MIT) and Siena datasets were used to verify the detection performance of the CS-TCN algorithm, achieving sensitivities of 98.56% and 98.88%, and specificities of 99.80% and 99.88% in samplewise analysis, respectively. In eventwise analysis, the algorithm achieved sensitivities of 97.57% and 95.00%, with delays of 6.91 and 18.62 s, and FDR/h of 0.11 and 0.39, respectively. These results surpassed state-of-the-art few-channel algorithms for both datasets. CS-TCN algorithm offers excellent performance while simplifying model complexity and computational requirements, thus showcasing its potential for facilitating seizure detection in home environments.
由于突发性和反复发作严重影响人们的生活,计算机辅助癫痫发作自动检测对于准确诊断和及时治疗至关重要。提出了一种基于信道选择的时序卷积网络(CS-TCN)癫痫发作检测算法。首先,将脑电图(EEG)记录分割为2-s的时间间隔,并从时间域和频率域提取特征;然后,采用扩展fisher评分通道选择方法,选择对癫痫检测贡献最大的通道。最后,将选择的脑电信号通道的特征输入到TCN中,以捕获脑电信号固有的时间依赖性并检测癫痫事件。采用波士顿儿童医院和麻省理工学院(CHB-MIT)以及Siena数据集验证CS-TCN算法的检测性能,样本分析的灵敏度分别为98.56%和98.88%,特异性分别为99.80%和99.88%。在事件分析中,该算法的灵敏度分别为97.57%和95.00%,时延分别为6.91和18.62 s, FDR/h分别为0.11和0.39。这些结果超过了两个数据集的最先进的少通道算法。CS-TCN算法在简化模型复杂性和计算需求的同时提供了出色的性能,从而展示了其在家庭环境中促进癫痫检测的潜力。
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引用次数: 0
GLADA: Global and Local Associative Domain Adaptation for EEG-Based Emotion Recognition GLADA:基于脑电图的情绪识别的全局和局部关联域自适应
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-07-23 DOI: 10.1109/TCDS.2024.3432752
Tianxu Pan;Nuo Su;Jun Shan;Yang Tang;Guoqiang Zhong;Tianzi Jiang;Nianming Zuo
Emotion recognition based on electroencephalography (EEG) has significant advantages in terms of reliability and accuracy. However, individual differences in EEG limit the ability of sentiment classifiers to generalize across subjects. Furthermore, due to the nonstationarity of EEG, subject signals can vary with time, an important challenge for temporal emotion recognition. Several emotion recognition methods have been developed that consider the alignment of conditional distributions, but do not balance the weights of conditional and marginal distributions. In this article, we propose a novel approach to generalize emotion recognition models across individuals and time, i.e., global and local associative domain adaptation (GLADA). The proposed method consists of three parts: 1) deep neural networks are used to extract deep features from emotional EEG data; 2) considering that marginal and conditional distributions between domains can contribute to adaptation differently, a method that combines coarse-grained adversarial adaptation and fine-grained adversarial adaptation is used to narrow the domain distance of the joint distribution in the EEG data between subjects (i.e., reduce intersubject variability), and the weights of the marginal and conditional distributions are automatically balanced using dynamic balancing factors; and 3) domain adaptation is used to accelerate model convergence. Using GLADA, subject-independent EEG emotion recognition is improved by reducing the influence of the subject’s personal information on EEG emotion. Experimental results demonstrate that the GLADA model effectively addresses the domain transfer problem, resulting in improved performance across multiple EEG emotion recognition tasks.
基于脑电图(EEG)的情绪识别在可靠性和准确性方面具有显著的优势。然而,脑电图的个体差异限制了情感分类器跨对象的泛化能力。此外,由于脑电的非平稳性,受试者信号会随时间变化,这对时间情感识别是一个重要的挑战。已经开发了几种考虑条件分布对齐的情感识别方法,但没有平衡条件分布和边缘分布的权重。在本文中,我们提出了一种新的方法来泛化跨个体和时间的情绪识别模型,即全局和局部关联域适应(GLADA)。该方法由三部分组成:1)利用深度神经网络对情绪脑电数据进行深度特征提取;2)考虑到域间边缘和条件分布对自适应的贡献不同,采用粗粒度对抗自适应和细粒度对抗自适应相结合的方法,缩小脑电数据联合分布的域距离(即减小主体间变异性),并利用动态平衡因子自动平衡边缘和条件分布的权重;3)采用域自适应加速模型收敛。利用GLADA,通过降低被试个人信息对EEG情绪的影响,提高了独立于被试的EEG情绪识别能力。实验结果表明,GLADA模型有效地解决了领域转移问题,提高了跨多个EEG情绪识别任务的性能。
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引用次数: 0
A Derivative Topic Propagation Model Based on Multidimensional Cognition and Game Theory 基于多维认知和博弈论的衍生话题传播模型
IF 5 3区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-07-22 DOI: 10.1109/TCDS.2024.3432337
Qian Li;Long Gao;Wenyi Xi;Tun Li;Rong Wang;Junwei Ge;Yunpeng Xiao
Given that emotional content spreads more widely than rational content in social networks, as well as the complexity of user cognition and the interaction of derivative topics, this article proposes a derivative topic dissemination model that integrates multidimensional cognition and game theory. First, regarding the issue of user emotional reactions in mining topics. In this article, we quantify the affective influence among users by considering user behaviors as continuous conversations through conversation-level sentiment analysis and the proximity centrality of social networks. Second, considering that user behavior is influenced by multidimensional cognition, this article proposes a method based on S(Sensibility) R(Rationality) 2vec to simulate the dialectical relationship between sensibility and rationality in the user decision-making process. Finally, considering the cooperative and competitive relationship among derived topics, this article uses evolutionary game theory to analyze the topic life cycle and quantify its impact on user behavior by time discretization method. Accordingly, we propose a CG-back-propagation (BP) model incorporating a BP neural network to efficiently simulate the nonlinear relationship of user behavior. Experiments show that the model can not only effectively tap the influence of multidimensional cognition on users’ retweeting behavior, but also effectively perceive the propagation dynamics of derived topics.
鉴于社交网络中情感内容比理性内容传播更为广泛,以及用户认知和衍生话题互动的复杂性,本文提出了一种多维认知与博弈论相结合的衍生话题传播模型。首先,关于挖掘话题时用户情绪反应的问题。在本文中,我们通过会话级情感分析和社交网络的接近中心性,将用户行为视为连续对话,从而量化用户之间的情感影响。其次,考虑到用户行为受到多维认知的影响,本文提出了基于S(感性)R(理性)2vec的方法来模拟用户决策过程中感性与理性的辩证关系。最后,考虑衍生话题之间的合作与竞争关系,运用进化博弈论分析话题生命周期,并通过时间离散化方法量化其对用户行为的影响。因此,我们提出了一种结合BP神经网络的cg -反向传播(BP)模型来有效地模拟用户行为的非线性关系。实验表明,该模型既能有效挖掘多维认知对用户转发行为的影响,又能有效感知衍生话题的传播动态。
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引用次数: 0
期刊
IEEE Transactions on Cognitive and Developmental Systems
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