Many ethicists writing about automated systems attribute agency to these systems. Not only that; they seemingly attribute an autonomous or independent form of agency to these machines. This leads some ethicists to worry about responsibility-gaps and retribution-gaps in cases where automated systems harm or kill human beings. In this paper, I consider what sorts of agency it makes sense to attribute to most current forms of automated systems, in particular automated cars and military robots. I argue (...) that whereas it indeed makes sense to attribute different forms of fairly sophisticated agency to these machines, we ought not to regard them as acting on their own, independently of any human beings. Rather, the right way to understand the agency exercised by these machines is in terms of human–robot collaborations, where the humans involved initiate, supervise, and manage the agency of their robotic collaborators. This means, I argue, that there is much less room for justified worries about responsibility-gaps and retribution-gaps than many ethicists think. (shrink)

Without doubt already ‘higher’ animals which as such have phenomenal perception possess an animalic soul. The contrasting comparison of animal and robot proves to be revealing: What does the animal have that the robot does not? A key role here plays Hegel’s interpretation, which can be addressed as a phenomenology of the ‘animalic soul’. His dictum ‘Only what is living feels a lack’ refers to the principle of self-preservation which governs everything organic. Concerning higher animals this too appears (...) as the basis of the soul: Everything, which the animal perceives thus has existential sense, self-preservation-sense. At the same time it becomes clear that robot perception is not capable of a constitution of sense, but is characterized by dementia of sense. Concretely systemtheoretically regarded, the relatedness to sense of the animal subject is here interpreted as an emergence phenomenon of the system constituted by the cooperative of perception, valuation and behavior (perc-val-act-system). In this emergentist perspective, there is, as it were, the dualism of solely-physical being and of immaterial-mental being, which at the same time is a monism with regard to the physical basis alltogether. (shrink)

One of the goals of computerized tutoring systems is to optimize the learning of facts. Over a hundred years of declarative memory research have identified two robust effects that can improve such systems: the spacing and the testing effect. By making optimal use of both and adjusting the system to the individual learner using cognitive models based on declarative memory theories, such systems consistently outperform traditional methods. This adjustment process is driven by a continuously updated estimate of (...) the rate of forgetting for each item and learner on the basis of the learner's accuracy and response time. In this study, we investigated to what extent these estimates of individual rates of forgetting are stable over time and across different materials. We demonstrate that they are stable over time but not across materials. Even though most theories of human declarative memory assume a single underlying rate of forgetting, we show that, in practice, it makes sense to assume different materials are forgotten at different rates. If a computerized, adaptive fact-learning system allowed different rates of forgetting for different materials, it could adapt to individual learners more readily. (shrink)

This paper discusses possible correspondences between the dynamical systems characteristics observed in our previously proposed cognitive model and phenomenological accounts of immanent time considered by Edmund Husserl. Our simulation experiments in the anticiparatory learning of a robot showed that encountering sensory-motor flow can be learned as segmented into chunks of reusable primitives with accompanying dynamic shifting between coherences and incoherences in local modules. It is considered that the sense of objective time might appear when the continuous sensory-motor flow (...) input to the robot is reconstructed into compositional memory structures through the articulation processes described. (shrink)

One of the goals of computerized tutoring systems is to optimize the learning of facts. Over a hundred years of declarative memory research have identified two robust effects that can improve such systems: the spacing and the testing effect. By making optimal use of both and adjusting the system to the individual learner using cognitive models based on declarative memory theories, such systems consistently outperform traditional methods (Van Rijn, Van Maanen, & Van Woudenberg, 2009). This adjustment process (...) is driven by a continuously updated estimate of the rate of forgetting for each item and learner on the basis of the learner's accuracy and response time. In this study, we investigated to what extent these estimates of individual rates of forgetting are stable over time and across different materials. We demonstrate that they are stable over time but not across materials. Even though most theories of human declarative memory assume a single underlying rate of forgetting, we show that, in practice, it makes sense to assume different materials are forgotten at different rates. If a computerized, adaptive fact‐learning system allowed different rates of forgetting for different materials, it could adapt to individual learners more readily. (shrink)

This paper suggests an online solution for the optimal tracking control of robotic systems based on a single critic neural network -based reinforcement learning method. To this end, we rewrite the robotic system model as a state-space form, which will facilitate the realization of optimal tracking control synthesis. To maintain the tracking response, a steady-state control is designed, and then an adaptive optimal tracking control is used to ensure that the tracking error can achieve convergence in an optimal sense. (...) To solve the obtained optimal control via the framework of adaptive dynamic programming, the command trajectory to be tracked and the modified tracking Hamilton-Jacobi-Bellman are all formulated. An online RL algorithm is the developed to address the HJB equation using a critic NN with online learning algorithm. Simulation results are given to verify the effectiveness of the proposed method. (shrink)

The output feedback controller is designed for a class of stochastic nonlinear systems that satisfy uncertain function growth conditions for the first time. The multivariate function growth condition has greatly relaxed the restrictions on the drift and diffusion terms in the original stochastic nonlinear system. Here, we cleverly handle the problem of uncertain functions in the scaling process through the function maxima theory so that the Ito differential system can achieve output stabilization through Lyapunov function design and the solution (...) of stochastic nonlinear system objects satisfies the existence of uniqueness, ensuring that the system is globally asymptotically stable in the sense of probability. Furthermore, it is concluded that the system is inversely optimally stable in the sense of probability. Finally, we apply the theoretical results to the practical subsea intelligent electroexecution robot control system and obtain good results. (shrink)

Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long term form of learning which provides a structured system within which individuals might learn more specialized skills or abilities. This paper suggests one possible mechanism for analagous robot evolution by describing a carefully designed series of networks, each one being a strict augmentation of the (...) previous one, which control a six legged walking machine capable of walking over rough terrain and following a person passively sensed in the infrared spectrum. As the completely decentralized networks are augmented. the robot’s performance and behavior repetoire demonstrably improve. The rationale for such demonstrations is that they may provide a hint as to the requirements for automatically building massive networks to carry out complex sensory-motor tasks. The experiments with an actual robot ensure that an essence of reality is maintained and that no critical disabling problems have been ignored. (shrink)

Seele kommt zweifellos schon ‚höheren‘ Tieren zu, die als solche über phänomenale Wahrnehmung verfügen. Als aufschlussreich erweist sich der kontrastierende Vergleich von Tier und Roboter: Was hat das Tier, was der Roboter nicht hat? Schlüsselfunktion kommt hier Hegels Deutung zu, die als eine Phänomenologie der ‚animalischen Seele‘ angesprochen werden kann. Sein Diktum ‚Nur ein Lebendiges fühlt Mangel‘ verweist auf das alles Organische durchwaltende Prinzip Selbsterhaltung als Grund des Seelischen: Alles, was das Tier wahrnimmt, hat dadurch existentiellen Sinn, Selbsterhaltungs-Sinn. Zugleich wird (...) deutlich, dass die Roboter-Wahrneh- mung nicht zur Sinn-Konstitution befähigt, sondern durch Sinn-Demenz charakterisiert ist. Konkret-systemtheoretisch wird die Sinnbezogenheit des Tiersubjekts hier als Emergenzphänomen desjenigen Systems gedeutet, das durch die Kooperative von Wahrnehmung, Bewertung und Verhalten (Perc-Eval-Act-System) konstituiert wird. In dieser emergentistischen Perspektive gibt es so gleichsam den Dualismus des ‚bloß Physischen‘ und des Ideell-Seelischen, der im Hinblick auf die insgesamt physische Basis zugleich ein Monismus ist. (shrink)

In disciplines traditionally studying expertise such as sociology, philosophy, and pedagogy, discussions of demarcation criteria typically centre on how and why human expertise differs from the expertise of artificial expert systems. Therefore, the demarcation criteria has been drawn between robots as formalized logical architectures and humans as creative, social subjects, creating a bipartite division that leaves out animals. However, by downsizing the discussion of animal cognition and implicitly intuiting assimilation of living organisms to robots, key features to explain why (...) human expertise is crucially different from robot expertise are neglected. In the absence of clarification of fundamental cognitive principles of LOs, cognitively robots may appear persuasively closer to humans when they are in fact not. In this paper, I will discuss essential features of organic cognition to emphasise why animals are not like robots at all. The purpose is to add a third category when comparing humans and robots to make a tripartite division that consists of humans LOs, and machines. I will argue that LOs, adapted to ever-changing circumstances, are qualitatively different from robots. Humans, in the sense of belonging to the biological class of LOs, also share this central feature. In addition, however, humans alone possess and use language in a way that turns cognition from a predominantly online to off-line activity, 625–635 2002) that introduces truly abstract thinking. In the end I introduce the concept of ‘Linguification’ to dissect the particular mechanisms sustaining abstract thinking in the explanation of what makes humans distinct from robots and LOs. (shrink)

In order to build autonomous robots that can carry out useful work in unstructured environments new approaches have been developed to building intelligent systems. The relationship to traditional academic robotics and traditional artificial intelligence is examined. In the new approaches a tight coupling of sensing to action produces architectures for intelligence that are networks of simple computational elements which are quite broad, but not very deep. Recent work within this approach has demonstrated the use of representations, expectations, plans, (...) goals, and learning, but without resorting to the traditional uses, of central, abstractly manipulable or symbolic representations. Perception within these systems is often an active process, and the dynamics of the interactions with the world are extremely important. The question of how to evaluate and compare the new to traditional work still provokes vigorous discussion. (shrink)

It is argued that the notion of Umwelt is relevant for contemporary discussions within theoretical biology, biosemiotics, the study of Artificial Life, Autonomous Systems Research and philosophy of biology. Focus is put on the question of whether an artificial creature can have a phenomenal world in the sense of the Umwelt notion of Jakob von Uexküll, one of the founding figures of biosemiotics. Rather than vitalism, Uexküll's position can be interpreted as a version of qualitative organicism. A historical sketch (...) of Autonomous Systems Research (ASR) is presented to show its theoretical roots and fruitful opposition to traditional AI style robotics. It is argued that these artificial systems are only partly 'situated' because they do not in the full sense of the word experience an Umwelt. A deeper understanding of truly situated autonomous systems as being a kind of complex selforganizing semiotic agents with emergent qualitative properties must be gained, not only from the broad field of theoretical biology, but also from the perspective of biosemiotics in the Uexküll tradition. The paper is thus an investigation of a new notion of autonomy that includes a qualitative aspect of the organism. This indicates that the Umwelt concept is not reducible to purely functional notions. (shrink)

In humans, gender is both a concept and performance embodied by females and males, a corporeal technology that is produced dialectically. The process of gendering robots makes especially clear that gender belongs both to the order of the material body and to the social and discursive or semiotic systems within which bodies are embedded. This article explores and interrogates the gendering of humanoid robots manufactured today in Japan for employment in the home and workplace. Gender attribution is a process (...) of reality construction. Roboticists assign gender based on their common-sense assumptions about female and male sex and gender roles. Whereas the relationship between human bodies and genders is a contingent one, I argue that gendered robots render that relationship a necessary one by conflating bodies and genders. Humanoid robots are the vanguard of posthuman sexism, and are being developed within a reactionary rhetorical climate. (shrink)

Purpose – The purpose of this paper is to explore artificial moral agency by reflecting upon the possibility of a Moral Turing Test and whether its lack of focus on interiority, i.e. its behaviouristic foundation, counts as an obstacle to establishing such a test to judge the performance of an Artificial Moral Agent. Subsequently, to investigate whether an MTT could serve as a useful framework for the understanding, designing and engineering of AMAs, we set out to address fundamental challenges within (...) the field of robot ethics regarding the formal representation of moral theories and standards. Here, typically three design approaches to AMAs are available: top-down theory-driven models and bottom-up approaches which set out to model moral behaviour by means of models for adaptive learning, such as neural networks, and finally, hybrid models, which involve components from both top-down and bottom-up approaches to the modelling of moral agency. With inspiration from Allen and Wallace as well as Prior, we elaborate on theoretically driven approaches to machine ethics by introducing deontic tense logic. Finally, within this framework, we explore the character of human interaction with a robot which has successfully passed an MTT. Design/methodology/approach – The ideas in this paper reflect preliminary theoretical considerations regarding the possibility of establishing a MTT based on the evaluation of moral behaviour, which focusses on moral reasoning regarding possible actions. The thoughts reflected fall within the field of normative ethics and apply deontic tense logic to discuss the possibilities and limitations of artificial moral agency. Findings – The authors stipulate a formalisation of logic of obligation, time and modality, which may serve as a candidate for implementing a system corresponding to an MTT in a restricted sense. Hence, the authors argue that to establish a present moral obligation, we need to be able to make a description of the actual situation and the relevant general moral rules. Such a description can never be complete, as the combination of exhaustive knowledge about both situations and rules would involve a God eye’s view, enabling one to know all there is to know and take everything relevant into consideration before making a perfect moral decision to act upon. Consequently, due to this frame problem, from an engineering point of view, we can only strive for designing a robot supposed to operate within a restricted domain and within a limited space-time region. Given such a setup, the robot has to be able to perform moral reasoning based on a formal description of the situation and any possible future developments. Although a system of this kind may be useful, it is clearly also limited to a particular context. It seems that it will always be possible to find special cases in which a given system does not pass the MTT. This calls for a new design of moral systems with trust-related components which will make it possible for the system to learn from experience. Originality/value – It is without doubt that in the near future we are going to be faced with advanced social robots with increasing autonomy, and our growing engagement with these robots calls for the exploration of ethical issues and stresses the importance of informing the process of engineering ethical robots. Our contribution can be seen as an early step in this direction. (shrink)

The purpose of this research is to explore the acceptance of social robots as companions. Understanding what affects the acceptance of humanoid companions may give society tools that will help people overcome loneliness throughout pandemics, such as COVID-19 and beyond. Based on regulatory focus theory, it is proposed that there is a relationship between goal-directed motivation and acceptance of robots as companions. The theory of regulatory focus posits that goal-directed behavior is regulated by two motivational systems—promotion and prevention. People (...) with a promotion focus are concerned about accomplishments, are sensitive to the presence and absence of positive outcomes (gains/non-gains), and have a strategic preference for eager means of goal-pursuit. People with a prevention focus are concerned about security and safety, are sensitive to the absence and presence of negative outcomes (non-losses/losses), and have a strategic preference for vigilant means. Two studies support the notion of a relationship between acceptance of robots as companions and regulatory focus. In Study 1, chronic promotion focus was associated with acceptance of robots, and this association was mediated by loneliness. The weaker the promotion focus, the stronger was the sense of loneliness, and thus the higher was the acceptance of the robots. In Study 2, a situationally induced regulatory focus moderated the association between acceptance of robots and COVID-19 perceived severity. The higher the perceived severity of the disease, the higher was the willingness to accept the robots, and the effect was stronger for an induced prevention (vs. promotion) focus. Models of acceptance of robots are presented. Implications for well-being are discussed. (shrink)

The present paper aims to validate our research on human–humanoid interaction (HHI) using the minimalist humanoid robot Telenoid. We conducted the human–robot interaction test with 142 young people who had no prior interaction experience with this robot. The main goal is the analysis of the two social dimensions (‘‘Perception’’ and ‘‘Believability’’) useful for increasing the natural behaviour between users and Telenoid.Weadministered our custom questionnaire to human subjects in association with a well defined experimental setting (‘‘ordinary and goal-guided (...) task’’). A thorough analysis of the questionnaires has been carried out and reliability and internal consistency in correlation between the multiple items has been calculated. Our experimental results show that the perceptual behaviour and believability, as implicit social competences, could improve the meaningfulness and the natural-like sense of human–humanoid interaction in everyday life task-driven activities. Telenoid is perceived as an autonomous cooperative agent for a shared environment by human beings. (shrink)

This selective review explores biologically inspired learning as a model for intelligent robot control and sensing technology on the basis of specific examples. Hebbian synaptic learning is discussed as a functionally relevant model for machine learning and intelligence, as explained on the basis of examples from the highly plastic biological neural networks of invertebrates and vertebrates. Its potential for adaptive learning and control without supervision, the generation of functional complexity, and control architectures based on self-organization is brought forward. (...) Learning without prior knowledge based on excitatory and inhibitory neural mechanisms accounts for the process through which survival-relevant or task-relevant representations are either reinforced or suppressed. The basic mechanisms of unsupervised biological learning drive synaptic plasticity and adaptation for behavioral success in living brains with different levels of complexity. The insights collected here point toward the Hebbian model as a choice solution for “intelligent” robotics and sensor systems. Keywords: Hebbian learning; synaptic plasticity; neural networks; self-organization; brain; reinforcement; sensory processing; robot control . (shrink)

The article considers the problem of navigating mobile robots and finding the best way to the goal in real-time in a space surrounded by unknown objects. The motor actions of the robot must be defined and adapted to changes in the environment. When using only laser scanners on mobile work, objects above or below the lasers' level will remain obstacles to the robot. Current algorithms and principles of navigation are considered. Extended the existing real-time interference detection system using (...) lasers by adding a camera that calculates the length of objects. The new system has been successfully implemented and tested in a mobile robot, ensuring the passage of the road providing collision-free paths. The obtained simulation results are presented in the article. The existing problems of navigation of mobile robots, which are moving in the particular area from their position to the specified destination on the map, were investigated. The current problem is the inability to spot objects that are not on the same level as the mobile robot's lasers. Moreover, the task is complicated when you need to recognize such objects while the robot is moving in real time. The current algorithms and principles of navigation given by previous research and publications are analyzed. As a result of the work, the existing system of recognition and avoidance of obstacles was expanded. Prior to that, the system used only odometry and information obtained from laser scanners, without obtaining data from other sources of environmental information. The idea of development was to use a camera, which was already part of the components of the researched mobile robot. It has become possible to generate a pointcloud relative to the environment, using a depth sensing camera to calculate the distance to objects. Because the density of the received data in the form of a pointcloud is too high for further processing, a downsample VoxelGrid filter was used, which reduces the density of the point cloud. VoxelGrid belongs to the PCL library. Another problem was the removal of information about unnecessary objects in the camera's field of view. These include the floor, ceiling, parts of the robot. The PassThrough filter from the PCL library was used to solve this problem. The next step is to process the filtered data using OctoMap. As a result, an octree is generated. A top-down projection is created from the octree generated in the previous step. The resulting projection must be processed and converted into polygonal obstacles. Only then they will be marked by teb_local_planner as obstacles. The developed system was successfully implemented and tested both in the Gazebo simulation and in the researche mobile robot. The path with obstacles will be completed without collisions. The paper presents the obtained test results. (shrink)

The design of collaborative robotics, such as driver-assisted operations, engineer a potential automation of decision-making predicated on unobtrusive data gathering of human users. This form of ‘somatic surveillance’ increasingly relies on behavioural biometrics and sensory algorithms to verify the physiology of bodies in cabin interiors. Such processes secure cyber-physical space, but also register user capabilities for control that yield data as insured risk. In this technical re-formation of human–machine interactions for control and communication ‘a dissonance of attribution’ :7684, 2019. https://doi.org/10.1073/pnas.1805770115) (...) is created between perceptions of phenomena, materials and decision-making. This reconfigures relations not only between humans and machines, objects and subjects, but possibly disrupts attributive functions in the social system of Law. What it requires is shifting a legal accountability for action from a sovereignty of the human to a new materialist account based on a ‘cognitive assemblage’ between physiological data, computation and algorithmic sensing. This paper investigates the function of law as a guidance system to acknowledge this account of sensory and algorithmic computation as autonomous ‘sensing agents’ that may be accountable in situations of risk. This assemblage of robotic computation and sensory determination requires a clearer legal differentiation across the current static terminologies of person, property, liability and rights that maintain strict separations of object from subject. To neglect this, we argue, law will solely impute attributions of error to humans despite evidence of operation via mutual control. (shrink)

The automatic tendency to anthropomorphize our interaction partners and make use of experience acquired in earlier interaction scenarios leads to the suggestion that social interaction with humanoid robots is more pleasant and intuitive than that with industrial robots. An objective method applied to evaluate the quality of human–robot interaction is based on the phenomenon of motor interference (MI). It claims that a face-to-face observation of a different (incongruent) movement of another individual leads to a higher variance in one’s own (...) movement trajectory. In social interaction, MI is a consequence of the tendency to imitate the movement of other individuals and goes along with mutual rapport, sense of togetherness, and sympathy. Although MI occurs while observing a human agent, it disappears in case of an industrial robot moving with piecewise constant velocity. Using a robot with human-like appearance, a recent study revealed that its movements led to MI, only if they were based on human prerecording (biological velocity), but not on constant (artificial) velocity profile. However, it remained unclear, which aspects of the human prerecorded movement triggered MI: biological velocity profile or variability in movement trajectory. To investigate this issue, we applied a quasi-biological minimum-jerk velocity profile (excluding variability in the movement trajectory as an influencing factor of MI) to motion of a humanoid robot, which was observed by subjects performing congruent or incongruent arm movements. The increase in variability in subjects’ movements occurred both for the observation of a human agent and for the robot performing incongruent movements, suggesting that an artificial human-like movement velocity profile is sufficient to facilitate the perception of humanoid robots as interaction partners. (shrink)

This article reflects on securitization efforts with respect to ‘killer robots’, known more impartially as autonomous weapons systems (AWS). Our contribution focuses, theoretically and empirically, on the Campaign to Stop Killer Robots, a transnational advocacy network vigorously pushing for a pre-emptive ban on AWS. Marking exactly a decade of its activity, there is still no international regime formally banning, or even purposefully regulating, AWS. Our objective is to understand why the Campaign has not been able to advance its disarmament (...) agenda thus far, despite all the resources, means and support at its disposal. For achieving this objective, we challenge the popular assumption that strong stigmatization is the universally best strategy towards humanitarian disarmament. We investigate the consequences of two specifics present in AWS, which set them apart from processes and successes of the campaigns to ban anti-personnel landmines, cluster munitions, and laser-blinding weapons: the complexity of AWS as a distinct weapons category, and the subsequent circumvention of its complexity through the utilization of pop-culture, namely science fiction imagery. We particularly focus on two mechanisms through which such distortion has occurred: hybridization and grafting. These provide the conceptual basis and heuristic tools to unpack the paradox of over-securitization: success in broadening the stakeholder base in relation to the first mechanism and deepening the sense of insecurity in relation to the second one does not necessarily lead to the achievement of the desired prohibitory norm. In conclusion, we ask whether it is not the time for a more epistemically-oriented expert debate with a less ambitious, lowest common denominator strategy as the preferred model of arms control for such a complex weapons category. (shrink)

To effectively improve the efficiency of international service design talent training and make it more in line with society's needs, we analyze the current status of international service design talent training and its professional training focus. Based on the above problems, from the perspective of cognitive psychology, artificial intelligence and human–computer interaction technology are used to construct the international service design talent training mode of the HCI intelligent service robot. This mode can be used to solve the existing teaching (...) problems by using novel means to ensure the quality of teaching. Finally, through the actual analysis of teaching cases, the effectiveness of the proposed talent training mode is verified. The HCI system is based on knowledge of cognitive psychology. According to the characteristics and functions of an educational robot, the robot is combined with traditional teaching activities, and the robot-assisted talent training mode is designed. Robot-assisted talent training is a feasible training method that can improve the efficiency of talent training. Students have confidence in their learning skills before the course, and the confidence is further strengthened after the end of the course. After the course, the students have a stronger sense of cooperation. This study can provide theoretical ideas for the research of international service talent training mode. (shrink)

Interactions between humans and machines that include artificial intelligence are increasingly common in nearly all areas of life. Meanwhile, AI-products are increasingly endowed with emotional characteristics. That is, they are designed and trained to elicit emotions in humans, to recognize human emotions and, sometimes, to simulate emotions. The introduction of such systems in our lives is met with some criticism. There is a rather strong intuition that there is something wrong about getting attached to a machine, about having certain (...) emotions towards it, and about getting involved in a kind of affective relationship with it. In this paper, I want to tackle these worries by focusing on the last aspect: in what sense could it be problematic or even wrong to establish an emotional relationship with EAI-systems? I want to show that the justifications for the widespread intuition concerning the problems are not as strong as they seem at first sight. To do so, I discuss three arguments: the argument from self-deception, the argument from lack of mutuality, and the argument from moral negligence. (shrink)

To realize a successful and collaborative interaction between human and robots remains a big challenge. Emotional reactions of the user provide crucial information for a successful interaction. These reactions carry key factors to prevent errors and fatal bidirectional misunderstanding. In cases where human–machine interaction does not proceed as expected, negative emotions, like frustration, can arise. Therefore, it is important to identify frustration in a human–machine interaction and to investigate its impact on other influencing factors such as dominance, sense of control (...) and task performance. This paper presents a study that investigates a close cooperative work situation between human and robot, and explore the influence frustration has on the interaction. The task for the participants was to hand over colored balls to two different robot systems. The robot systems had to throw the balls into appropriate baskets. The coordination between human and robot was controlled by various gestures and words by means of trial and error. Participants were divided into two groups, a frustration- and a no frustration- group. Frustration was induced by the behavior of the robotic systems which made errors during the ball handover. Subjective and objective methods were used. The sample size of participants was N = 30 and the study was conducted in a between-subject design. Results show clear differences in perceived frustration in the two condition groups and different behavioral interactions were shown by the participants. Furthermore, frustration has a negative influence on interaction factors such as dominance and sense of control. The study provides important information concerning the influence of frustration on human–robot interaction for the requirements of a successful, natural, and social HRI. The results are discussed in favor of how a successful und effortless interaction between human and robot can be realized and what relevant factors, like appearance of the robot and influence of frustration on sense of control, have to be regarded. (shrink)

Modern knowledge of servo systems and computing machines makes it possible to specify a circuit that can and will induce the rules and winning moves in a game like chess when they are given only ostensibly, that is, by playing against opponents who quit when illegal or losing moves are made. Such circuits enjoy a value social in the sense that it is shared by the players.La connaissance moderne des servomécanismes et des machines à calculer permet de concevoir un (...) circuit qui pourra suivre des règles et décider les coups décisifs dans un jeu comme le jeu d'échecs tout au moins quand les coups sont joués de faÇon apparente, c'est-à-dire contre des adversaires qui abandonneront dans le cas de coups irréguliers ou de coups absurdes.De tels circuits possèdent une „valeur” sociale dans la mesure où elle est partagée par les autres joueurs.Moderne Kenntnissen im Gebiete von Folgegeraeten und Rechenmaschinen ermoeglichen es einen elektrischen Kreis aufzuwerfen, der die Regeln und gewinnbringende Zuege eines Spieles wie Schach induktiv erfassen kann und wird, wenn diese Regeln und Zuege nur ostensiv gegeben sind; d.h. indem mit Gegnern gespielt wird, die das Spiel einstellen sobald regelwidrige oder verlustbringende Zuege gemacht werden. Solche Kreise schaffen demnach einen Wert, der gesellschaftlich in dem Sinn ist, dass er auch von den Mitspielern geteilt wird. (shrink)

This paper investigates the claim that artificial Intelligence Systems cannot be held morally responsible because they do not have an ability for agential self-awareness e.g. they cannot be aware that they are the agents of an action. The main suggestion is that if agential self-awareness and related first person representations presuppose an awareness of a self, the possibility of responsible artificial intelligence systems cannot be evaluated independently of research conducted on the nature of the self. Focusing on a (...) specific account of the self from the phenomenological tradition, this paper suggests that a minimal necessary condition that artificial intelligence systems must satisfy so that they have a capability for self-awareness, is having a minimal self defined as ‘a sense of ownership’. As this sense of ownership is usually associated with having a living body, one suggestion is that artificial intelligence systems must have similar living bodies so they can have a sense of self. Discussing cases of robotic animals as examples of the possibility of artificial intelligence systems having a sense of self, the paper concludes that the possibility of artificial intelligence systems having a ‘sense of ownership’ or a sense of self may be a necessary condition for having responsibility. (shrink)

Based on detailed descriptions of human–machine ensembles, this article explores how humans and machines work together to see specific things and unsee others, and how they come to co-configure one another. For seeing is not an automated function; whether one is a human or a machine, vision is gradually enskilled and mutually co-constituted. The analysis intersects three different ways of human–machine seeing to shed further light on the workings of each one: an airport, where facial recognition algorithms collaborate with border (...) guards to grant passage to particular travellers and not to others; a luggage-scanning system, where potential security threats are assessed by a complex of X-rays and human intro-spection; and a hospital operating room, where human–machinic surgical robots find their way and operate on the insides of human bodies, touching only by seeing. In these examples, human and machine ways of seeing merge together, seeing in particular apparatuses of material, political, organisational, economic and fleshy components. The article analyses the practical work of human–machinic collaboration and explores how the different material and social constituents, not necessarily always working from the same agenda, come to configure what can be seen and sensed and what cannot. (shrink)

My argument is that Chalmers' zombie fiction and his rigid-designator-argument going back on Kripke comes down to a petitio principii. Rather, at the core it appears to be more related to the essential 'privacy' of the phenomenal internal perspective. In return for Chalmers I argue that the 'principle self-preservation' of living organisms necessarily implies subjectivity and the emergence of sense. The comparison with a robot proves instructive. The mode of 'mere physical' being is transcended if, in the form of (...) phenomenal perception, sense appears on the stage of higher animals – a transition explained here as an emergence phenomenon based on the systemic co-operation of perception, valuation and action ('perc-val-act system'). Some fundamental considerations are added: Those consequences implied by the principle self-preservation reveal the natural-biological origin of the organism – primarily seeming a more insignificant circumstance – as a momentous fundamental difference (end-in-itself-character, subjectivity, constitution of sense) compared to technical artefacts (robot). And the emergentist approach indicates the – maybe paradoxical – possibility of a dualism of physical and psychical phenomena in an overall physical system, that is not dualistic at the same time. (shrink)

Recent research into the nature of self in artificial and biological systems raises interest in a uniquely determining immutable sense of self, a “metaphysical ‘I’” associated with inviolable personal values and moral convictions that remain constant in the face of environmental change, distinguished from an object “me” that changes with its environment. Complementary research portrays processes associated with self as multimodal routines selectively enacted on the basis of contextual cues informing predictive self or world models, with the notion of (...) the constant, per-vasive and invariant sense of self associated with a multistable attractor set aiming to ensure personal integrity against threat of disintegrative change. This paper proposes that an immutable sense of self emerges as a global attractor which can be described as a project ideal self-situation embodied in frontal medial processes during more or less normal adolescent development, and that thereafter serves to orient agency in the more or less free development of embodied potentials over the life course in effort to realize project conditions, phenomenally identified with the felt pull towards this end as purpose of and source of meaning in life. So oriented, life-long self-development aims to embody solutions to problems at different timescales depending on this embodied purpose, ultimately in the service of evolutionary processes securing organism populations against threats of disintegrative change over timespans far beyond that of the individual. After characterizing the target sense of self, research circling this target is briefly surveyed. Self as global project and developmental neural correlates are proposed. Then, the paper discusses some implications for research in biological and artificial systems. Building from earlier work in cognitive neurorobotics, discussion affirms the value of reinforcement rituals including prayer in metaphysical self-development, considers implications for value alignment and rights associated with free will in the context of artificial intelligence and robot religion, and concludes by emphasizing the importance of self-development toward project ideals as source of meaning in life in the current social-political environment. (shrink)

This paper examines Harold Garfinkel’s work with ELIZA and a related program LYRIC from 1967 to 1969. AI researchers have tended to treat successful human–machine interaction as if it relied primarily on non-human machine characteristics, and thus the often-reported attribution of human-like qualities to communication with computers has been criticized as a misperception—and humans who make such reports referred to as “deluded.” By contrast Garfinkel, building on two decades of prior research on information and communication, argued that the ELIZA and (...) the LYRIC “chatbots” were achieving interactions that felt human to many users by exploiting human sense-making practices. In keeping with his long-term practice of using “trouble” as a way of discovering the taken-for-granted practices of human sense-making, Garfinkel designed scripts for ELIZA and LYRIC that he could disrupt in order to reveal how their success depended on human social practices. Hence, the announcement “Machine Down” by the chatbot was a desired result of Garfinkel’s interactions with it. This early (but largely unknown) research has implications not only for understanding contemporary AI chatbots, but also opens possibilities for respecifying current information systems design and computational practices to provide for the design of more flexible information objects. (shrink)

What constitutes our human capacity to engage and be in the same frame of mind as another human? How do we come to share a sense of what ‘looks good’ and what ‘makes sense’? How do we handle differences and come to coexist with them? How do we come to feel that we understand what someone else is experiencing? How are we able to walk in silence with someone familiar and be sharing a peaceful space? All of these aspects are (...) part of human ‘interaction’. In designing interactive technologies designers have endeavoured to explicate, analyse and simulate, our capacity for social adaptation. Their motivations are mixed and include the desires to improve efficiency, improve consumption, to connect people, to make it easier for people to work together, to improve education and learning. In these endeavours to explicate, analyse and simulate, there is a fundamental human capacity that is beyond technology and that facilitates these aspects of being, feeling and thinking with others. That capacity, we suggest, is human entrainment. This is our ability to coordinate the timing of our behaviours and rhythmically synchronise our attentional resources. Expressed within the movements of our bodies and voices, it has a quality that is akin to music. In this paper, disparate domains of research such as pragmatics, social psychology, behaviourism, cognitive science, computational linguistics, gesture, are brought together, and considered in light of the developments in interactive technology, in order to shape a conceptual framework for understanding entrainment in everyday human interaction. (shrink)

A test procedure optimization method was proposed in this paper to improve the test efficiency of the industrial robot servo system to be tested on the IRSS integrated testing platform. First, an ordered sequence was used to define the IRSS test project when tested on the IITP. The ordered sequence consisted of execution subelements, which were a combination of control variable parameters of the IITP. Second, the optimization relationships among the IRSS test projects were dug out according to the (...) IRSS test project sequences. Finally, by using the traveling salesmen problem, an optimization model was established based on the optimization relationships of the IRSS test projects, and the optimal test order of the IRSS test projects to be tested on the IITP was obtained by solving the model. A case analysis showed that the proposed method optimized the test procedure on the IITP effectively, and the test time when implementing the test on the IITP according to the optimized order was nearly 50% shorter than before optimization. The optimization effect was thus found to be significant. (shrink)

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator (...) system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme. (shrink)

The conceptual space< (Gärdenfors 2000) is discussed as a representation structure that connects the constructivist and the ecological vision subsystems in an operating autonomous robot based on computer vision.

There is increasing speculation within military and policy circles that the future of armed conflict is likely to include extensive deployment of robots designed to identify targets and destroy them without the direct oversight of a human operator. My aim in this paper is twofold. First, I will argue that the ethical case for allowing autonomous targeting, at least in specific restricted domains, is stronger than critics have acknowledged. Second, I will attempt to uncover, explicate, and defend the intuition that (...) even in this context there would be something ethically problematic about such targeting. I argue that an account of the non-consequentialist foundations of the principle of distinction suggests that the use of autonomous weapon systems is unethical by virtue of failing to show appropriate respect for the humanity of our enemies. However, the success of the strongest form of this argument depends upon understanding the robot itself as doing the killing. To the extent that we believe that, on the contrary, AWS are only the means whereby those who order them into action kill, the idea that the use of AWS fails to respect the humanity of our enemy will turn upon an account of what is required by respect that is essentially conventional. Thus, while the theoretical foundations of the idea that AWS are weapons that are “evil in themselves” are weaker than critics have sometimes maintained, they are nonetheless sufficient to the task of demanding a prohibition of the development and deployment of such weapons. (shrink)

The biomedical literature makes extensive use of the concept of a genetic program. So far, however, the nature of genetic programs has received no satisfactory elucidation from the standpoint of computer science. This unsettling omission has led to doubts about the very existence of genetic programs, on the grounds that gene regulatory networks lack a predetermined schedule of execution, which may seem to contradict the very idea of a program. I show, however, that we can make perfect sense of genetic (...) programs, if only we abandon the preconception that all computers have a von Neumann architecture. Instead, genetic programs instantiate the computational architecture of Post–Newell Production Systems. That is, genetic programs are unordered sets of conditional instructions, instructions that fire independently when their conditions are matched. For illustration I present a paradigm Production System that regulates the functioning of the well-known lac operon of E. coli. On close reflection it turns out that not only genes, but also proteins encode instructions. I propose, therefore, to rename genetic programs to biomolecular programs. Biomolecular and/or genetic programs, and the cellular computers than run them, are to be understood not as von Neumann computers, but as Post–Newell production systems. (shrink)

In this paper, we theoretically address the relevance of unintentional and inconsistent interactional elements in human–robot interactions. We argue that elements failing, or poorly succeeding, to reproduce a humanlike interaction create significant consequences in human–robot relational patterns and may affect human–human relations. When considering social interactions as systems, the absence of a precise interactional element produces a general reshaping of the interactional pattern, eventually generating new types of interactional settings. As an instance of this dynamic, we study (...) the absence of metacommunicative abilities in social artifacts. Then, we analyze the pragmatic consequences of the aforementioned absence through the lens of Paul Watzlawick’s interactionist theory. We suggest that a fixed complementary interactional setting may be produced because of the asymmetric understanding, between robots and humans, of metacommunication. We highlight the psychological implications of this interactional asymmetry within Jessica Benjamin’s concept of “mutual recognition”. Finally, we point out the possible shift of dysfunctional interactional patterns from human–robot interactions to human–human ones. (shrink)

Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position (...) sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved 7 chronic hemiparetic subjects over three weeks. The protocol included evaluation sessions, that consisted of a psychometric estimate of the subject’s kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time. (shrink)

There is an urge to introduce high technology and robotics in care settings. Assisted living is the fastest growing form of older adults’ long-term care. Resident autonomy has become the watchword for good care. This article sheds light on the potential effects of care robotics on the sense of autonomy of older people in AL. Three aspects of the residents’ sense of autonomy are of particular interest: interaction-based sense of autonomy, coping-based sense of autonomy, and potential-based sense of autonomy. Ethnographical (...) data on resident autonomy in an AL facility and existing literature on care robots are utilized in studying what kind of assurances different types of robots would provide to maintain the sense of autonomy in AL. Robots could strengthen the different types of sense of autonomy in multiple ways. Different types of robots could widen the residents’ space of daily movements, sustain their capacities, and help them maintain and even create future expectations. Robots may strengthen the sense of autonomy of older persons in AL; however, they may simultaneously pose a threat. Multi-professional discussions are needed on whether robots are welcomed in care, and if they are, how, for whom, and in what areas. (shrink)

Technological developments involving robotics and artificial intelligence devices are being employed evermore in elderly care and the healthcare sector more generally, raising ethical issues and practical questions warranting closer considerations of what we mean by “care” and, subsequently, how to design such software coherently with the chosen definition. This paper starts by critically examining the existing approaches to the ethical design of care robots provided by Aimee van Wynsberghe, who relies on the work on the ethics of care by Joan (...) Tronto. In doing so, it suggests an alternative to their non-principled approach, an alternative suited to tackling some of the issues raised by Tronto and van Wynsberghe, while allowing for the inclusion of two orientative principles. Our proposal centres on the principles of autonomy and vulnerability, whose joint adoption we deem able to constitute an original revision of a bottom-up approach in care ethics. Conclusively, the ethical framework introduced here integrates more traditional approaches in care ethics in view of enhancing the debate regarding the ethical design of care robots under a new lens. (shrink)

Proprioception is a crucial sensory modality involved in the control and regulation of coordinated movements and in motor learning. However, the extent to which proprioceptive acuity is influenced by local muscle fatigue is obscured by methodological differences in proprioceptive and fatiguing protocols. In this study, we used high resolution kinematic measurements provided by a robotic device, as well as both frequency and time domain analysis of signals captured via surface electromyography (sEMG) to examine the effects of local muscle fatigue on (...) wrist proprioceptive acuity in 16 physically and neurologically healthy young adults. To this end, participants performed a flexion/extension ipsilateral joint position matching test (JPM), after which a high-resistive robotic task was used to induce muscle fatigue of the flexor carpi radialis (FCR) muscle. The JPM test was then repeated in order to analyze potential changes in proprioceptive acuity. Results indicated that the fatigue protocol had a significant effect on movements performed in flexion direction, with participants exhibiting a tendency to undershoot the target before the fatigue protocol (-1.218°), but overshooting after the fatigue protocol (0.587°). In contrast, in the extension direction error bias values were similar before and after the fatigue protocol as expected (pre = -1.852°, post = -1.237°) and reflected a tendency to undershoot the target. Moreover, statistical analysis indicated that movement variability was not influenced by the fatigue protocol or movement direction. In sum, results of the present study demonstrate that an individual’s estimation of wrist joint displacement (i.e., error bias), but not precision (i.e., variability), is affected by muscular fatigue in a sample of neurologically and physically healthy adults. (shrink)

GIS is important equipment in the substation system in a complex microgrid network. Due to the long-term service in harsh operation environments, the electrical performance of GIS equipment will be seriously affected. Therefore, the regular maintenance of GIS equipment in the substation system is a routine task so as to ensure the normal operation of the microgrid networks. The traditional method relies on manual labor, where not only with the low operation efficiency but also regarding some maintenance, labors cannot reach (...) the inside of the GIS equipment, which seriously restricted the completion of GIS equipment maintenance operation. Based on the above analysis, a basic configuration of a GIS equipment maintenance robot with smart structure, convenient control, and stable motion characteristic has been proposed in this paper. Through the optimization design of the chassis adsorption system, the GIS inspection robot can achieve hanging and vertical adsorption inside the GIS equipment and some special motion status. In this way, the entire GIS equipment can be inspected without blind spots. Through establishing the mechanical model of the GIS inspection robot under the hanging and vertical motion state, the robustness and stability of the GIS inspection robot in the special status have been analyzed, and the corresponding GIS inspection robot robust stability motion control method has also been proposed. Finally, through the integrated design of mechanical system and hardware and software control system, the GIS inspection robot physical prototype system has been developed and the maintenance operation experiment has been carried out in Hunan Electric Power Company Maintenance Company through simulating the internal GIS equipment. The physical prototype can realize the basic movement and special movement in internal GIS equipment without any blind spots and complete the inspection task of GIS equipment operation; the movement of GIS robot is dexterous and stable in the whole operation process, which has strong robust stability. The research of GIS inspection robot in the complex microgrid networks has important theoretical significance and practical application value for the intelligent operation and maintenance management of substation system in complex microgrid networks. (shrink)

One of the several reasons given in calls for the prohibition of autonomous weapons systems (AWS) is that they are against human dignity (Asaro, 2012; Docherty, 2014; Heyns, 2017; Ulgen, 2016). However there have been criticisms of the reliance on human dignity in arguments against AWS (Birnbacher, 2016; Pop, 2018; Saxton, 2016). This paper critically examines the relationship between human dignity and autonomous weapons systems. Three main types of objection to AWS are identified; (i) arguments based on technology (...) and the ability of AWS to conform to International Humanitarian Law; (ii) deontological arguments based on the need for human judgement and meaningful human control, including arguments based on human dignity; (iii) consequentialist reasons about their effects on global stability and the likelihood of going to war. An account is provided of the claims made about human dignity and AWS, of the criticisms of these claims, and of the several meanings of ‘dignity’. It is concluded that although there are several ways in which AWS can be said to be against human dignity, they are not unique in this respect. There are other weapons, and other technologies, that also compromise human dignity. Given this, and the ambiguities inherent in the concept, it is wiser to draw on several types of objections in arguments against AWS, and not to rely exclusively on human dignity. (shrink)