In this paper, we present an active audition system which is implemented on the humanoid robot "SIG the humanoid". The audition system for highly intelligent humanoids localizes sound sources and recognizes auditory events in the auditory scene. Active audition reported in this paper enables SIG to track sources by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG actively moves its head to improve localization by aligning microphones orthogonal to the sound (...) source and by capturing the possible sound sources by vision. However, such an active head movement inevitably creates motor noises.The system adaptively cancels motor noises using motor control signals and the cover acoustics. The experimental result demonstrates that active audition by integration of audition, vision, and motor control attains sound source tracking in variety of conditions.onditions. (shrink)

This article presents a formal theory of robot perception as a form of abduction. The theory pins down the process whereby low‐level sensor data is transformed into a symbolic representation of the external world, drawing together aspects such as incompleteness, top‐down information flow, active perception, attention, and sensor fusion in a unifying framework. In addition, a number of themes are identified that are common to both the engineer concerned with developing a rigorous theory of perception, such (...) as the one on offer here, and the philosopher of mind who is exercised by questions relating to mental representation and intentionality. (shrink)

During the perception of human actions by robotic assistants, the robotic assistant needs to direct its computational and sensor resources to relevant parts of the human action. In previous work we have introduced HAMMER, a computational architecture that forms multiple hypotheses with respect to what the demonstrated task is, and multiple predictions with respect to the forthcoming states of the human action. To confirm their predictions, the hypotheses request information from an attentional mechanism, which allocates the robot’s resources as (...) a function of the saliency of the hypotheses. In this paper we augment the attention mechanism with a component that considers the content of the hypotheses’ requests, with respect to the content’s reliability, utility and cost. This content-based attention component further optimises the utilisation of the resources while remaining robust to noise. Such computational mechanisms are important for the development of robotic devices that will rapidly respond to human actions, either for imitation or collaboration purposes. (shrink)

This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents (...) some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well. (shrink)

Binaural pitch fusion is the perceptual integration of stimuli that evoke different pitches between the ears into a single auditory image. This study was designed to investigate how steady background noise can influence binaural pitch fusion. The binaural fusion ranges, the frequency ranges over which binaural pitch fusion occurred, were measured with three signal-to-noise ratios of the pink noise and compared with those measured in quiet. The preliminary results show that addition of an (...) appropriate amount of noise can reduce binaural fusion ranges, an effect called stochastic resonance. This finding increases the understanding of how specific noise levels can sharpen binaural pitch fusion in normal hearing individuals. Furthermore, it elicits more pathways for research to explore how this benefit can practically be used to help improve binaural auditory perception. (shrink)

Inner speech is commonly understood as the conscious experience of a voice within the mind. One recurrent theme in the scientific literature is that the phenomenon involves a representation of overt speech, for example, a representation of phonetic properties that result from a copy of speech instructions that were ultimately suppressed. I propose a larger picture that involves some embodied objects and their misperception. I call it “the Body Error Theory,” or BET for short. BET is a form of illusionism, (...) but the particular version I favor is a cross-modal illusion. Newly described here, my hypothesis is that the experience of inner speech arises from a mix of interoception and audition. Specifically, there is the detection of slight but well-confirmed activities in the speech musculature that occur during inner speech, which helps to transform representations of normal but quiet nonverbal sounds that inevitably occur during inner speech, from breathing to background noise, into a mistaken perception of inner speech. Simply put, activities in the speech musculature mix with sounds to create the appearance of speech sounds, which thus explains the “voice within the mind.” I also show how BET’s cross-modal system fits with standard information processing accounts for speech monitoring and how it accommodates the central insights of leading theories of inner speech. In addition, I show how BET is supported by data from experience-sampling surveys and how it can be empirically tested against its rivals. (shrink)

Tsuda offers advanced concepts to model brain functions, includ-ing “chaotic itinerancy,” “attractor ruins,” “singular-continuous nowhere-differentiable attractors,” “Cantor coding,” “multi-Milnor attractor systems,” and “dynamically generated noise.” References to physiological descriptions of attractor landscapes governing activity over cortical fields maintained by millions of action potentials may facilitate their application in future experimental designs and data analyses.

The emerging neurocomputational vision of humans as embodied, ecologically embedded, social agents—who shape and are shaped by their environment—offers a golden opportunity to revisit and revise ideas about the physical and information-theoretic underpinnings of life, mind, and consciousness itself. In particular, the active inference framework makes it possible to bridge connections from computational neuroscience and robotics/AI to ecological psychology and phenomenology, revealing common underpinnings and overcoming key limitations. AIF opposes the mechanistic to the reductive, while staying fully grounded in (...) a naturalistic and information-theoretic foundation, using the principle of free energy minimization. The latter provides a theoretical basis for a unified treatment of particles, organisms, and interactive machines, spanning from the inorganic to organic, non-life to life, and natural to artificial agents. We provide a brief introduction to AIF, then explore its implications for evolutionary theory, ecological psychology, embodied phenomenology, and robotics/AI research. We conclude the paper by considering implications for machine consciousness. (shrink)

This article studies perceptual differences of three social robots by elementary school children of ages 6–13 years at research fairs. The autonomous humanoid robot Pepper, an advanced social robot primarily designed as a personal assistant with movement and mobility, is compared to the teleoperated AV1 robot—designed to help elementary school children who cannot attend school to have a telepresence through the robot—and the flowerpot robot Tessa, used in the eWare system as an avatar for a home sensor system and (...) dedicated to people with dementia living alone. These three robots were shown at the Norwegian national research fair, held in every major Norwegian city annually, where children were able to interact with the robots. Our analysis is based on quantitative survey data of the school children concerning the robots and qualitative discussions with them. By comparing three different types of social robots, we found that presence can be differently understood and conceptualized with different robots, especially relating to their function and “aliveness.” Additionally, we found a strong difference when relating robots to personal relations to one’s own grandparents versus older adults in general. We found children’s perceptions of robots to be relatively positive, curious and exploratory and that they were quite reflective on their own grandparent having a robot. (shrink)

The theory presented here has implications for philosophy in respect of how concepts and words can be mechanically defined. For neuroscience the paper at least sets out a problem that has received little consideration and offers a possible solution. Also the theory may be relevant to robotics in terms of object manipulation. Concepts need to be separated from each other in the brain in order for an animal to act on one object in isolation. A possible solution is to inhibit (...) common feature neurons that are shared by two concepts. There are some problems with doing so, including the fact that each feature of every concept is shared with some others so all would have to be inhibited. This can be resolved if common feature neurons are only switched off while two concepts are active at the same time. Another problem is that while inhibiting the common features, the two active concepts cannot be related to each other and understood in each other's context. This can be addressed by division of the brain into relational and isolational areas. Associative thinking, proposed to be the only memory mechanism in the right hemisphere, produces poorly defined but well related concepts. In fact all concepts have associations to others and so in a purely associative brain region, everything forms one giant concept. In the left hemisphere it is speculated that differential or oppositional thinking cancels out the common features of live concepts, leaving only the differences, resulting in clear definition but lack of relationships to other concepts. (shrink)

The present study, grounded in gender schema theory, employed a posttest experimental design to examine how television might influence girls’ perceptions of STEM (science, technology, engineering, and mathematics). Girls (6-9 years old) were either exposed to stereotypical or counter-stereotypical STEM female television characters. In a posttest following exposure, girls reported math and science self-efficacy, preference for STEM and stereotypical careers, and perceptions of scientists’ gender using the draw-a-scientist procedure. Girls in the stereotype condition reported more interest in stereotypical careers and (...) were more likely to perceive scientists as males than girls in the counter-stereotype STEM condition or a no exposure control. Girls in the counter-stereotype STEM condition did not differ from the no exposure control in any of the dependent variables. Results suggest that onetime exposure to televised stereotypes may activate existing gender schema, but that onetime exposure to televised counter-stereotypes may not have the capacity to alter girls’ STEM schema. (shrink)

Can theories of mental imagery, conscious mental contents, developed within cognitive science throw light on the obscure (but culturally very significant) concept of imagination? Three extant views of mental imagery are considered: quasi‐pictorial, description, and perceptual activity theories. The first two face serious theoretical and empirical difficulties. The third is (for historically contingent reasons) little known, theoretically underdeveloped, and empirically untried, but has real explanatory potential. It rejects the “traditional” symbolic computational view of mental contents, but is compatible with recentsituated (...) cognition and active visionapproaches in robotics. This theory is developed and elucidated. Three related key aspects of imagination (non‐discursiveness, creativity, and seeing as) raise difficulties for the other theories. Perceptual activity theory presents imagery as non‐discursive and relates it closely to seeing as. It is thus well placed to be the basis for a general theory of imagination and its role in creative thought. (shrink)

This paper investigates the effects of group interaction in a storytelling situation for children using two robots: a reader robot and a listener robot as a side-participant. We developed a storytelling system that consists of a reader robot, a listener robot, a display, a gaze model, a depth sensor, and a human operator who responds and provides easily understandable answers to the children’s questions. We experimentally investigated the effects of using a listener robot and either one or two children (...) during a storytelling situation on the children’s preferences and their speech activities. Our experimental results showed that the children preferred storytelling with the listener robot. Although two children obviously produced more speech than one child, the listener robot discouraged the children’s speech regardless of whether one or two were listening. (shrink)

Within contemporary philosophy of perception, it is commonly claimed that flavour experiences are paradigmatic examples of multimodal perceptual experiences. In fact, virtually any sensory system, including vision and audition, is believed to influence how we experience flavours. However, there is a strong intuition, often expressed in these works, that not all of these sensory systems make an equal contribution to the phenomenology of flavour experiences. More specifically, it seems that the activities of some sensory systems are constitutive for flavour perception (...) while others merely influence how we experience flavours. This paper aims to answer the question regarding the constitutive factors of flavour perception in a twofold way. First, a theoretical framework is developed, relying on debates regarding constitutivity in analytic metaphysics and philosophy of science, which defines the stronger and weaker senses in which the activities of sensory systems may be constitutive for flavour perception. Second, relying on empirical results in flavour science, the constitutive status of activities related to distinct sensory systems in the context of flavour perception is investigated. (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)

Robot programming by demonstration covers methods by which a robot learns new skills through human guidance. We present an interactive, multimodal RPD framework using active teaching methods that places the human teacher in the robot’s learning loop. Two experiments are presented in which observational learning is first used to demonstrate a manipulation skill to a HOAP–3 humanoid robot by using motion sensors attached to the teacher’s body. Then, putting the robot through the motion, the teacher incrementally refines the robot’s (...) skill by moving its arms manually, providing the appropriate scaffolds to reproduce the action. An incremental teaching scenario is proposed based on insights from various fields addressing developmental, psychological, and social issues related to teaching mechanisms in humans. Based on this analysis, different benchmarks are suggested to evaluate the setup further. (shrink)

One hundred years after Luigi Russolo's "The Art of Noises," this book exposes a cross-section of the current motivations, activities, thoughts, and reflections of composers, performers, and artists who work with noise in all of its many forms. The book's focus is the practice of noise and its relationship to music, and in particular the role of noise as musical material--as form, as sound, as notation or interface, as a medium for listening, as provocation, as data. Its (...) contributors are first and foremost practitioners, which inevitably turns attention toward how and why noise is made and its potential role in listening and perceiving. Contributors include Peter Ablinger, Sebastian Berweck, Aaron Cassidy, Marko Ciciliani, Nick Collins, Aaron Einbond, Matthias Haenisch, Alec Hall, Martin Iddon, Bryan Jacobs, Phil Julian, Michael Maierhof, Joan Arnau Pàmies, and James Whitehead (JLIAT). The book also features a collection of short responses to a two-question "interview"--"what is noise (music) to you?" and "why do you make it?"--by some of the leading musicians working with noise today. Their work spans a wide range of artistic practice, including instrumental, vocal, and electronic music; improvisation; notated composition; theater; sound installation; DIY; and software development. Interview subjects include Eryck Abecassis, Franck Bedrossian, Antoine Chessex, Ryan Jordan, Alice Kemp (Germseed), George Lewis, Lasse Marhaug, Maja Solveig Kjelstrup Ratkje, Diemo Schwarz, Ben Thigpen, Kasper Toeplitz, and Pierre Alexandre Tremblay."--Page 4 of covers. (shrink)

Speech is a perceptuo-motor system. A natural computational modeling framework is provided by cognitive robotics, or more precisely speech robotics, which is also based on embodiment, multimodality, development, and interaction. This paper describes the bases of a virtual baby robot which consists in an articulatory model that integrates the non-uniform growth of the vocal tract, a set of sensors, and a learning model. The articulatory model delivers sagittal contour, lip shape and acoustic formants from seven input parameters that characterize the (...) configurations of the jaw, the tongue, the lips and the larynx. To simulate the growth of the vocal tract from birth to adulthood, a process modifies the longitudinal dimension of the vocal tract shape as a function of age. The auditory system of the robot comprises a “phasic” system for event detection over time, and a “tonic” system to track formants. The model of visual perception specifies the basic lips characteristics: height, width, area and protrusion. The orosensorial channel, which provides the tactile sensation on the lips, the tongue and the palate, is elaborated as a model for the prediction of tongue-palatal contacts from articulatory commands. Learning involves Bayesian programming, in which there are two phases: specification of the variables, decomposition of the joint distribution and identification of the free parameters through exploration of a learning set, and utilization which relies on questions about the joint distribution. Two studies were performed with this system. Each of them focused on one of the two basic mechanisms, which ought to be at work in the initial periods of speech acquisition, namely vocal exploration and vocal imitation. The first study attempted to assess infants’ motor skills before and at the beginning of canonical babbling. It used the model to infer the acoustic regions, the articulatory degrees of freedom and the vocal tract shapes that are the likeliest explored by actual infants according to their vocalizations. Subsequently, the aim was to simulate data reported in the literature on early vocal imitation, in order to test whether and how the robot was able to reproduce them and to gain some insights into the actual cognitive representations that might be involved in this behavior. Speech modeling in a robotics framework should contribute to a computational approach of sensori-motor interactions in speech communication, which seems crucial for future progress in the study of speech and language ontogeny and phylogeny. (shrink)

Artificial intelligence (AI) governance and auditing promise to bridge the gap between AI ethics principles and the responsible use of AI systems, but they require assessment mechanisms and metrics. Effective AI governance is not only about legal compliance; organizations can strive to go beyond legal requirements by proactively considering the risks inherent in their AI systems. In the past decade, investors have become increasingly active in advancing corporate social responsibility and sustainability practices. Including nonfinancial information related to environmental, social, (...) and governance (ESG) issues in investment analyses has become mainstream practice among investors. However, the AI auditing literature is mostly silent on the role of investors. The current study addresses two research questions: (1) how companies’ responsible use of AI is included in ESG investment analyses and (2) what connections can be found between principles of responsible AI and ESG ranking criteria. We conducted a series of expert interviews and analyzed the data using thematic analysis. Awareness of AI issues, measuring AI impacts, and governing AI processes emerged as the three main themes in the analysis. The findings indicate that AI is still a relatively unknown topic for investors, and taking the responsible use of AI into account in ESG analyses is not an established practice. However, AI is recognized as a potentially material issue for various industries and companies, indicating that its incorporation into ESG evaluations may be justified. There is a need for standardized metrics for AI responsibility, while critical bottlenecks and asymmetrical knowledge relations must be tackled. (shrink)

To approach the creation of artificial conscious systems systematically and to obtain certainty about the presence of phenomenal qualities (qualia) in these systems, we must first decipher the fundamental mechanism behind conscious processes. In achieving this goal, the conventional physicalist position exhibits obvious shortcomings in that it provides neither a plausible mechanism for the generation of qualia nor tangible demarcation criteria for conscious systems. Therefore, to remedy the deficiencies of the standard physicalist approach, a new theory for the understanding of (...) consciousness has been formulated. The aim of the paper is to present the cornerstones of this theory, to outline the conditions for conscious systems derived from the theory, and to address the implications of these conditions for the creation of robots that transcend the threshold of phenomenal awareness. In short, the theory is based on the proposition that the universe is permeated by a ubiquitous field of consciousness that can be equated with the zero-point field (ZPF) of quantum electrodynamics (QED). The ZPF, which is characterized by a spectrum of field modes, plays a crucial role in the edifice of modern physics. QED-based model calculations on cortical dynamics and empirical findings on the neural correlates of consciousness suggest that a physical system can only generate conscious states if it is capable of establishing resonant coupling to the ZPF, resulting in the amplification of selected field modes and the activation of the phenomenal qualities that are assumed to be associated with these modes. Thus, scientifically sound considerations support the conclusion that the crucial condition for generating conscious states lies in a system's capacity to tap into the phenomenal color palette inherent in the ZPF. (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)

The detection of a human’s intended behavior is one of the most important skills that a social robot should have in order to become acceptable as a part of human society, because humans are used to understand the actions of other humans in a goal-directed manner and they will expect the social robot to behave similarly. A breakthrough in this area can advance several research branches related to social intelligence such as learning by imitation and mutual adaptation. To achieve this (...) goal the robot needs to integrate all possible evidence of intention and neglect the unintended behavior, and a complete solution should use low-level signal processing and high-level reasoning. This work explores the low-level signal processing part of the solution by proposing an interactive adaptive perception scheme that uses four important features of human behavior to amplify the signals originating from intended behavior with respect to signals originating from unintended behavior and other noise sources such as instrumental noise. This work follows the vision that intelligence is not only a function of a centralized sophisticated artificial brain, but can be presented in different forms in the entire robot including its perception and motion systems (the mind is not contained in the brain, but distributed in every cell in the body). A simple example of using the proposed scheme was implemented and the results of two experiments with it are also presented. (shrink)

Perception is a first-person internal sensation induced within the nervous system at the time of arrival of sensory stimuli from objects in the environment. Lack of access to the first-person properties has limited viewing perception as an emergent property and it is currently being studied using third-person observed findings from various levels. One feasible approach to understand its mechanism is to build a hypothesis for the specific conditions and required circuit features of the nodal points where the mechanistic operation of (...) perception take place for one type of sensation in one species and to verify it for the presence of comparable circuit properties for perceiving a different sensation in a different species. The present work explains visual perception in mammalian nervous system from a first-person frame of reference and provides explanations for the homogeneity of perception of visual stimuli above flicker fusion frequency, the perception of objects at locations different from their actual position, the smooth pursuit and saccadic eye movements, the perception of object borders, and perception of pressure phosphenes. Using results from temporal resolution studies and the known details of visual cortical circuitry, explanations are provided for (a) the perception of rapidly changing visual stimuli, (b) how the perception of objects occurs in the correct orientation even though, according to the third-person view, activity from the visual stimulus reaches the cortices in an inverted manner and (c) the functional significance of well-conserved columnar organization of the visual cortex. A comparable circuitry detected in a different nervous system in a remote species-the olfactory circuitry of the fruit fly Drosophila melanogaster-provides an opportunity to explore circuit functions using genetic manipulations, which, along with high-resolution microscopic techniques and lipid membrane interaction studies, will be able to verify the structure-function details of the presented mechanism of perception. (shrink)

The relationship between brain activity and conscious visual experience is central to our understanding of the neural mechanisms underlying perception. Binocular rivalry, where monocular stimuli compete for perceptual dominance, has been previously used to dissociate the constant stimulus from the varying percept. We report here fMRI results from humans experiencing binocular rivalry under a dichoptic stimulation paradigm that consisted of two drifting random dot patterns with different motion coherence. Each pattern had also a different color, which both enhanced rivalry and (...) was used for reporting which of the two patterns was visible at each time. As the perception of the subjects alternated between coherent motion and motion noise, we examined the effect that these alternations had on the strength of the MR signal throughout the brain. Our results demonstrate that motion perception is able to modulate the activity of several of the visual areas which are known to be involved in motion processing. More specifically, in addition to area V5 which showed the strongest modulation, a higher activity during the perception of motion than during the perception of noise was also clearly observed in areas V3A and LOC, and less so in area V3. In previous studies, these areas had been selectively activated by motion stimuli but whether their activity reflects motion perception or not remained unclear; here we show that they are involved in motion perception as well. The present findings therefore suggest a lack of a clear distinction between ?processing? versus ?perceptual? areas in the brain, but rather that the areas involved in the processing of a specific visual attribute are also part of the neuronal network that is collectively responsible for its perceptual representation. (shrink)

As the demand for prosthetic limbs with reliable and multi-functional control increases, recent advances in myoelectric pattern recognition and implanted sensors have proven considerably advantageous. Additionally, sensory feedback from the prosthesis can be achieved via stimulation of the residual nerves, enabling closed-loop control over the prosthesis. However, this stimulation can cause interfering artifacts in the electromyographic (EMG) signals which deteriorate the reliability and function of the prosthesis. Here, we implement two real-time stimulation artifact removal algorithms, Template Subtraction (TS) and ε-Normalized (...) Least Mean Squares (ε-NLMS), and investigate their performance in offline and real-time myoelectric pattern recognition in two transhumeral amputees implanted with nerve cuff and EMG electrodes. We show that both algorithms are capable of significantly improving signal-to-noise ratio (SNR) and offline pattern recognition accuracy of artifact-corrupted EMG signals. Furthermore, both algorithms improved real-time decoding of motor intention during active neurostimulation. Although these outcomes are dependent on the user-specific sensor locations and neurostimulation settings, they nonetheless represent progress toward bi-directional neuromusculoskeletal prostheses capable of multifunction control and simultaneous sensory feedback. (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)

Previous research has demonstrated that ratings of the perceived pleasantness and quality of odors can be modulated by auditory stimuli presented at around the same time. Here, we extend these results by assessing whether the hedonic congruence between odor and sound stimuli can modulate the perception of odor intensity, pleasantness, and quality in untrained participants. Unexpectedly, our results reveal that broadband white noise, which was rated as unpleasant in a follow-up experiment, actually had a more pronounced effect on participants’ (...) odor ratings than either the consonant or dissonant musical selections. In particular, participants rated the six smells used as being less pleasant and less sweet when they happened to be listening to white noise, as compared to any one of the other music conditions. What is more, these results also add evidence to support the existence of a close relationship between an odor’s hedonic character and the perception of odor quality. So, for example, independent of the sound condition, pleasant odors were rated as sweeter, less dry, and brighter than the unpleasant odors. These results are discussed in terms of their implications for the understanding of crossmodal correspondences between olfactory and auditory stimuli. (shrink)

We address the problems of localization, mapping, and guidance for robots with limited computational resources by combining vision with the metrical information given by the robot odometry. We propose in this article a novel light and robust topometric simultaneous localization and mapping framework using appearance-based visual loop-closure detection enhanced with the odometry. The main advantage of this combination is that the odometry makes the loop-closure detection more accurate and reactive, while the loop-closure detection enables the long-term use of odometry for (...) guidance by correcting the drift. The guidance approach is based on qualitative localization using vision and odometry, and is robust to visual sensor occlusions or changes in the scene. The resulting framework is incremental, real-time, and based on cheap sensors provided on many robots. This approach is, moreover, particularly well suited for low-power robots as it is not dependent on the image processing frequency and latency, and thus it can be applied using remote processing. The algorithm has been validated on a Pioneer P3DX mobile robot in indoor environments, and its robustness is demonstrated experimentally for a large range of odometry noise levels. (shrink)

We consider the target-reaching problem in plane scenes for a point robot which has a tactile sensor and can locate the target ray. It might have a compass, too, but it is not able to perceive the coordinates of its position nor to measure distances. The complexity of an algorithm is measured by the number of straight moves until reaching the target, as a function of the number of vertices of the scene. It is shown how the target point (...) can be reached by exhaustive search without using a compass, with the complexity exp). Using a compass, there is a target-reaching algorithm, based on rotation counting, with the complexity O. The decision problem, to recognize if the target cannot be reached because it belongs to an obstacle, cannot be solved by our type of robot. If the behaviour of a robot without compass is periodic in a homogeneous environment, it cannot solve the target-reaching problem. (shrink)

Mind perception is the essence of moral judgment. Broadly, moral standing is linked to perceptions of mind, with moral responsibility tied to perceived agency, and moral rights tied to perceived experience. More specifically, moral judgments are based on a fundamental template of two perceived minds—an intentional agent and a suffering patient. This dyadic template grows out of the universal power of harm, and serves as a cognitive working model through which even atypical moral events are understood. Thus, all instances of (...) immorality are perceived to involve both blameworthy agents (i.e., acts) and suffering victims (i.e., consequences). Because moral cognition simultaneously concerns acts and consequences, theories which focus primarily on acts (i.e., deontology) or consequences (i.e., utilitarianism) do not accurately describe moral cognition. Indeed, the phenomenon of dyadic completion suggests that deontological and utilitarian concerns are not only simultaneously active, but also typically compatible and reinforcing: wrong acts have harmful consequences, and harmful consequences stem from wrong acts. The cognitive fusion of acts with consequences suggests that normative conflicts between deontology and utilitarianism are not reflected in everyday moral judgment. This in turn suggests that empirical conclusions drawn from moral dilemmas that pit utilitarianism against deontology—i.e., trolley problems—give an skewed account of moral cognition. (shrink)

Cognitive organisms have three rather different techniques for intelligently regulating their intake of environmental information. In order of the time needed to uncover information they are: 1. control of attention: within an image produced by a given sensor certain elements can be selected for additional processing; 2. control of gaze: the orientation and resolution (center of foveation) of the sensor can be regulated to create a new image; 3. control of activity: certain non-perceptual actions can be performed to (...) increase the probability of unearthing salient information that currently is unavailable, hard to detect, or hard to compute. (shrink)

Is the sense of smell a source of aesthetic perception? Traditional philosophical aesthetics has centered on vision and audition but eliminated smell for its subjective and inherently affective character. This article dismantles the myth that olfaction is an unsophisticated sense. It makes a case for olfactory aesthetics by integrating recent insights in neuroscience with traditional expertise about flavor and fragrance assessment in perfumery and wine tasting. My analysis concerns the importance of observational refinement in aesthetic experience. I argue that the (...) active engagement with stimulus features in perceptual processing shapes the phenomenological content, so much so that the perceptual structure of trained smelling varies significantly from naive smelling. In a second step, I interpret the processes that determine such perceptual refinement in the context of neural decision-making processes, and I end with a positive outlook on how research in neuroscience can be used to benefit philosophical aesthetics. (shrink)

One of the important issues in mobile robots is finding the position of robots in space. This is normally achieved by using a sensor to locate the position of the robot. However, relying on more than one sensor and then using multisenor data fusion algorithms tends to be more reliable than just using a reading from a single sensor. If these sensors provide inconsistent data, catastrophic fusion may occur, and thus the estimated position of the (...) robot obtained will be less accurate than if an individual sensor is used. This article uses an approach that relies on combining modified Bayesian fusion algorithm with Kalman filtering to estimate the position of a mobile robot. Two case studies are presented to prove the efficiency of the proposed approach in estimating the position of a mobile robot. Both scenarios show that combining fusion with filtering provides an accurate estimate of the location of the robot by handling the problem of uncertainty and inconsistency of the data provided by the sensors. (shrink)

Using the concepts of chaotic dynamical systems, we present an interpretation of dynamic neural activity found in cortical and subcortical areas. The discovery of chaotic itinerancy in high-dimensional dynamical systems with and without a noise term has motivated a new interpretation of this dynamic neural activity, cast in terms of the high-dimensional transitory dynamics among “exotic” attractors. This interpretation is quite different from the conventional one, cast in terms of simple behavior on low-dimensional attractors. Skarda and Freeman (1987) presented (...) evidence in support of the conclusion that animals cannot memorize odor without chaotic activity of neuron populations. Following their work, we study the role of chaotic dynamics in biological information processing, perception, and memory. We propose a new coding scheme of information in chaos-driven contracting systems we refer to as Cantor coding. Since these systems are found in the hippocampal formation and also in the olfactory system, the proposed coding scheme should be of biological significance. Based on these intensive studies, a hypothesis regarding the formation of episodic memory is given. Key Words: Cantor coding; chaotic itinerancy; dynamic aspects of the brain; dynamic associative memory; episodic memory; high-dimensional dynamical systems; SCND attractors. (shrink)

Rod photoreceptors are among the most sensitive light detectors in nature. They achieve their remarkable sensitivity across a wide variety of species through a number of essential adaptations: a specialized cellular geometry, a G‐protein cascade with an unusually stable receptor molecule, a low‐noise transduction mechanism, a nearly perfect effector enzyme, and highly evolved mechanisms of feedback control and receptor deactivation. Practically any change in protein expression, enzyme activity, or feedback control can be shown to impair photon detection, either by (...) decreasing sensitivity or signal‐to‐noise ratio, or by reducing temporal resolution. Comparison of mammals to amphibians suggests that rod outer‐segment morphology and the molecules and mechanism of transduction may have evolved together to optimize light sensitivity in darkness, which culminates in the extraordinary ability of these cells to respond to single photons at the ultimate limit of visual perception. (shrink)

Following the studies of Araujo et al. (AI Soc 35:611–623, 2020) and Lee (Big Data Soc 5:1–16, 2018), this empirical study uses two scenario-based online experiments. The sample consists of 221 subjects from Germany, differing in both age and gender. The original studies are not replicated one-to-one. New scenarios are constructed as realistically as possible and focused on everyday work situations. They are based on the AI acceptance model of Scheuer (Grundlagen intelligenter KI-Assistenten und deren vertrauensvolle Nutzung. Springer, Wiesbaden, 2020) (...) and are extended by individual descriptive elements of AI systems in comparison to the original studies. The first online experiment examines decisions made by artificial intelligence with varying degrees of impact. In the high-impact scenario, applicants are automatically selected for a job and immediately received an employment contract. In the low-impact scenario, three applicants are automatically invited for another interview. In addition, the relationship between age and risk perception is investigated. The second online experiment tests subjects’ perceived trust in decisions made by artificial intelligence, either semi-automatically through the assistance of human experts or fully automatically in comparison. Two task types are distinguished. The task type that requires “human skills”—represented as a performance evaluation situation—and the task type that requires “mechanical skills”—represented as a work distribution situation. In addition, the extent of negative emotions in automated decisions is investigated. The results are related to the findings of Araujo et al. (AI Soc 35:611–623, 2020) and Lee (Big Data Soc 5:1–16, 2018). Implications for further research activities and practical relevance are discussed. (shrink)

Que la musique soit faite pour etre ecoutee semble une evidence, et pourtant... C'est pour guider les melomanes et les aider a passer d'une audition passive a une ecoute active que Jean-Yves Bras partage ici son experience d'ecouteur. Apres avoir defini ce qu'est la musique, il s'interroge ensuite sur la nature de l'ecoute: que faut-il entendre par ecouter? Sur quoi porter notre attention? Comment ecouter? Les conditions materielles dans lesquelles nous consommons la musique, notre comportement au concert ou a (...) l'ecoute d'un disque, ont egalement une incidence importante sur la qualite de notre ecoute. Puis il analyse ces liens si mysterieux et si essentiels tisses entre compositeurs, interpretes et nous-memes, auditeurs. Enfin, il trace a grands traits l'histoire de nos oreilles de l'Antiquite a nos jours, pour conclure sur les differentes categories d'auditeurs actuels. Parallelement, l'auteur a cree un site Internet, www.artdecouter.fr, qui apporte un complement d'information agremente d'exemples sonores. Ce chemin d'initiation se parcourt sous forme de dialogue: une jeune personne souhaitant s'instruire, Mademoiselle Croche, nous permet par ses questions d'entendre s'ouvrir pour nous le langage de la musique. Jean-Yves Bras a ete directeur de la Documentation musicale de Radio France et a participe a de nombreuses emissions. Responsable artistique du Festival Chopin a Paris, il est l'auteur des Courants musicaux du XXe siecle et d'un ouvrage sur le chef d'orchestre Carlo Maria Giulini. (shrink)

Interdisciplinary efforts from developmental psychology, phenomenology, and philosophy of mind, have studied the rudiments of social cognition and conceptualized distinct forms of intersubjective communication and interaction at human early life. Interaction theorists consider primary intersubjectivity a non-mentalist, pre-theoretical, non-conceptual sort of processes that ground a certain level of communication and understanding, and provide support to higher-level cognitive skills. We argue the study of human/neurorobot interaction consists in a unique opportunity to deepen understanding of underlying mechanisms in social cognition through synthetic (...) modeling, while allowing to examine a second person experiential access to intersubjectivity in embodied dyadic interaction. Concretely, we propose the study of primary intersubjectivity as a 2PP experience characterized by predictive engagement, where perception, cognition, and action are accounted for an hermeneutic circle in dyadic interaction. From our interpretation of the concept of active inference in free-energy principle theory, we propose an open-source methodology named neural robotics library for experimental human/neurorobot interaction, wherein a demonstration program named virtual Cartesian robot provides an opportunity to experience the aforementioned embodied interaction to general audiences. Lastly, through a study case, we discuss some ways human-robot primary intersubjectivity can contribute to cognitive science research, such as to the fields of developmental psychology, educational technology, and cognitive rehabilitation. (shrink)

The chapter provides an alternative theory to the way visual representations and environmental cues are processed. The chapter argues against the common assumption that what we perceive is processed in a logical manner, similar to how we connect sentences through criteria of coherence, truth, and probability. The chapter proposes a different method of processing, similar to the way the human brain manages stimuli, wherein input vectors go through a large mesh of synaptic connections, initiating a cycle of neural activation of (...) certain packets throughout the entire system. With this alternative view, a discussion on the process of stereo vision is undertaken, which aims to explain how we are able to perceive objects in three-dimensional space, given what we know of human anatomy, neuroscience, and the functional capacity of binocular vision. In the succeeding sections, several computational models of the proposed theory are discussed in detail, each with their pros and cons. (shrink)

Several recent studies have demonstrated context-based, high-confidence misperceptions in hearing, referred to as false hearing. These studies have unanimously found that older adults are more susceptible to false hearing than are younger adults, which the authors have attributed to an age-related decline in the ability to inhibit the activation of a contextually predicted response. However, no published work has investigated this activation-based account of false hearing. In the present study, younger and older adults listened to sentences in which the semantic (...) context provided by the sentence was either unpredictive, highly predictive and valid, or highly predictive and misleading with relation to a sentence-final word in noise. Participants were tasked with clicking on one of four images to indicate which image depicted the sentence-final word in noise. We used eye-tracking to investigate how activation, as revealed in patterns of fixations, of different response options changed in real-time over the course of sentences. We found that both younger and older adults exhibited anticipatory activation of the target word when highly predictive contextual cues were available. When these contextual cues were misleading, younger adults were able to suppress the activation of the contextually predicted word to a greater extent than older adults. These findings are interpreted as evidence for an activation-based model of speech perception and for the role of inhibitory control in false hearing. (shrink)

On the basis of the graphic convergence between the English « noise » and the French word « la noise » , this article attempts to identify a percept that would be specific to the transgeneric reality of noise music. In order to understand how noise has become a source of aesthetic enjoyment, it revisits the history of recording devices, and proposes a philosophical hypothesis on the type of affect that is nurtured and fostered by those (...) who expose themselves to the noise experience : an ontological-political exploration of « letting-be ». (shrink)

For a robot to be capable of development it must be able to explore its environment and learn from its experiences. It must find opportunities to experience the unfamiliar in ways that reveal properties valid beyond the immediate context. In this paper, we develop a novel method for using the rhythm of everyday actions as a basis for identifying the characteristic appearance and sounds associated with objects, people, and the robot itself. Our approach is to identify and segment groups of (...) signals in individual modalities based on their rhythmic variation, then to identify and bind causally-related groups of signals across different modalities. By including proprioception as a modality, this cross-modal binding method applies to the robot itself, and we report a series of experiments in which the robot learns about the characteristics of its own body. (shrink)

It has been well documented that children perceive robots as social, mental, and moral others. Studies on child-robot interaction may encourage this perception of robots, first, by using a Wizard of Oz set-up and, second, by having robots engage in self-description. However, much remains unknown about the effects of transparent teleoperation and self-description on children’s perception of, and relationship formation with a robot. To address this research gap initially, we conducted an experimental study with a 2 × 2 between-subject design (...) in which 168 children aged 7–10 interacted with a Nao robot once. Transparency about the teleoperation procedure decreased children’s perceptions of the robot’s autonomy and anthropomorphism. Self-description reduced the degree to which children perceived the robot as being similar to themselves. Transparent teleoperation and self-description affected neither children’s perceptions of the robot’s animacy and social presence nor their closeness to and trust in the robot. (shrink)

Optimization by definition is the action of making most effective or the best use of a resource or situation and that is required almost in every field of engineering. In this work, the optimization of Least Mean square (LMS) algorithm is carried out with the help of Particle Swarm Optimization (PSO) and Ant Colony Optimization (ACO). Efforts have been made to find out the advantages and disadvantages of combining gradient based (LMS) algorithm with Swarm Intelligence SI (ACO, PSO). This optimization (...) of LMS algorithm will help us in further extending the uses of adaptive filtering to the system having multi-model error surface that is still a gray area of adaptive filtering. Because the available version of LMS algorithm that plays an important role in adaptive filtering is a gradient based algorithm, that get stuck at the local minima of system with multi-model error surface considering it global minima, resulting in an non-optimized convergence. By virtue of the proposed method we have got a profound solution for the problem associated with system with multimodal error surface. The results depict significant improvements in the performance and displayed fast convergence rate, rather stucking at local minima. Both the SI techniques displayed their own advantage and can be separately combined with LMS algorithm for adaptive filtering. This optimization of LMS algorithm will further help to resolve serious interference and noise issues and holds a very important application in the field of biomedical science. (shrink)

There can be little disagreement about whether ideas of sense perception are, for Spinoza, to be classed as passions or actions—the former is obviously the correct answer. All this, however, does not mean that sense perception would be, for Spinoza, completely passive. In this essay I argue argues that there is in the Ethics an elaborate—and to my knowledge previously unacknowledged—line of reasoning according to which sense perception of finite things never fails to contain a definite active component. This (...) argument for activity in sense perception consists of two main parts: first, that ideas we form through sense perception have something adequate in them; second, that the adequate component is actively brought about. Discerning this line of thought connects to—and sheds some new light on—Spinoza’s general way of understanding ideas as entities involving activity. (shrink)

Internet of thing building sensors can capture several types of building operations, performances, and conditions and send them to a central dashboard to analyze data to support decision-making. Traditionally, laptops and cell phones are the majority of Internet-connected devices. IoT tracking allows customers to close the distance between devices and enterprises by collecting and analyzing various IoT data through connected devices, customers, and applications on the network. There is a lack of requirements for IoT edge applications security and approval. There (...) are no best practices regarding operations focused on IoT incidents. IoT elements are not covered by audit and logging requirements. In this article, a big data analytics-based customer operation system analyzes the operation. With the exponential rise in data usage, the explosive development in the IoT devices reflects the ideal overlap of big data growth with IoT. Big data analytics continuously evolving network raises trivial questions about the performance, distribution of data, analysis, and protection of data collection. IoT modifies almost all the construction industry characteristics. Human-centered artificial intelligence is described as systems that always improve because of human input while also delivering an effective experience between the human and the robotic. The IoT is the key factor that ensures greater building performance. It was the first evolution of technology in a long time to turn genuine inventions into an industry that depended heavily on paper and manual processes. The benefits of the IoT in construction are now quite obviously much heavier than those of current manual processes. As a result, more construction companies explore and incorporate IoT strategies to address their productivity challenges, increasing efficiencies and profits. The simulation analysis shows that the proposed BDA-CO model enhances the trust score of 98.5%, accuracy detection ratio of 93.4%, probability ratio of 97.6%, and security ratio of 98.7% and reduces the false negative ratio of 21.3%, response time of 10.5%, delay rate of 19.9%, and packet loss ratio of 15.4% when compared to other existing techniques. (shrink)

When I am looking at my coffee machine that makes funny noises, this is an instance of multisensory perception – I perceive this event by means of both vision and audition. But very often we only receive sensory stimulation from a multisensory event by means of one sense modality, for example, when I hear the noisy coffee machine in the next room, that is, without seeing it. The aim of this paper is to bring together empirical findings about multimodal perception (...) and empirical findings about (visual, auditory, tactile) mental imagery and argue that on occasions like this, we have multimodal mental imagery: perceptual processing in one sense modality (here: vision) that is triggered by sensory stimulation in another sense modality (here: audition). Multimodal mental imagery is not a rare and obscure phenomenon. The vast majority of what we perceive are multisensory events: events that can be perceived in more than one sense modality – like the noisy coffee machine. And most of the time we are only acquainted with these multisensory events via a subset of the sense modalities involved – all the other aspects of these multisensory events are represented by means of multisensory mental imagery. This means that multisensory mental imagery is a crucial element of almost all instances of everyday perception. (shrink)

The measurement of sensory intensity has had a long history, attracting the attention of investigators from many disciplines including physiology, psychology, physics, mathematics, philosophy, and even chemistry. While there has been a continuing doubt by some that sensation has the properties necessary for measurement, experiments designed to obtain estimates of sensory intensity have found that a general rule applies: Equal stimulus ratios produce equal sensory ratios. Theories concerning the basis for this simple psychophysical rule are discussed, with emphasis given to (...) the physical correlate theory, which considers judgments of subjective magnitudes to be based upon estimates of physical dimensions that vary regularly with changes in degree of stimulation. For the most thoroughly investigated sensory scales, brightness and loudness, the physical correlate is considered to be distance. Our “tacit knowledge” of the sensory effects of changing distance plays an essential role in matching motor activities to environmental conditions and in ensuring accurate perceptual evaluations through brightness and loudness constancies. In psychophysical experiments, subjects apparently use this same tacit knowledge when required to estimate relative subjective magnitudes. The evidence related to the physical correlate theory is summarized, and it is concluded that, while under appropriate conditions we demonstrate considerable skill in evaluating environmental relationships, we are quite unable to estimate the neurophysiological nature or quantity of sensory response. A psychophysics devoted to studying conditions required for accuracy and conditions producing errors in the perception of environmental relationships would seem to be more valuable than one devoted to subjective magnitudes. (shrink)