Age-Related Differences in the Perception of Robotic Referential Gaze in Human-Robot Interaction.

There is an increased interest in using social robots to assist older adults during their daily life activities. As social robots are designed to interact with older users, it becomes relevant to study these interactions under the lens of social cognition. Gaze following, the social ability to infer where other people are looking at, deteriorates with older age. Therefore, the referential gaze from robots might not be an effective social cue to indicate spatial locations to older users. In this study, we explored the performance of older adults, middle-aged adults, and younger controls in a task assisted by the referential gaze of a Pepper robot. We examined age-related differences in task performance, and in self-reported social perception of the robot. Our main findings show that referential gaze from a robot benefited task performance, although the magnitude of this facilitation was lower for older participants. Moreover, perceived anthropomorphism of the robot varied less as a result of its referential gaze in older adults. This research supports that social robots, even if limited in their gazing capabilities, can be effectively perceived as social entities. Additionally, this research suggests that robotic social cues, usually validated with young participants, might be less optimal signs for older adults. Supplementary Information: The online version contains supplementary material available at 10.1007/s12369-022-00926-6.

Are Smart Homes Adequate for Older Adults with Dementia?

Smart home technologies can enable older adults, including those with dementia, to live more independently in their homes for a longer time. Activity recognition, in combination with anomaly detection, has shown the potential to recognise users' daily activities and detect deviations. However, activity recognition and anomaly detection are not sufficient, as they lack the capacity to capture the progression of patients' habits across the different stages of dementia. To achieve this, smart homes should be enabled to recognise patients' habits and changes in habits, including the loss of some habits. In this study, we first present an overview of the stages that characterise dementia, alongside real-world personas that depict users' behaviours at each stage. Then, we survey the state of the art on activity recognition in smart homes for older adults with dementia, including the literature that combines activity recognition and anomaly detection. We categorise the literature based on goals, stages of dementia, and targeted users. Finally, we justify the necessity for habit recognition in smart homes for older adults with dementia, and we discuss the research challenges related to its implementation.

Fuzzy Cluster-based Group-wise Point Set Registration with Quality Assessment.

This article studies group-wise point set registration and makes the following contributions: "FuzzyGReg", which is a new fuzzy cluster-based method to register multiple point sets jointly, and "FuzzyQA", which is the associated quality assessment to check registration accuracy automatically. Given a group of point sets, FuzzyGReg creates a model of fuzzy clusters and equally treats all the point sets as the elements of the fuzzy clusters. Then, the group-wise registration is turned into a fuzzy clustering problem. To resolve this problem, FuzzyGReg applies a fuzzy clustering algorithm to identify the parameters of the fuzzy clusters while jointly transforming all the point sets to achieve an alignment. Next, based on the identified fuzzy clusters, FuzzyQA calculates the spatial properties of the transformed point sets and then checks the alignment accuracy by comparing the similarity degrees of the spatial properties of the point sets. When a local misalignment is detected, a local re-alignment is performed to improve accuracy. The proposed method is cost-efficient and convenient to be implemented. In addition, it provides reliable quality assessments in the absence of ground truth and user intervention. In the experiments, different point sets are used to test the proposed method and make comparisons with state-of-the-art registration techniques. The experimental results demonstrate the effectiveness of our method. The code is available at https://gitsvn-nt.oru.se/qianfang.liao/FuzzyGRegWithQA.

Predicting mortality among septic patients presenting to the emergency department-a cross sectional analysis using machine learning.

BACKGROUND: Sepsis is a life-threatening condition, causing almost one fifth of all deaths worldwide. The aim of the current study was to identify variables predictive of 7- and 30-day mortality among variables reflective of the presentation of septic patients arriving to the emergency department (ED) using machine learning. METHODS: Retrospective cross-sectional design, including all patients arriving to the ED at Södersjukhuset in Sweden during 2013 and discharged with an International Classification of Diseases (ICD)-10 code corresponding to sepsis. All predictions were made using a Balanced Random Forest Classifier and 91 variables reflecting ED presentation. An exhaustive search was used to remove unnecessary variables in the final model. A 10-fold cross validation was performed and the accuracy was described using the mean value of the following: AUC, sensitivity, specificity, PPV, NPV, positive LR and negative LR. RESULTS: The study population included 445 septic patients, randomised to a training (n = 356, 80%) and a validation set (n = 89, 20%). The six most important variables for predicting 7-day mortality were: "fever", "abnormal verbal response", "low saturation", "arrival by emergency medical services (EMS)", "abnormal behaviour or level of consciousness" and "chills". The model including these variables had an AUC of 0.83 (95% CI: 0.80-0.86). The final model predicting 30-day mortality used similar six variables, however, including "breathing difficulties" instead of "abnormal behaviour or level of consciousness". This model achieved an AUC = 0.80 (CI 95%, 0.78-0.82). CONCLUSIONS: The results suggest that six specific variables were predictive of 7- and 30-day mortality with good accuracy which suggests that these symptoms, observations and mode of arrival may be important components to include along with vital signs in a future prediction tool of mortality among septic patients presenting to the ED. In addition, the Random Forests appears to be a suitable machine learning method on which to build future studies.

Reinforcement Learning Approaches in Social Robotics.

This article surveys reinforcement learning approaches in social robotics. Reinforcement learning is a framework for decision-making problems in which an agent interacts through trial-and-error with its environment to discover an optimal behavior. Since interaction is a key component in both reinforcement learning and social robotics, it can be a well-suited approach for real-world interactions with physically embodied social robots. The scope of the paper is focused particularly on studies that include social physical robots and real-world human-robot interactions with users. We present a thorough analysis of reinforcement learning approaches in social robotics. In addition to a survey, we categorize existent reinforcement learning approaches based on the used method and the design of the reward mechanisms. Moreover, since communication capability is a prominent feature of social robots, we discuss and group the papers based on the communication medium used for reward formulation. Considering the importance of designing the reward function, we also provide a categorization of the papers based on the nature of the reward. This categorization includes three major themes: interactive reinforcement learning, intrinsically motivated methods, and task performance-driven methods. The benefits and challenges of reinforcement learning in social robotics, evaluation methods of the papers regarding whether or not they use subjective and algorithmic measures, a discussion in the view of real-world reinforcement learning challenges and proposed solutions, the points that remain to be explored, including the approaches that have thus far received less attention is also given in the paper. Thus, this paper aims to become a starting point for researchers interested in using and applying reinforcement learning methods in this particular research field.

Multi-sensor dataset of human activities in a smart home environment.

Time series data acquired from sensors deployed in smart homes present valuable information for intelligent systems to learn activity patterns of occupants. With the increasing need to enable people to age in place independently, the availability of such data is key to the development of home monitoring solutions. In this article we describe an unlabelled dataset of measurements collected from multiple environmental sensors placed in a smart home to capture human activities of daily living. Various sensors were used including passive infrared, force sensing resistors, reed switches, mini photocell light sensors, temperature and humidity, and smart plugs. The sensors record data from the user's interactions with the environment, such as indoor movements, pressure applied on the bed, or current consumption when using electrical appliances. Millions of raw sensor data samples were collected continuously at a frequency of 1 Hz over a period of six months between 26 February 2020 and 26 August 2020. The dataset can be useful in the analysis of different methods, including data-driven algorithms for activity or habit recognition. In particular, the research community might be interested in investigating the performance of algorithms when applied on unlabelled datasets and not necessarily on annotated datasets. Furthermore, by applying artificial intelligence (AI) algorithms on such data collected over long periods, it is possible to extract patterns that reveal the user's habits as well as detect changes in the habits. This can benefit in detecting deviations in order to provide timely interventions for patients, e.g., people with dementia.

Open-Source Data Collection and Data Sets for Activity Recognition in Smart Homes.

As research in smart homes and activity recognition is increasing, it is of ever increasing importance to have benchmarks systems and data upon which researchers can compare methods. While synthetic data can be useful for certain method developments, real data sets that are open and shared are equally as important. This paper presents the E-care@home system, its installation in a real home setting, and a series of data sets that were collected using the E-care@home system. Our first contribution, the E-care@home system, is a collection of software modules for data collection, labeling, and various reasoning tasks such as activity recognition, person counting, and configuration planning. It supports a heterogeneous set of sensors that can be extended easily and connects collected sensor data to higher-level Artificial Intelligence (AI) reasoning modules. Our second contribution is a series of open data sets which can be used to recognize activities of daily living. In addition to these data sets, we describe the technical infrastructure that we have developed to collect the data and the physical environment. Each data set is annotated with ground-truth information, making it relevant for researchers interested in benchmarking different algorithms for activity recognition.

Symbolic Learning and Reasoning With Noisy Data for Probabilistic Anchoring.

Robotic agents should be able to learn from sub-symbolic sensor data and, at the same time, be able to reason about objects and communicate with humans on a symbolic level. This raises the question of how to overcome the gap between symbolic and sub-symbolic artificial intelligence. We propose a semantic world modeling approach based on bottom-up object anchoring using an object-centered representation of the world. Perceptual anchoring processes continuous perceptual sensor data and maintains a correspondence to a symbolic representation. We extend the definitions of anchoring to handle multi-modal probability distributions and we couple the resulting symbol anchoring system to a probabilistic logic reasoner for performing inference. Furthermore, we use statistical relational learning to enable the anchoring framework to learn symbolic knowledge in the form of a set of probabilistic logic rules of the world from noisy and sub-symbolic sensor input. The resulting framework, which combines perceptual anchoring and statistical relational learning, is able to maintain a semantic world model of all the objects that have been perceived over time, while still exploiting the expressiveness of logical rules to reason about the state of objects which are not directly observed through sensory input data. To validate our approach we demonstrate, on the one hand, the ability of our system to perform probabilistic reasoning over multi-modal probability distributions, and on the other hand, the learning of probabilistic logical rules from anchored objects produced by perceptual observations. The learned logical rules are, subsequently, used to assess our proposed probabilistic anchoring procedure. We demonstrate our system in a setting involving object interactions where object occlusions arise and where probabilistic inference is needed to correctly anchor objects.

A Novel Method for Estimating Distances from a Robot to Humans Using Egocentric RGB Camera.

Estimating distances between people and robots plays a crucial role in understanding social Human-Robot Interaction (HRI) from an egocentric view. It is a key step if robots should engage in social interactions, and to collaborate with people as part of human-robot teams. For distance estimation between a person and a robot, different sensors can be employed, and the number of challenges to be addressed by the distance estimation methods rise with the simplicity of the technology of a sensor. In the case of estimating distances using individual images from a single camera in a egocentric position, it is often required that individuals in the scene are facing the camera, do not occlude each other, and are fairly visible so specific facial or body features can be identified. In this paper, we propose a novel method for estimating distances between a robot and people using single images from a single egocentric camera. The method is based on previously proven 2D pose estimation, which allows partial occlusions, cluttered background, and relatively low resolution. The method estimates distance with respect to the camera based on the Euclidean distance between ear and torso of people in the image plane. Ear and torso characteristic points has been selected based on their relatively high visibility regardless of a person orientation and a certain degree of uniformity with regard to the age and gender. Experimental validation demonstrates effectiveness of the proposed method.

Computer aided detection of ureteral stones in thin slice computed tomography volumes using Convolutional Neural Networks.

Computed tomography (CT) is the method of choice for diagnosing ureteral stones - kidney stones that obstruct the ureter. The purpose of this study is to develop a computer aided detection (CAD) algorithm for identifying a ureteral stone in thin slice CT volumes. The challenge in CAD for urinary stones lies in the similarity in shape and intensity of stones with non-stone structures and how to efficiently deal with large high-resolution CT volumes. We address these challenges by using a Convolutional Neural Network (CNN) that works directly on the high resolution CT volumes. The method is evaluated on a large data base of 465 clinically acquired high-resolution CT volumes of the urinary tract with labeling of ureteral stones performed by a radiologist. The best model using 2.5D input data and anatomical information achieved a sensitivity of 100% and an average of 2.68 false-positives per patient on a test set of 88 scans.

An Ontology-Based Reasoning Framework for Querying Satellite Images for Disaster Monitoring.

This paper presents a framework in which satellite images are classified and augmented with additional semantic information to enable queries about what can be found on the map at a particular location, but also about paths that can be taken. This is achieved by a reasoning framework based on qualitative spatial reasoning that is able to find answers to high level queries that may vary on the current situation. This framework called SemCityMap, provides the full pipeline from enriching the raw image data with rudimentary labels to the integration of a knowledge representation and reasoning methods to user interfaces for high level querying. To illustrate the utility of SemCityMap in a disaster scenario, we use an urban environment-central Stockholm-in combination with a flood simulation. We show that the system provides useful answers to high-level queries also with respect to the current flood status. Examples of such queries concern path planning for vehicles or retrieval of safe regions such as "find all regions close to schools and far from the flooded area". The particular advantage of our approach lies in the fact that ontological information and reasoning is explicitly integrated so that queries can be formulated in a natural way using concepts on appropriate level of abstraction, including additional constraints.

An Ontology-based Context-aware System for Smart Homes: E-care@home.

Smart home environments have a significant potential to provide for long-term monitoring of users with special needs in order to promote the possibility to age at home. Such environments are typically equipped with a number of heterogeneous sensors that monitor both health and environmental parameters. This paper presents a framework called E-care@home, consisting of an IoT infrastructure, which provides information with an unambiguous, shared meaning across IoT devices, end-users, relatives, health and care professionals and organizations. We focus on integrating measurements gathered from heterogeneous sources by using ontologies in order to enable semantic interpretation of events and context awareness. Activities are deduced using an incremental answer set solver for stream reasoning. The paper demonstrates the proposed framework using an instantiation of a smart environment that is able to perform context recognition based on the activities and the events occurring in the home.

Fall risk probability estimation based on supervised feature learning using public fall datasets.

Risk of falling is considered among major threats for elderly population and therefore started to play an important role in modern healthcare. With recent development of sensor technology, the number of studies dedicated to reliable fall detection system has increased drastically. However, there is still a lack of universal approach regarding the evaluation of developed algorithms. In the following study we make an attempt to find publicly available fall datasets and analyze similarities among them using supervised learning. After preforming similarity assessment based on multidimensional scaling we indicate the most representative feature vector corresponding to each specific dataset. This vector obtained from a real-life data is subsequently deployed to estimate fall risk probabilities for a statistical fall detection model. Finally, we conclude with some observations regarding the similarity assessment results and provide suggestions towards an efficient approach for evaluation of fall detection studies.

Data-Driven Rule Mining and Representation of Temporal Patterns in Physiological Sensor Data.

Mining and representation of qualitative patterns is a growing field in sensor data analytics. This paper leverages from rule mining techniques to extract and represent temporal relation of prototypical patterns in clinical data streams. The approach is fully data-driven, where the temporal rules are mined from physiological time series such as heart rate, respiration rate, and blood pressure. To validate the rules, a novel similarity method is introduced, that compares the similarity between rule sets. An additional aspect of the proposed approach has been to utilize natural language generation techniques to represent the temporal relations between patterns. In this study, the sensor data in the MIMIC online database was used for evaluation, in which the mined temporal rules as they relate to various clinical conditions (respiratory failure, angina, sepsis, …) were made explicit as a textual representation. Furthermore, it was shown that the extracted rule set for any particular clinical condition was distinct from other clinical conditions.

Learning feature representations with a cost-relevant sparse autoencoder.

There is an increasing interest in the machine learning community to automatically learn feature representations directly from the (unlabeled) data instead of using hand-designed features. The autoencoder is one method that can be used for this purpose. However, for data sets with a high degree of noise, a large amount of the representational capacity in the autoencoder is used to minimize the reconstruction error for these noisy inputs. This paper proposes a method that improves the feature learning process by focusing on the task relevant information in the data. This selective attention is achieved by weighting the reconstruction error and reducing the influence of noisy inputs during the learning process. The proposed model is trained on a number of publicly available image data sets and the test error rate is compared to a standard sparse autoencoder and other methods, such as the denoising autoencoder and contractive autoencoder.

Dynamic Bayesian networks for context-aware fall risk assessment.

Fall incidents among the elderly often occur in the home and can cause serious injuries affecting their independent living. This paper presents an approach where data from wearable sensors integrated in a smart home environment is combined using a dynamic Bayesian network. The smart home environment provides contextual data, obtained from environmental sensors, and contributes to assessing a fall risk probability. The evaluation of the developed system is performed through simulation. Each time step is represented by a single user activity and interacts with a fall sensors located on a mobile device. A posterior probability is calculated for each recognized activity or contextual information. The output of the system provides a total risk assessment of falling given a response from the fall sensor.

Data mining for wearable sensors in health monitoring systems: a review of recent trends and challenges.

The past few years have witnessed an increase in the development of wearable sensors for health monitoring systems. This increase has been due to several factors such as development in sensor technology as well as directed efforts on political and stakeholder levels to promote projects which address the need for providing new methods for care given increasing challenges with an aging population. An important aspect of study in such system is how the data is treated and processed. This paper provides a recent review of the latest methods and algorithms used to analyze data from wearable sensors used for physiological monitoring of vital signs in healthcare services. In particular, the paper outlines the more common data mining tasks that have been applied such as anomaly detection, prediction and decision making when considering in particular continuous time series measurements. Moreover, the paper further details the suitability of particular data mining and machine learning methods used to process the physiological data and provides an overview of the properties of the data sets used in experimental validation. Finally, based on this literature review, a number of key challenges have been outlined for data mining methods in health monitoring systems.

Evaluation of the android-based fall detection system with physiological data monitoring.

Aging population is considered to be major problem in modern healthcare. At the same time, fall incidents often occur among elderly and cause serious injuries affecting their independent living. This paper proposes a framework which uses mobile phone technology together with physiological data monitoring in order to detect falls. The system carries out collecting, storing and processing of acceleration data with further alarm generating and transferring all the measurements to remote caregiver. To perform evaluation, an experimental setup involving novice ice-skaters were carried out to obtain realistic fall data and examine the effects of falling on physiological parameters. A fall detection algorithm has been designed therefore to cope with large variations of movement in the torso. The online algorithm operating showed performance results of 90% specificity, 100% sensitivity and 94% accuracy.

Physical activity classification for elderly based on pulse rate.

Physical activity is one of the key components for elderly in order to be actively ageing. However, it is difficult to differentiate and identify the body movement and actual physical activity using only accelerometer measurements. Therefore, this paper presents an application of a case-based retrieval classification scheme to classify the physical activity of elderly based on pulse rate measurements. Here, a case-based retrieval approach used the features extracted from both time and frequency domain. The evaluation result shows the best accuracy performance while considering the combination of time and frequency domain features. According to the evaluation result while considering the control measurements, the sensitivity, specificity and overall accuracy are achieved as 95%, 96% and 96%, respectively. Considering the test dataset, the system succeeded to identify 13 physical activities out of 16, i.e,. the percentage of the correctness was 81%.

Fast classification of meat spoilage markers using nanostructured ZnO thin films and unsupervised feature learning.

This paper investigates a rapid and accurate detection system for spoilage in meat. We use unsupervised feature learning techniques (stacked restricted Boltzmann machines and auto-encoders) that consider only the transient response from undoped zinc oxide, manganese-doped zinc oxide, and fluorine-doped zinc oxide in order to classify three categories: the type of thin film that is used, the type of gas, and the approximate ppm-level of the gas. These models mainly offer the advantage that features are learned from data instead of being hand-designed. We compare our results to a feature-based approach using samples with various ppm level of ethanol and trimethylamine (TMA) that are good markers for meat spoilage. The result is that deep networks give a better and faster classification than the feature-based approach, and we thus conclude that the fine-tuning of our deep models are more efficient for this kind of multi-label classification task.