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1. A Hierarchical Framework for Collaborative Artificial Intelligence

Author

Crowley, James L., Coutaz, Joëlle L, Grosinger, Jasmin, Vázquez-Salceda, Javier, Angulo, Cecilio, Sanfeliu, Alberto, Iocchi, Luca, and Cohn, Anthony G.

Subjects
Computer Science - Artificial Intelligence, Computer Science - Human-Computer Interaction, Computer Science - Multiagent Systems, Computer Science - Robotics
Abstract

We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on capabilities provided by lower levels. We review research paradigms at each level, with a description of classical engineering-based approaches and modern alternatives based on machine learning, illustrated with a running example using a hypothetical personal service robot. We discuss cross-cutting issues that occur at all levels, focusing on the problem of communicating and sharing comprehension, the role of explanation and the social nature of collaboration. We conclude with a summary of research challenges and a discussion of the potential for economic and societal impact provided by technologies that enhance human abilities and empower people and society through collaboration with Intelligent Systems.

Published
2022

3. Introduction

Author

Angulo, Cecilio, primary, Chacón, Alejandro, additional, and Ponsa, Pere, additional

Published
2024
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4. Preface

Author

Angulo, Cecilio, primary, Chacón, Alejandro, additional, and Ponsa, Pere, additional

Published
2024
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10. Initial Test of 'BabyRobot' Behaviour on a Teleoperated Toy Substitution: Improving the Motor Skills of Toddlers

Author

Canas, Eric, Garcia, Alba M. G., Garrell, Anais, and Angulo, Cecilio

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition, Computer Science - Human-Computer Interaction
Abstract

This article introduces "Baby Robot", a robot aiming to improve motor skills of babies and toddlers. Authors developed a car-like toy that moves autonomously using reinforcement learning and computer vision techniques. The robot behaviour is to escape from a target baby that has been previously recognized, or at least detected, while avoiding obstacles, so that the security of the baby is not compromised. A myriad of commercial toys with a similar mobility improvement purpose are into the market; however, there is no one that bets for an intelligent autonomous movement, as they perform simple yet repetitive trajectories in the best of the cases. Two crawling toys -- one in representation of "Baby Robot" -- were tested in a real environment with respect to regular toys in order to check how they improved the toddlers mobility. These real-life experiments were conducted with our proposed robot in a kindergarten, where a group of children interacted with the toys. Significant improvement in the motion skills of participants were detected.

Published
2021
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12. CORP. A Collaborative Online Robotics Platform

Author

Sans-Cope, Olga, Danahy, Ethan, Hannon, Daniel, Rogers, Chris, Albo-Canals, Jordi, Angulo, Cecilio, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Merdan, Munir, editor, Lepuschitz, Wilfried, editor, Koppensteiner, Gottfried, editor, Balogh, Richard, editor, and Obdržálek, David, editor

Published
2022
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15. A Proposal to Evolving Towards Digital Twins in Healthcare

Author

Angulo, Cecilio, Gonzalez-Abril, Luis, Raya, Cristóbal, Ortega, Juan Antonio, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Rojas, Ignacio, editor, Valenzuela, Olga, editor, Rojas, Fernando, editor, Herrera, Luis Javier, editor, and Ortuño, Francisco, editor

Published
2020
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16. Anonymizing Personal Images Using Generative Adversarial Networks

Author

Piacentino, Esteban, Angulo, Cecilio, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Rojas, Ignacio, editor, Valenzuela, Olga, editor, Rojas, Fernando, editor, Herrera, Luis Javier, editor, and Ortuño, Francisco, editor

Published
2020
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17. Generating Fake Data Using GANs for Anonymizing Healthcare Data

Author

Piacentino, Esteban, Angulo, Cecilio, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Rojas, Ignacio, editor, Valenzuela, Olga, editor, Rojas, Fernando, editor, Herrera, Luis Javier, editor, and Ortuño, Francisco, editor

Published
2020
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22. Towards a cognitive assistant supporting human operators in the Artificial Intelligence of Things

Author

European Commission, Generalitat de Catalunya, Agencia Estatal de Investigación (España), Ministerio de Ciencia, Innovación y Universidades (España), Angulo, Cecilio [0000-0001-9589-8199], Angulo, Cecilio, Chacón, Alejandro, Ponsa Asensio, Pere, European Commission, Generalitat de Catalunya, Agencia Estatal de Investigación (España), Ministerio de Ciencia, Innovación y Universidades (España), Angulo, Cecilio [0000-0001-9589-8199], Angulo, Cecilio, Chacón, Alejandro, and Ponsa Asensio, Pere

Abstract

Internet of Things (IoT) systems are becoming increasingly complex due to heterogeneity of devices and requirements for real-time processing and decision making. In this context, Artificial Intelligence (AI) technologies provide powerful capabilities for endowing IoT devices with intelligent services, leading to the so-called Artificial Intelligence of Things (AIoT). The operator is in the middle of this complexity, trying to understand the situation and make effective real-time decisions. Hence, human factors, especially cognitive ones, are a major issue to be addressed. The human cognitive part must be framed together with intelligent artefacts, requiring a systematic approach in the domain of joint cognitive systems. New software development methods in the form of assistants and wizards are necessary to help operators to be context-aware and reduce their technical workload regarding coding or computer-oriented skills, focusing on the task or service at hand. Building on previous research on the role of the human worker in an AIoT environment, this article analyses the described situation in terms of human cyber–physical systems, with the aim of proposing a conceptual framework for these assistance systems at the cognitive level. Two illustrative examples are described to validate the effectiveness of the proposed framework in collaborative tasks.

Published
2023

28. Autonomous Navigation Control for Quadrotors in Trajectories Tracking

Author

Aguilar, Wilbert G., Angulo, Cecilio, Costa-Castello, Ramón, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Huang, YongAn, editor, Wu, Hao, editor, Liu, Honghai, editor, and Yin, Zhouping, editor

Published
2017
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29. Pedestrian Detection for UAVs Using Cascade Classifiers and Saliency Maps

Author

Aguilar, Wilbert G., Luna, Marco A., Moya, Julio F., Abad, Vanessa, Ruiz, Hugo, Parra, Humberto, Angulo, Cecilio, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Rojas, Ignacio, editor, Joya, Gonzalo, editor, and Catala, Andreu, editor

Published
2017
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30. Assessing Pediatrics Patients’ Psychological States from Biomedical Signals in a Cloud of Social Robots

Author

Díaz-Boladeras, Marta, Angulo, Cecilio, Domènech, Miquel, Albo-Canals, Jordi, Serrallonga, Núria, Raya, Cristóbal, Barco, Alex, Magjarevic, Ratko, Editor-in-chief, Ładyżyński, Piotr, Series editor, Ibrahim, Fatimah, Series editor, Lacković, Igor, Series editor, Rock, Emilio Sacristan, Series editor, Kyriacou, Efthyvoulos, editor, Christofides, Stelios, editor, and Pattichis, Constantinos S., editor

Published
2016
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31. Externalising Moods and Psychological States to Smooth Pet-robot/Child Interaction through Bluetooth Communication

Author

Larriba, Ferran, Raya, Cristóbal, Angulo, Cecilio, Albo-Canals, Jordi, Díaz, Marta, Boldú, Roger, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Istrail, Sorin, Series editor, Pevzner, Pavel, Series editor, Waterman, Michael S., Series editor, Ortuño, Francisco, editor, and Rojas, Ignacio, editor

Published
2015
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32. Subspace Procrustes Analysis

Author

Perez-Sala, Xavier, De la Torre, Fernando, Igual, Laura, Escalera, Sergio, Angulo, Cecilio, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Agapito, Lourdes, editor, Bronstein, Michael M., editor, and Rother, Carsten, editor

Published
2015
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33. Remote Operation of CeCi Social Robot

Author

Universidad Católica de Cuenca (Ecuador), Research Council of Norway, Barbecho-Jimbo, Edisson, Vallejo-Ramírez, David, Cobos-Torres, Juan Carlos, Angulo, Cecilio, Flores-Vázquez, Carlos, Universidad Católica de Cuenca (Ecuador), Research Council of Norway, Barbecho-Jimbo, Edisson, Vallejo-Ramírez, David, Cobos-Torres, Juan Carlos, Angulo, Cecilio, and Flores-Vázquez, Carlos

Abstract

This paper presents a validation methodology for a remote system with its objective focused on a social robot. The research process starts with the customization of an application for smartphones, achieving a simple method of connection and attachment to the robot. This customization allows remote operation of the robot’s movements and an additional level of autonomy for the displacements in previously known locations. One of several teleoperations methods is the direct teleoperations method, which is used in master–slave control mode via a wireless network. Next, the article focuses on proposing a validation methodology for social robot applications design. Under this approach, two tests are performed to validate the designed application. The first one seeks to find the response speed of the communication between the robot and the mobile device wherein 10 devices with different characteristics and capabilities are used. This test is critical since a delay outside the allowable range invalidates the use of the application. The second test measures the application’s usability through a user survey, which allows for determining the preferences that people may have when using this type of application. This second test is essential to consider the overall acceptability of the social robot.

Published
2023

34. A Hierarchical Framework for Collaborative Artificial Intelligence

Author

Crowley, James L., Coutaz, Joëlle, Grosinger, Jasmin, Vazquez-Salceda, Javier, Angulo, Cecilio, Sanfeliu, Alberto, Iocchi, Luca, Cohn, Anthony G., Crowley, James L., Coutaz, Joëlle, Grosinger, Jasmin, Vazquez-Salceda, Javier, Angulo, Cecilio, Sanfeliu, Alberto, Iocchi, Luca, and Cohn, Anthony G.

Abstract

We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on capabilities provided by lower levels. We review research paradigms at each level, with a description of classical engineering-based approaches and modern alternatives based on machine learning, illustrated with a running example using a hypothetical personal service robot. We discuss cross-cutting issues that occur at all levels, focusing on the problem of communicating and sharing comprehension, the role of explanation and the social nature of collaboration. We conclude with a summary of research challenges and a discussion of the potential for economic and societal impact provided by technologies that enhance human abilities and empower people and society through collaboration with intelligent systems., Funding agency:MIAI Multidisciplinary AI Institute at the Universite Grenoble Alpes (MIAI@Grenoble Alpes) ANR-19-P3IA-0003

Published
2023
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35. Neural point features for 3D Drone Localization inside Wind Turbine Blades

Author

Angulo, Cecilio, Agudo, Antonio, Costa Gabaldón, Guillem, Angulo, Cecilio, Agudo, Antonio, and Costa Gabaldón, Guillem

Abstract

[ES] Tradicionalmente, el mantenimiento de las palas de los aerogeneradores, se ha llevado a cabo por operaciones tripuladas. Sin embargo, la empresa Wind Power LAB ha adoptado el uso de vehículos aéreos no tripulados para las inspecciones debido a sus numerosas ventajas. El objetivo del Wind Power LAB es automatizar el proceso de detección de defectos en palas de aerogeneradores. Para lograrlo, el paso inicial consiste en aprovechar la técnica conocida como Visual Simultaneous Localization and Mapping (Visual SLAM), una tecnología ampliamente utilizada en robótica y sistemas de visión por ordenador, que permite a un dispositivo crear un mapa en tiempo real de un entorno desconocido y determinar simultáneamente su propia posición dentro de ese mapa. Entre los sistemas SLAM visuales existentes, ORB-SLAM destaca, ya que utiliza el detector y descriptor de características ORB, un componente clave responsable de la identificación de puntos relevantes en las imágenes. Sin embargo, la aplicación directa de ORB-SLAM no da resultados satisfactorios debido a los re- tos específicos que plantean las imágenes captadas por los UAV. Estas imágenes suelen presentar poca textura y variaciones significativas de iluminación. Por lo tanto, se hace necesario adaptar el código ORB-SLAM para mejorar su rendimiento en este contexto. En este sentido, se ha lle- vado a cabo un estudio exhaustivo, explorando varios detectores de características disponibles en la literatura. El objetivo ha sido identificar detectores capaces de ofrecer resultados óptimos para los requisitos específicos del proyecto. El rendimiento de estos detectores se ha evaluado en diferentes escenarios comunes encontrados en el interior de las palas de los aerogeneradores. Los resultados obtenidos demuestran claramente la superioridad de los detectores de carac- terísticas basados en técnicas de aprendizaje profundo. Estos detectores muestran una mayor precisión, una mejor distribución de los puntos clave a lo largo de l, [EN] The maintenance of wind turbine blades has traditionally been carried out by manned opera- tions. However, Wind Power LAB has adopted the use of unmanned aerial vehicles (UAVs) for inspections due to their numerous advantages. The objective of Wind Power LAB is to automate the process of detecting defects in wind turbine blades. To achieve this, the initial step is to take advantage of the technique known as Visual Simultaneous Localisation and Mapping (Visual SLAM), a technology widely used in robotics and computer vision systems, which allows a de- vice to create a real-time map of an unknown environment and simultaneously determine its own position within that map. Among existing Visual SLAM systems, ORB-SLAM stands out as it uses the ORB feature detector and descriptor, a key component responsible for identifying relevant points in images. However, the direct application of ORB-SLAM does not give satisfactory results due to the spe- cific challenges posed by UAV imagery. These images often show little texture and significant illumination variations. Therefore, it is necessary to adapt the ORB-SLAM code to improve its performance in this context. In this sense, an exhaustive study has been carried out, exploring several feature detectors available in the literature. The aim has been to identify detectors capa- ble of providing optimal results for the specific requirements of the project. The performance of these detectors has been evaluated in different common scenarios found inside wind turbine blades. The results obtained clearly demonstrate the superiority of feature detectors based on deep learning techniques. These detectors show a higher accuracy, a better distribution of keypoints along the image and a lower percentage of false positives. Among the deep learning based detectors, LOFTR has proved to be the most outstanding, showing exceptional capabilities in this application

Published
2023

40. Remote Operation of CeCi Social Robot

Author

Barbecho-Jimbo, Edisson, primary, Vallejo-Ramírez, David, additional, Cobos-Torres, Juan-Carlos, additional, Angulo, Cecilio, additional, and Flores-Vázquez, Carlos, additional

Published
2023
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46. Probability-Based Dynamic Time Warping for Gesture Recognition on RGB-D Data

Author

Bautista, Miguel Ángel, Hernández-Vela, Antonio, Ponce, Victor, Perez-Sala, Xavier, Baró, Xavier, Pujol, Oriol, Angulo, Cecilio, Escalera, Sergio, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Jiang, Xiaoyi, editor, Bellon, Olga Regina Pereira, editor, Goldgof, Dmitry, editor, and Oishi, Takeshi, editor

Published
2013
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47. The Impact of Introducing Therapeutic Robots in Hospital’s Organization

Author

Chang, Cecilia Yu Chung, Díaz, Marta, Angulo, Cecilio, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Bravo, José, editor, Hervás, Ramón, editor, and Rodríguez, Marcela, editor

Published
2012
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48. Human - Humanoid Robot Interaction: The 20Q Game

Author

Pardo, Diego, Franco, Òscar, Sàez-Pons, Joan, Andrés, Amara, Angulo, Cecilio, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Bravo, José, editor, López-de-Ipiña, Diego, editor, and Moya, Francisco, editor

Published
2012
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49. Aibo JukeBox – A Robot Dance Interactive Experience

Author

Angulo, Cecilio, Comas, Joan, Pardo, Diego, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Cabestany, Joan, editor, Rojas, Ignacio, editor, and Joya, Gonzalo, editor

Published
2011
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50. Biologically Inspired Path Execution Using SURF Flow in Robot Navigation

Author

Perez-Sala, Xavier, Angulo, Cecilio, Escalera, Sergio, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Cabestany, Joan, editor, Rojas, Ignacio, editor, and Joya, Gonzalo, editor

Published
2011
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