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This paper introduces a scenario where a maneuverable satellite in geostationary orbit (GEO) conducts on-orbit attacks, targeting communication between a GEO satellite and a ground station, with the ability to switch between stationary and time-variant jamming modes. We propose a machine learning-based detection approach, employing the random forest algorithm with principal component analysis (PCA) to enhance detection accuracy in the stationary model. At the same time, an adaptive threshold-based technique is implemented for the time-variant model to detect dynamic jamming events effectively. Our methodology emphasizes the need for the use of orbital dynamics in integrating physical constraints from satellite dynamics to improve model robustness and detection accuracy. Simulation results highlight the effectiveness of PCA in enhancing the performance of the stationary model, while the adaptive thresholding method achieves high accuracy in detecting jamming in the time-variant scenario. This approach provides a robust solution for mitigating the evolving threats to satellite communication in GEO environments.

The rapid evolution of communication technologies, compounded by recent geopolitical events such as the Viasat cyberattack in February 2022, has highlighted the urgent need for fast and reliable satellite missions for military and civil security operations. Consequently, this paper examines two Earth observation (EO) missions: one utilizing a single low Earth orbit (LEO) satellite and another through a network of LEO satellites, employing a secure-by-component design strategy. This approach begins by defining the scope of technical security engineering, decomposing the system into components and data flows, and enumerating attack surfaces. Then it proceeds by identifying threats to low-level components, applying secure-by-design principles, redesigning components into secure blocks in alignment with the Space Attack Research & Tactic Analysis (SPARTA) framework, and crafting shall statements to refactor the system design, with a particular focus on improving the security of the link segment.

Extended human presence beyond low-Earth orbit (BLEO) during missions to the Moon and Mars will pose significant challenges in the near future. A primary health risk associated with these missions is radiation exposure, primarily from galatic cosmic rays (GCRs) and solar proton events (SPEs). While GCRs present a more consistent, albeit modulated threat, SPEs are harder to predict and can deliver acute doses over short periods. Currently NASA utilizes analytical tools for monitoring the space radiation environment in order to make decisions of immediate action to shelter astronauts. However this reactive approach could be significantly enhanced by predictive models that can forecast radiation exposure in advance, ideally hours ahead of major events, while providing estimates of prediction uncertainty to improve decision-making. In this work we present a machine learning approach for forecasting radiation exposure in BLEO using multimodal time-series data including direct solar imagery from Solar Dynamics Observatory, X-ray flux measurements from GOES missions, and radiation dose measurements from the BioSentinel satellite that was launched as part of Artemis~1 mission. To our knowledge, this is the first time full-disk solar imagery has been used to forecast radiation exposure. We demonstrate that our model can predict the onset of increased radiation due to an SPE event, as well as the radiation decay profile after an event has occurred.

When operating in human environments, robots need to handle complex tasks while both adhering to social norms and accommodating individual preferences. For instance, based on common sense knowledge, a household robot can predict that it should avoid vacuuming during a social gathering, but it may still be uncertain whether it should vacuum before or after having guests. In such cases, integrating common-sense knowledge with human preferences, often conveyed through human explanations, is fundamental yet a challenge for existing systems. In this paper, we introduce GRACE, a novel approach addressing this while generating socially appropriate robot actions. GRACE leverages common sense knowledge from Large Language Models (LLMs), and it integrates this knowledge with human explanations through a generative network architecture. The bidirectional structure of GRACE enables robots to refine and enhance LLM predictions by utilizing human explanations and makes robots capable of generating such explanations for human-specified actions. Our experimental evaluations show that integrating human explanations boosts GRACE's performance, where it outperforms several baselines and provides sensible explanations., Comment: Under review for 2025 IEEE International Conference on Robotics & Automation (ICRA), Supplementary video: https://youtu.be/3gP3euwNBjQ

The Moon and its surrounding cislunar space have numerous unknowns, uncertainties, or partially charted phenomena that need to be investigated to determine the extent to which they affect cislunar communication. These include temperature fluctuations, spacecraft distance and velocity dynamics, surface roughness, and the diversity of propagation mechanisms. To develop robust and dynamically operative Cislunar space networks (CSNs), we need to analyze the communication system by incorporating inclusive models that account for the wide range of possible propagation environments and noise characteristics. In this paper, we consider that the communication signal can be subjected to both Gaussian and non-Gaussian noise, but also to different fading conditions. First, we analyze the communication link by showing the relationship between the brightness temperatures of the Moon and the equivalent noise temperature at the receiver of the Lunar Gateway. We propose to analyze the ergodic capacity and the outage probability, as they are essential metrics for the development of reliable communication. In particular, we model the noise with the additive symmetric alpha-stable distribution, which allows a generic analysis for Gaussian and non-Gaussian signal characteristics. Then, we present the closed-form bounds for the ergodic capacity and the outage probability. Finally, the results show the theoretically and operationally achievable performance bounds for the cislunar communication. To give insight into further designs, we also provide our results with comprehensive system settings that include mission objectives as well as orbital and system dynamics.

What is the next step after the data/digital revolution? What do we need the most to reach this aim? How machines can memorize, learn or discover? What should they be able to do to be qualified as "intelligent"? These questions relate to the next generation "intelligent" machines. Probably, these machines should be able to handle knowledge discovery, decision-making and concepts. In this paper, we will take into account some historical contributions and discuss these different questions through an analogy to human intelligence. Also, a general framework for a concept oriented language will be proposed., Comment: 17 pages, 8 figures

The rise in low Earth orbit (LEO) satellite Internet services has led to increasing demand, often exceeding available data rates and compromising the quality of service. While deploying more satellites offers a short-term fix, designing higher-performance satellites with enhanced transmission capabilities provides a more sustainable solution. Achieving the necessary high capacity requires interconnecting multiple modem banks within a satellite payload. However, there is a notable gap in research on internal packet routing within extremely high-throughput satellites. To address this, we propose a real-time optimal flow allocation and priority queue scheduling method using online convex optimization-based model predictive control. We model the problem as a multi-commodity flow instance and employ an online interior-point method to solve the routing and scheduling optimization iteratively. This approach minimizes packet loss and supports real-time rerouting with low computational overhead. Our method is tested in simulation on a next-generation extremely high-throughput satellite model, demonstrating its effectiveness compared to a reference batch optimization and to traditional methods.

For decades, satellites have facilitated remote internet of things (IoT) services. However, the recent proliferation of increasingly capable sensors and a surge in the number deployed, has led to a substantial growth in the volume of data that needs to be transmitted via satellites. In response to this growing demand, free space optical communication systems have been proposed, as they allow for the use of large bandwidths of unlicensed spectrum, enabling high data rates. However, optical communications are highly vulnerable to weather-induced disruptions, thereby limiting their high potential. This paper proposes the use of high altitude platform station (HAPS) systems in conjunction with delay-tolerant networking techniques to increase the amount of data that can be transmitted to the ground from satellites when compared to the use of traditional ground station network architectures. The architectural proposal is evaluated in terms of delivery ratio and buffer occupancy, and the subsequent discussion analyzes the advantages, challenges and potential areas for future research., Comment: 6 pages, 5 figures

Clustering, as a technique for grouping nodes in geographical proximity together, in vehicular communication networks, is a key technique to enhance network robustness and scalability despite challenges such as mobility and routing. This paper presents a robust clustering scheme based on cluster head backup list algorithm for unmanned aerial vehicles (UAVs)-assisted vehicular communication network, where multiple UAVs act as communication base stations for a vehicular network. To tackle the high mobility issues in vehicular communications, instead of allowing direct communication between all vehicles to the UAV, clustering methods will potentially be efficient in overcoming delay limitations, excessive power consumption and resource issues. Using the clustering technique, neighboring vehicles are grouped into clusters with a specific vehicle selected as the cluster head (CH) in each cluster. The selected CH connects directly to the UAV through an infrastructure-to-vehicle (I2V) link, subsequently establishing vehicle-to-vehicle (V2V) communications with vehicles in the same cluster. To increase cluster connectivity period, the proposed clustering scheme is developed based on considering the vehicle behavior for efficient selection of CHs and providing a CH backup list to maintain the stability of the cluster structure. Numerical evaluations show that the proposed system outperforms benchmark schemes in terms of clustering stability and reliability. It is also shown that the performance of the proposed scheme is not much affected by the increase in the number of vehicles. This indicates that the proposed scheme can be efficient in dense vehicular networks where resource constraints pose significant challenges.

Social agents and robots are increasingly being used in wellbeing settings. However, a key challenge is that these agents and robots typically rely on machine learning (ML) algorithms to detect and analyse an individual's mental wellbeing. The problem of bias and fairness in ML algorithms is becoming an increasingly greater source of concern. In concurrence, existing literature has also indicated that mental health conditions can manifest differently across genders and cultures. We hypothesise that the representation of features (acoustic, textual, and visual) and their inter-modal relations would vary among subjects from different cultures and genders, thus impacting the performance and fairness of various ML models. We present the very first evaluation of multimodal gender fairness in depression manifestation by undertaking a study on two different datasets from the USA and China. We undertake thorough statistical and ML experimentation and repeat the experiments for several different algorithms to ensure that the results are not algorithm-dependent. Our findings indicate that though there are differences between both datasets, it is not conclusive whether this is due to the difference in depression manifestation as hypothesised or other external factors such as differences in data collection methodology. Our findings further motivate a call for a more consistent and culturally aware data collection process in order to address the problem of ML bias in depression detection and to promote the development of fairer agents and robots for wellbeing., Comment: 9 Pages, 7 Tables. To be published and indexed in the IEEE Xplore Digital Library under the ACII 2024 Workshop Proceedings

The joint moments of the derivatives of the characteristic polynomial of a random unitary matrix, and also a variant of the characteristic polynomial that is real on the unit circle, in the large matrix size limit, have been studied intensively in the past twenty five years, partly in relation to conjectural connections to the Riemann zeta-function and Hardy's function. We completely settle the most general version of the problem of convergence of these joint moments, after they are suitably rescaled, for an arbitrary number of derivatives and with arbitrary positive real exponents. Our approach relies on a hidden, higher-order exchangeable structure, that of an exchangeable array. Using these probabilistic techniques, we then give a combinatorial formula for the leading order coefficient in the asymptotics of the joint moments, when the power on the characteristic polynomial itself is a positive real number and the exponents of the derivatives are integers, in terms of a finite number of finite-dimensional integrals which are explicitly computable. Finally, we develop a method, based on a class of Hankel determinants shifted by partitions, that allows us to give an exact representation of all these joint moments, for finite matrix size, in terms of derivatives of Painlev\'e V transcendents, and then for the leading order coefficient in the large-matrix limit in terms of derivatives of solutions of the $\sigma$-Painlev\'e III' equation. Equivalently, we can represent all the joint moments of power sum linear statistics of a certain determinantal point process behind this problem in terms of derivatives of $\sigma$-Painlev\'e III' transcendents. This gives an efficient way to compute all these quantities explicitly. Our methods can be used to obtain analogous results for a number of other models sharing the same features., Comment: Typos corrected. Submitted version

This study introduces a decentralized approach to secure wireless communication using a cryptographic secret key generation algorithm among distributed nodes. The system model employs Gaussian prime numbers, ensuring the collaborative generation of a secret key. Pre-processing and post-processing functions enable to generate a secret key across the network. An error model evaluates aspects like thermal noise power and channel estimation errors, while simulations assess the success rate to factorize the norm of the secret key. It is observed that path loss-induced large scale fading emerges as a critical component impacting information and power loss. The robustness of the proposed model under fading channel conditions is evaluated with a success rate. Additionally, it is also observed that the tolerance value set in the factorization algorithms has a significant impact on the success rate. Furthermore, the success rate is compared in two scenarios, one with 2 users and another with 3 users, to provide a comprehensive evaluation of the system performance., Comment: 6 pages, 8 figures, ICCSPA'24 Conference

Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as interrupting people or having delayed responses, as well as their limited ability to understand human speech, i.e., failure in tasks like transcribing speech to text. These mistakes may disrupt interactions and negatively influence human perception of these robots. To address this problem, robots need to have the ability to detect human-robot interaction (HRI) failures. The ERR@HRI 2024 challenge tackles this by offering a benchmark multimodal dataset of robot failures during human-robot interactions (HRI), encouraging researchers to develop and benchmark multimodal machine learning models to detect these failures. We created a dataset featuring multimodal non-verbal interaction data, including facial, speech, and pose features from video clips of interactions with a robotic coach, annotated with labels indicating the presence or absence of robot mistakes, user awkwardness, and interaction ruptures, allowing for the training and evaluation of predictive models. Challenge participants have been invited to submit their multimodal ML models for detection of robot errors and to be evaluated against various performance metrics such as accuracy, precision, recall, F1 score, with and without a margin of error reflecting the time-sensitivity of these metrics. The results of this challenge will help the research field in better understanding the robot failures in human-robot interactions and designing autonomous robots that can mitigate their own errors after successfully detecting them.

This paper addresses the limitations of current satellite payload architectures, which are predominantly hardware-driven and lack the flexibility to adapt to increasing data demands and uneven traffic. To overcome these challenges, we present a novel architecture for future regenerative and programmable satellite payloads and utilize interconnected modem banks to promote higher scalability and flexibility. We formulate an optimization problem to efficiently manage traffic among these modem banks and balance the load. Additionally, we provide comparative numerical simulation results, considering end-to-end delay and packet loss analysis. The results illustrate that our proposed architecture maintains lower delays and packet loss even with higher traffic demands and smaller buffer sizes.

Recent research in affective robots has recognized their potential in supporting human well-being. Due to rapidly developing affective and artificial intelligence technologies, this field of research has undergone explosive expansion and advancement in recent years. In order to develop a deeper understanding of recent advancements, we present a systematic review of the past 10 years of research in affective robotics for wellbeing. In this review, we identify the domains of well-being that have been studied, the methods used to investigate affective robots for well-being, and how these have evolved over time. We also examine the evolution of the multifaceted research topic from three lenses: technical, design, and ethical. Finally, we discuss future opportunities for research based on the gaps we have identified in our review -- proposing pathways to take affective robotics from the past and present to the future. The results of our review are of interest to human-robot interaction and affective computing researchers, as well as clinicians and well-being professionals who may wish to examine and incorporate affective robotics in their practices.

The recent developments in Large Language Models (LLM), mark a significant moment in the research and development of social interactions with artificial agents. These agents are widely deployed in a variety of settings, with potential impact on users. However, the study of social interactions with agents powered by LLM is still emerging, limited by access to the technology and to data, the absence of standardised interfaces, and challenges to establishing controlled experimental setups using the currently available business-oriented platforms. To answer these gaps, we developed LEXI, LLMs Experimentation Interface, an open-source tool enabling the deployment of artificial agents powered by LLM in social interaction behavioural experiments. Using a graphical interface, LEXI allows researchers to build agents, and deploy them in experimental setups along with forms and questionnaires while collecting interaction logs and self-reported data. The outcomes of usability testing indicate LEXI's broad utility, high usability and minimum mental workload requirement, with distinctive benefits observed across disciplines. A proof-of-concept study exploring the tool's efficacy in evaluating social HAIs was conducted, resulting in high-quality data. A comparison of empathetic versus neutral agents indicated that people perceive empathetic agents as more social, and write longer and more positive messages towards them., Comment: For associated Github repository, see https://github.com/Tomer-Lavan/Lexi

Existing Graph Neural Networks (GNNs) are limited to process graphs each of whose vertices is represented by a vector or a single value, limited their representing capability to describe complex objects. In this paper, we propose the first GNN (called Graph in Graph Neural (GIG) Network) which can process graph-style data (called GIG sample) whose vertices are further represented by graphs. Given a set of graphs or a data sample whose components can be represented by a set of graphs (called multi-graph data sample), our GIG network starts with a GIG sample generation (GSG) module which encodes the input as a \textbf{GIG sample}, where each GIG vertex includes a graph. Then, a set of GIG hidden layers are stacked, with each consisting of: (1) a GIG vertex-level updating (GVU) module that individually updates the graph in every GIG vertex based on its internal information; and (2) a global-level GIG sample updating (GGU) module that updates graphs in all GIG vertices based on their relationships, making the updated GIG vertices become global context-aware. This way, both internal cues within the graph contained in each GIG vertex and the relationships among GIG vertices could be utilized for down-stream tasks. Experimental results demonstrate that our GIG network generalizes well for not only various generic graph analysis tasks but also real-world multi-graph data analysis (e.g., human skeleton video-based action recognition), which achieved the new state-of-the-art results on 13 out of 14 evaluated datasets. Our code is publicly available at https://github.com/wangjs96/Graph-in-Graph-Neural-Network.

Recent studies show bias in many machine learning models for depression detection, but bias in LLMs for this task remains unexplored. This work presents the first attempt to investigate the degree of gender bias present in existing LLMs (ChatGPT, LLaMA 2, and Bard) using both quantitative and qualitative approaches. From our quantitative evaluation, we found that ChatGPT performs the best across various performance metrics and LLaMA 2 outperforms other LLMs in terms of group fairness metrics. As qualitative fairness evaluation remains an open research question we propose several strategies (e.g., word count, thematic analysis) to investigate whether and how a qualitative evaluation can provide valuable insights for bias analysis beyond what is possible with quantitative evaluation. We found that ChatGPT consistently provides a more comprehensive, well-reasoned explanation for its prediction compared to LLaMA 2. We have also identified several themes adopted by LLMs to qualitatively evaluate gender fairness. We hope our results can be used as a stepping stone towards future attempts at improving qualitative evaluation of fairness for LLMs especially for high-stakes tasks such as depression detection.

Machine unlearning (MUL) is introduced as a means to achieve interference cancellation within artificial intelligence (AI)-enabled wireless systems. It is observed that interference cancellation with MUL demonstrates $30\%$ improvement in a classification task accuracy in the presence of a corrupted AI model. Accordingly, the necessity for instantaneous channel state information for existing interference source is eliminated and a corrupted latent space with interference noise is cleansed with MUL algorithm, achieving this without the necessity for either retraining or dataset cleansing. A Membership Inference Attack (MIA) served as a benchmark for assessing the efficacy of MUL in mitigating interference within a neural network model. The advantage of the MUL algorithm was determined by evaluating both the probability of interference and the quantity of samples requiring retraining. In a simple signal-to-noise ratio classification task, the comprehensive improvement across various test cases in terms of accuracy demonstrates that MUL exhibits extensive capabilities and limitations, particularly in native AI applications.

Space Domain Awareness (SDA) has become increasingly vital with the rapid growth of commercial space activities and the expansion of New Space. This paper stresses the necessity of transitioning from centralized to distributed SDA architectures. The current architecture predominantly relies on individual downhaul, which we propose to transition to on-orbit distribution. Our results demonstrate that the individual downhaul architecture does not scale efficiently with the increasing number of nodes, while on-orbit distribution offers significant improvements. By comparing the centralized architecture with the proposed distributed architecture, we highlight the advantages of enhanced coverage and resilience. Our findings show that on-orbit distribution greatly outperforms individual downhaul in terms of latency and scalability. Specifically, the latency results for on-orbit distribution are substantially lower and more consistent, even as the number of satellites increases. In addition, we address the inherent challenges associated with on-orbit distribution architecture, particularly cybersecurity concerns. We focus on link security to ensure the availability and integrity of data transmission in these advanced SDA systems. Future expectations include further refinement of on-orbit distribution strategies and the development of robust cybersecurity measures to support the scalability and resilience of SDA systems., Comment: 12 pages, 3 figures

Low Earth orbit (LEO) satellite mega constellations are beginning to include laser inter-satellite links (LISLs) to extend the Internet to the most remote locations on Earth. Since the process of establishing these links incurs a setup delay on the order of seconds, a static network topology is generally established well in advance, which is then used for the routing calculations. However, this involves keeping links active even when they are not being used to forward traffic, leading to poor energy efficiency. Motivated by technological advances that are gradually decreasing the LISL setup delays, we foresee scenarios where it will be possible to compute routes and establish dynamic LISLs on demand. This will require considering setup delays as penalties that will affect the end-to-end latency. In this paper, we present a nonlinear optimization model that considers these penalties in the cost function and propose three heuristic algorithms that solve the problem in a tractable way. The algorithms establish different trade-offs in terms of performance and computational complexity. We extensively analyze metrics including average latency, route change rate, outage probability, and jitter in Starlink's Phase I version 2 constellation. The results show the benefit of adaptive routing schemes according to the link setup delay. In particular, more complex schemes can decrease the average end-to-end latency in exchange for an increase in execution time. On the other hand, depending on the maximum tolerated latency, it is possible to use less computationally complex schemes which will be more scalable for the satellite mega constellations of the future.

We address the challenge of developing an orthogonal time-frequency space (OTFS)-based non-orthogonal multiple access (NOMA) system where each user is modulated using orthogonal pulses in the delay Doppler domain. Building upon the concept of the sufficient (bi)orthogonality train-pulse [1], we extend this idea by introducing Hermite functions, known for their orthogonality properties. Simulation results demonstrate that our proposed Hermite functions outperform the traditional OTFS-NOMA schemes, including power-domain (PDM) NOMA and code-domain (CDM) NOMA, in terms of bit error rate (BER) over a high-mobility channel. The algorithm's complexity is minimal, primarily involving the demodulation of OTFS. The spectrum efficiency of Hermite-based OTFS-NOMA is K times that of OTFS-CDM-NOMA scheme, where K is the spreading length of the NOMA waveform.

In recent years, the affective computing (AC) and human-robot interaction (HRI) research communities have put fairness at the centre of their research agenda. However, none of the existing work has addressed the problem of machine learning (ML) bias in HRI settings. In addition, many of the current datasets for AC and HRI are "small", making ML bias and debias analysis challenging. This paper presents the first work to explore ML bias analysis and mitigation of three small multimodal datasets collected within both a human-human and robot-human wellbeing coaching settings. The contributions of this work includes: i) being the first to explore the problem of ML bias and fairness within HRI settings; and ii) providing a multimodal analysis evaluated via modelling performance and fairness metrics across both high and low-level features and proposing a simple and effective data augmentation strategy (MixFeat) to debias the small datasets presented within this paper; and iii) conducting extensive experimentation and analyses to reveal ML fairness insights unique to AC and HRI research in order to distill a set of recommendations to aid AC and HRI researchers to be more engaged with fairness-aware ML-based research., Comment: First two authors have equal contribution, alphabetic order

Interplanetary links (IPL) serve as crucial enablers for space exploration, facilitating secure and adaptable space missions. An integrated IPL with inter-satellite communication (IP-ISL) establishes a unified deep space network, expanding coverage and reducing atmospheric losses. The challenges, including irregularities in charged density, hardware impairments, and hidden celestial body brightness are analyzed with a reflectarray-based IP-ISL between Earth and Moon orbiters. It is observed that $10^{-8}$ order severe hardware impairments with intense solar plasma density drops an ideal system's spectral efficiency (SE) from $\sim\!38~\textrm{(bit/s)/Hz}$ down to $0~\textrm{(bit/s)/Hz}$. An ideal full angle of arrival fluctuation recovery with full steering range achieves $\sim\!20~\textrm{(bit/s)/Hz}$ gain and a limited beamsteering with a numerical reflectarray design achieves at least $\sim\!1~\textrm{(bit/s)/Hz}$ gain in severe hardware impairment cases., Comment: 10 pages, 10 figures

This study introduces a novel approach to enhance communication networks in the cislunar space by leveraging Reconfigurable Intelligent Surfaces (RIS). Using the ability of RIS to dynamically control electromagnetic waves, this paper tackles the challenges of signal attenuation, directivity, and divergence in cislunar missions, primarily caused by immense distances and that Earth-based station transmitters do not always face the Moon. A new optimization problem is formulated, whose objective is to maximize the received signal-to-noise ratio (SNR) for Earth-to-Moon communications. We derive a closed-form solution to the problem of determining the optimal RIS phase shift configuration based on the effective area of the RIS. Through extensive simulations, this paper demonstrates how optimal adjustments in RIS phase shifts can significantly enhance signal integrity, hinting at the substantial potential of RIS technology to revolutionize long-distance cislunar communication., Comment: The submission includes 6 pages in double-column format, with 6 figures, and has been submitted to the IEEE Globecom 2024 conference

Socially Assistive Robots are studied in different Child-Robot Interaction settings. However, logistical constraints limit accessibility, particularly affecting timely support for mental wellbeing. In this work, we have investigated whether online interactions with a robot can be used for the assessment of mental wellbeing in children. The children (N=40, 20 girls and 20 boys; 8-13 years) interacted with the Nao robot (30-45 mins) over three sessions, at least a week apart. Audio-visual recordings were collected throughout the sessions that concluded with the children answering user perception questionnaires pertaining to their anxiety towards the robot, and the robot's abilities. We divided the participants into three wellbeing clusters (low, med and high tertiles) using their responses to the Short Moods and Feelings Questionnaire (SMFQ) and further analysed how their wellbeing and their perceptions of the robot changed over the wellbeing tertiles, across sessions and across participants' gender. Our primary findings suggest that (I) online mediated-interactions with robots can be effective in assessing children's mental wellbeing over time, and (II) children's overall perception of the robot either improved or remained consistent across time. Supplementary exploratory analyses have also revealed that gender affected the children's wellbeing assessments as well as their perceptions of the robot.

Distributed massive multiple-input multiple output (mMIMO) system for low earth orbit (LEO) satellite networks is introduced as a promising technique to provide broadband connectivity. Nevertheless, several challenges persist in implementing distributed mMIMO systems for LEO satellite networks. These challenges include providing scalable massive access implementation as the system complexity increases with network size. Another challenging issue is the asynchronous arrival of signals at the user terminals due to the different propagation delays among distributed antennas in space, which destroys the coherent transmission, and consequently degrades the system performance. In this paper, we propose a scalable distributed mMIMO system for LEO satellite networks based on dynamic user-centric clustering. Aiming to obtain scalable implementation, new algorithms for initial cooperative access, cluster selection, and cluster handover are provided. In addition, phase shift-aware precoding is implemented to compensate for the propagation delay phase shifts. The performance of the proposed user-centric distributed mMIMO is compared with two baseline configurations: the non-cooperative transmission systems, where each user connects to only a single satellite, and the full-cooperative distributed mMIMO systems, where all satellites contribute serving each user. The numerical results show the potential of the proposed distributed mMIMO system to enhance system spectral efficiency when compared to noncooperative transmission systems. Additionally, it demonstrates the ability to minimize the serving cluster size for each user, thereby reducing the overall system complexity in comparison to the full-cooperative distributed mMIMO systems.

The emergence of low Earth orbit (LEO) satellite mega-constellations is dynamically transforming the space sector. While free-space optical (FSO) links efficiently facilitate intersatellite data forwarding, they suffer from atmospheric/weather conditions in the space-to-ground link. This study delves into utilizing high-altitude platform stations (HAPS) as elevated relay stations strategically positioned above terrestrial ground stations. We introduce the concept of high-altitude ground stations (HAGS), an innovative approach to enabling the development of all optical LEO satellite constellations. The first contribution is an analysis of the HAGS-based network architecture where the LEO spacecraft only hosts FSO transceivers. Secondly, we execute an extensive simulation campaign to determine the gain of HAGS, including a new equivalency model with the traditional ground station approach. Finally, we examine the research challenges of implementing HAGS-based, all optical LEO mega-constellations., Comment: IEEE International Conference on Communications 2024

A precise incident wave angle estimation in aerial communication is a key enabler in sixth-generation wireless communication network. With this goal, a generic 3-dimensional (3D) channel model is analyzed for air-to-air (A2A) networks under antenna misalignment, radio frequency impairments and polarization loss. The unique aspects of each aerial node are highlighted and the few-shot learning as a model agnostic meta-learning (MAML) classifier is proposed for learning-to-learn (L2L) incident wave angle estimation by utilizing the received signal strength (RSS). Additionally, a more computationally efficient technique, first order model agnostic meta-learning (FOMAML) is implemented. It has been observed that the proposed approach reaches up to 85% training accuracy and 75.4% evaluation accuracy with MAML. Regarding this, a convergence rate and accuracy trade-off have been established for several cases of MAML and FOMAML. For different L2L models trained with limited data, heuristic accuracy performance is determined by an upper bound of the probability of confidence., Comment: 18 pages, 9 figures

For widespread real-world applications, it is beneficial for robots to explore Federated Learning (FL) settings where several robots, deployed in parallel, can learn independently while also sharing their learning with each other. This work explores a simulated living room environment where robots need to learn the social appropriateness of their actions. We propose Federated Root (FedRoot), a novel weight aggregation strategy which disentangles feature learning across clients from individual task-based learning. Adapting popular FL strategies to use FedRoot instead, we present a novel FL benchmark for learning the social appropriateness of different robot actions in diverse social configurations. FedRoot-based methods offer competitive performance compared to others while offering sizeable (up to 86% for CPU usage and up to 72% for GPU usage) reduction in resource consumption. Furthermore, real-world interactions require social robots to dynamically adapt to changing environmental and task settings. To facilitate this, we propose Federated Latent Generative Replay (FedLGR), a novel Federated Continual Learning (FCL) strategy that uses FedRoot-based weight aggregation and embeds each client with a generator model for pseudo-rehearsal of learnt feature embeddings to mitigate forgetting in a resource-efficient manner. Our benchmark results demonstrate that FedRoot-based FCL methods outperform other methods while also offering sizeable (up to 84% for CPU usage and up to 92% for GPU usage) reduction in resource consumption, with FedLGR providing the best results across evaluations.

As social robots become increasingly integrated into daily life, ensuring their behaviours align with social norms is crucial. For their widespread open-world application, it is important to explore Federated Learning (FL) settings where individual robots can learn about their unique environments while also learning from each others' experiences. In this paper, we present a novel FL benchmark that evaluates different strategies, using multi-label regression objectives, where each client individually learns to predict the social appropriateness of different robot actions while also sharing their learning with others. Furthermore, splitting the training data by different contexts such that each client incrementally learns across contexts, we present a novel Federated Continual Learning (FCL) benchmark that adapts FL-based methods to use state-of-the-art Continual Learning (CL) methods to continually learn socially appropriate agent behaviours under different contextual settings. Federated Averaging (FedAvg) of weights emerges as a robust FL strategy while rehearsal-based FCL enables incrementally learning the social appropriateness of robot actions, across contextual splits., Comment: Accepted at the Workshop on Lifelong Learning and Personalization in Long-Term Human-Robot Interaction (LEAP-HRI) at the 19th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2024

Conversational agents have a potential in improving student mental wellbeing while assisting them in self-disclosure activities such as journalling. Their embodiment might have an effect on what students disclose, and how they disclose this, and students overall adherence to the disclosure activity. However, the effect of embodiment in the context of agent assisted journal writing has not been studied. Therefore, this study aims to investigate the viability of using social robots (SR) and voice assistants (VA) for eliciting rich disclosures in journal writing that contributes to mental health status improvement in students over time. Forty two undergraduate and graduate students participated in the study that assessed the mood changes (via Brief Mood Introspection Scale, BMIS), level of subjective self-disclosure (via Subjective Self-Disclosure Questionnaire, SSDQ), and perceptions toward the agents (via Robot Social Attributes Scale, RoSAS) with and without agent (SR or VA) assisted journal writing. Results suggest that only in robot condition there are mood improvements, higher levels of disclosure, and positive perceptions over time in technology-assisted journal writing. Our results suggest that robot assisted journal writing has some advantages over voice assistant one for eliciting rich disclosures that contributes to mental health status improvement in students over time., Comment: accepted to HRI 2024 (LBR)

The interdisciplinary nature of Child-Robot Interaction (CRI) fosters incorporating measures and methodologies from many established domains. However, when employing CRI approaches to sensitive avenues of health and wellbeing, caution is critical in adapting metrics to retain their safety standards and ensure accurate utilisation. In this work, we conducted a secondary analysis to previous empirical work, investigating the reliability and construct validity of established psychological questionnaires such as the Short Moods and Feelings Questionnaire (SMFQ) and three subscales (generalised anxiety, panic and low mood) of the Revised Child Anxiety and Depression Scale (RCADS) within a CRI setting for the assessment of mental wellbeing. Through confirmatory principal component analysis, we have observed that these measures are reliable and valid in the context of CRI. Furthermore, our analysis revealed that scales communicated by a robot demonstrated a better fit than when self-reported, underscoring the efficiency and effectiveness of robot-mediated psychological assessments in these settings. Nevertheless, we have also observed variations in item contributions to the main factor, suggesting potential areas of examination and revision (e.g., relating to physiological changes, inactivity and cognitive demands) when used in CRI. Findings from this work highlight the importance of verifying the reliability and validity of standardised metrics and assessment tools when employed in CRI settings, thus, aiming to avoid any misinterpretations and misrepresentations.

This paper focuses on FSO-based wireless power transmission (WPT) from Earth-Moon Lagrangian Point-2 (EMLP-2) to a receiver optical antenna equipped with solar cells that can be located anywhere on the lunar far side (LFS). Different solar-powered satellite (SPS) configurations which are EMLP-2 located single stable satellite and EMLP-2 halo orbit revolving single, double, and triple satellites are evaluated in terms of 100% LFS surface coverage percentage (SCP) and continuous Earth visibility. It is found that an equidistant triple satellite scheme on EMLP-2 halo orbit with a semi-major axis length of 15,000 km provides full SCP for LFS and it is essential for the continuous LFS wireless power transmission. In our proposed dynamic cislunar space model, geometric and temporal parameters of the Earth-Moon systems are used in affine transformations. Our dynamic model enables us to determine the full coverage time rate of a specific region such as the LFS southern pole. The outcomes show that the equidistant double satellite scheme provides SCP=100% during 88.60% time of these satellites' single revolution around the EMLP-2 halo orbit. Finally, the probability density function (PDF) of the random harvested power $P_H$ is determined and it validates the simulation data extracted from the stable EMLP-2 satellite and revolving satellite around EMLP-2 halo orbit for minimum and maximum LoS distances. Although the pointing devices to mitigate random misalignment errors are considered for the stable and revolving SPSs, better pointing accuracy is considered for the stable satellite. Our simulations show that the probability of $P_H\le$41.6 W is around 0.5 for the stable satellite whereas the CDF=0.99 for the revolving satellite case for a transmit power of 1 kW., Comment: 10 pages, 8 figures

A method of electronic conductivity measurement is presented. It combines two well known methods of electrochemistry: cyclic voltammetry and chronoamperometry. This DC technique uses the Hebb/Wagner approach to block ionic conduction when steady state conditions are reached and allows electronic conduction of solid electrolytes to be determined. In order to get short diffusion times, a micro contact is used as an ion blocking electrode. However, as the electronic conduction in electrolytes is and should be very low, the current is also very low, typically some tens of nanoamps. Thus, the heating system inevitably generates noise problems that are solved using a median filter. Our system allows the determination of the conductivities without any preliminary smoothing or fitting of the curves. Some results with oxygen ion conductors are also give, Comment: 14 pages

We propose a synthesis method for the design of digital twins applicable to various systems (pneumatic, hydraulic, electrical/electronic circuits). The methodology allows representing the operation of these systems through an active digital twin, thereby enabling a more suitable and easier computer-aided design, simulation, control, and monitoring. Furthermore, our methodology enables the detection of a system's actions on its own inputs (for example, in pneumatics: backflow of gases trapped in part of a fluidic system onto its own inputs). During the simulation or monitoring phase, the approach also facilitates real-time diagnosis of the controlled system. The outputs, on the controlled physical system or its digital twin, do not depend only on the current inputs but also on the history of the inputs and the history of internal states and variables. In other words, the underlying sequential logic has a memory while an only combinational logic approach does not. These capabilities can contribute to the digital transformation of the factory of the future., Comment: 9 pages, 6 figures

In the backdrop of escalating ambitions for space exploration, particularly with programs like Artemis aiming for a sustainable human presence on the Moon, the issue of efficient and reliable energy transmission has become a critical concern. This paper focuses on the impact of levitating lunar dust particle above the lunar surface on energy harvesting through a Free Space Optics (FSO) beam, commonly known as "laser power beaming". This study employs known mathematical models and numerical analysis to examine a ground-to-ground link on the lunar surface, using realistic data from the literature. More precisely, it assesses transmission losses and the performance of FSO energy harvesting in the presence of lunar dust under both illuminated and dark lighting conditions. The findings reveal that the choices regarding the height above the lunar surface and the transmission distance are key determinants in evaluating both losses and energy harvesting efficiency. Specifically, it was observed that the transmit power required to operate a 250W Polaris rover at a distance of 20km was on the order of several kilowatts. Additionally, it was noted that in the Moon's darker regions, the impact of lunar dust on transmission was nearly negligible, making these areas more conducive for FSO-based energy transmission., Comment: 9 pages, 6 figures, to be published in IEEE Aerospace Conference 2024

Robotic coaches have been recently investigated to promote mental well-being in various contexts such as workplaces and homes. With the widespread use of Large Language Models (LLMs), HRI researchers are called to consider language appropriateness when using such generated language for robotic mental well-being coaches in the real world. Therefore, this paper presents the first work that investigated the language appropriateness of robot mental well-being coach in the workplace. To this end, we conducted an empirical study that involved 17 employees who interacted over 4 weeks with a robotic mental well-being coach equipped with LLM-based capabilities. After the study, we individually interviewed them and we conducted a focus group of 1.5 hours with 11 of them. The focus group consisted of: i) an ice-breaking activity, ii) evaluation of robotic coach language appropriateness in various scenarios, and iii) listing shoulds and shouldn'ts for designing appropriate robotic coach language for mental well-being. From our qualitative evaluation, we found that a language-appropriate robotic coach should (1) ask deep questions which explore feelings of the coachees, rather than superficial questions, (2) express and show emotional and empathic understanding of the context, and (3) not make any assumptions without clarifying with follow-up questions to avoid bias and stereotyping. These results can inform the design of language-appropriate robotic coach to promote mental well-being in real-world contexts.

In dyadic interactions, humans communicate their intentions and state of mind using verbal and non-verbal cues, where multiple different facial reactions might be appropriate in response to a specific speaker behaviour. Then, how to develop a machine learning (ML) model that can automatically generate multiple appropriate, diverse, realistic and synchronised human facial reactions from an previously unseen speaker behaviour is a challenging task. Following the successful organisation of the first REACT challenge (REACT 2023), this edition of the challenge (REACT 2024) employs a subset used by the previous challenge, which contains segmented 30-secs dyadic interaction clips originally recorded as part of the NOXI and RECOLA datasets, encouraging participants to develop and benchmark Machine Learning (ML) models that can generate multiple appropriate facial reactions (including facial image sequences and their attributes) given an input conversational partner's stimulus under various dyadic video conference scenarios. This paper presents: (i) the guidelines of the REACT 2024 challenge; (ii) the dataset utilized in the challenge; and (iii) the performance of the baseline systems on the two proposed sub-challenges: Offline Multiple Appropriate Facial Reaction Generation and Online Multiple Appropriate Facial Reaction Generation, respectively. The challenge baseline code is publicly available at https://github.com/reactmultimodalchallenge/baseline_react2024.