Robotic Etiquette:Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction

Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions withhumans.In this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic etiquette.Based on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational strategy.The human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading direction.Both simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.

STTG-net:a Spatio-temporal network for human motion prediction based on transformer and graph convolution network

In recent years,human motion prediction has become an active research topic in computer vision.However,owing to the complexity and stochastic nature of human motion,it remains a challenging problem.In previous works,human motion prediction has always been treated as a typical inter-sequence problem,and most works have aimed to capture the temporal dependence between successive frames.However,although these approaches focused on the effects of the temporal dimension,they rarely considered the correlation between different joints in space.Thus,the spatio-temporal coupling of human joints is considered,to propose a novel spatio-temporal network based on a transformer and a gragh convolutional network(GCN)(STTG-Net).The temporal transformer is used to capture the global temporal dependencies,and the spatial GCN module is used to establish local spatial correlations between the joints for each frame.To overcome the problems of error accumulation and discontinuity in the motion prediction,a revision method based on fusion strategy is also proposed,in which the current prediction frame is fused with the previous frame.The experimental results show that the proposed prediction method has less prediction error and the prediction motion is smoother than previous prediction methods.The effectiveness of the proposed method is also demonstrated comparing it with the state-of-the-art method on the Human3.6 M dataset.

Manufactured nanoparticle:A prediction model for understanding PM2.5 toxicity to human

Epidemiological studies have demonstrated that chronic exposure to polluted concentration of fine ambient particulate matter(PM2.5)can induce markedly harmful effects on human health,however,an enormous research effort is still need to the comprehensive understanding of PM2.5 induction of new negative health outcomes.Recently,Maher and colleges[1]from Environmental Magnetism and Paleomagnetism at Lancaster University

用于学习和解释行人预期行为的群体交互场

Anticipating others’actions is innate and essential in order for humans to navigate and interact well with others in dense crowds.This ability is urgently required for unmanned systems such as service robots and self-driving cars.However,existing solutions struggle to predict pedestrian anticipation accurately,because the influence of group-related social behaviors has not been well considered.While group relationships and group interactions are ubiquitous and significantly influence pedestrian anticipation,their influence is diverse and subtle,making it difficult to explicitly quantify.Here,we propose the group interaction field(GIF),a novel group-aware representation that quantifies pedestrian anticipation into a probability field of pedestrians’future locations and attention orientations.An end-to-end neural network,GIFNet,is tailored to estimate the GIF from explicit multidimensional observations.GIFNet quantifies the influence of group behaviors by formulating a group interaction graph with propagation and graph attention that is adaptive to the group size and dynamic interaction states.The experimental results show that the GIF effectively represents the change in pedestrians’anticipation under the prominent impact of group behaviors and accurately predicts pedestrians’future states.Moreover,the GIF contributes to explaining various predictions of pedestrians’behavior in different social states.The proposed GIF will eventually be able to allow unmanned systems to work in a human-like manner and comply with social norms,thereby promoting harmonious human-machine relationships.

Participants Recruitment for Coverage Maximization by Mobility Predicting in Mobile Crowd Sensing

Mobile Crowd Sensing(MCS)is an emerging paradigm that leverages sensor-equipped smart devices to collect data.The introduction of MCS also poses some challenges such as providing highquality data for upper layer MCS applications,which requires adequate participants.However,recruiting enough participants to provide the sensing data for free is hard for the MCS platform under a limited budget,which may lead to a low coverage ratio of sensing area.This paper proposes a novel method to choose participants uniformly distributed in a specific sensing area based on the mobility patterns of mobile users.The method consists of two steps:(1)A second-order Markov chain is used to predict the next positions of users,and select users whose next places are in the target sensing area to form a candidate pool.(2)The Average Entropy(DAE)is proposed to measure the distribution of participants.The participant maximizing the DAE value of a specific sensing area with different granular sub-areas is chosen to maximize the coverage ratio of the sensing area.Experimental results show that the proposed method can maximize the coverage ratio of a sensing area under different partition granularities.

Prediction of urban human mobility using large-scale taxi traces and its applications

This paper investigates human mobility patterns in an urban taxi transportation system. This work focuses on predicting human mobility from discovering patterns of in the number of passenger pick-ups quantity （PUQ） from urban hotspots. This paper proposes an improved ARIMA based prediction method to forecast the spatial-temporal variation of passengers in a hotspot. Evaluation with a large-scale real- world data set of 4 000 taxis＇ GPS traces over one year shows a prediction error of only 5.8%. We also explore the applica- tion of the pl^di^fioti approach to help drivers find their next passetlgerS, The sinatllation results using historical real-world data demonstrate that, with our guidance, drivers can reduce the time taken and distance travelled, to find their next pas- senger＋ by 37.1% and 6.4% respectively,

Human motion prediction using optimized sliding window polynomial fitting and recursive least squares

Human motion prediction is a critical issue in human-robot collaboration(HRC)tasks.In order to reduce the local error caused by the limitation of the capture range and sampling frequency of the depth sensor,a hybrid human motion prediction algorithm,optimized sliding window polynomial fitting and recursive least squares(OSWPF-RLS)was proposed.The OSWPF-RLS algorithm uses the human body joint data obtained under the HRC task as input,and uses recursive least squares(RLS)to predict the human movement trajectories within the time window.Then,the optimized sliding window polynomial fitting(OSWPF)is used to calculate the multi-step prediction value,and the increment of multi-step prediction value was appropriately constrained.Experimental results show that compared with the existing benchmark algorithms,the OSWPF-RLS algorithm improved the multi-step prediction accuracy of human motion and enhanced the ability to respond to different human movements.

船用柴油机辅助系统关键故障人因失误概率评估

Human error,an important factor,may lead to serious results in various operational fields.The human factor plays a critical role in the risks and hazards of the maritime industry.A ship can achieve safe navigation when all operations in the engine room are conducted vigilantly.This paper presents a systematic evaluation of 20 failures in auxiliary systems of marine diesel engines that may be caused by human error.The Cognitive Reliability Error Analysis Method(CREAM)is used to determine the potentiality of human errors in the failures implied thanks to the answers of experts.Using this method,the probabilities of human error on failures were evaluated and the critical ones were emphasized.The measures to be taken for these results will make significant contributions not only to the seafarers but also to the ship owners.

Pharmacokinetics of monoclonal antibodies ]nd Fc-fusion proteins

There are many factors that can influence the pharma- cokinetics （PK） of a mAb or Fc-fusion molecule with the primary determinant being FcRn-mediatad recycling. Through Fab or Fc engineering, IgG-FcRn interaction can be used to generate a variety of therapeutic anti. bodies with significantly enhanced half-life or ability to remove unwanted antigen from circulation, Glycosyla- tion of a mAb or Fc.fusion protein can have a significant impact on the PK of these molecules, mAb charge can be important and variants with pl values of 1-2 unit difference are likely to impact PK with lower pl values being favorable for a longer half.life. Most mAbs display target mediated drug disposition （TMOO）, which can have significant consequences on the study designs of preclinical and clinical studies. The PK of mAb can also be influenced by anti-drug antibody （ADA） response and off.target binding, which require careful consideration during the discovery stage, mAbs are primarily absor- bed through the lymphatics via convection and can be conveniently administered by the subcutaneous （sc） route in large doses/volumes with co-formulation of hyaluronidase. The human PK of a mAb can be rea- sonably estimated using cynomolgus monkey data and allometric scaling methods.