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  • 2020

  • Bellon, Jacqueline; Gransche, Bruno; Nähr-Wagener, Sebastian (2020) : Ein Fallbeispiel Integrierter Forschung: Das Projekt poliTE – Soziale Angemessenheit für Assistenzsysteme In: Gransche, Bruno; Manzeschke, Arne (Hg.): Das geteilte Ganze: Horizonte Integrierter Forschung für künftige Mensch-Technik-Verhältnisse: 1st ed. 2020: Wiesbaden, Germany: Springer VS, S. 263-283
  • Gransche, Bruno; Manzeschke, Arne (Hg.) (2020): Das geteilte Ganze. Horizonte Integrierter Forschung für künftige Mensch-Technik-Verhältnisse. 1st ed. 2020. Wiesbaden, Germany: Springer VS

  • 2019

  • Hedaoo, Samarendra; Williams, Akim; Wadgaonkar, Chinmay; Knight, Heather (2019) : A Robot Barista Comments on its Clients: Social Attitudes Toward Robot Data Use: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 66-74
  • Kostavelis, Ioannis; Vasileiadis, Manolis; Skartados, Evangelos; Kargakos, Andreas; Giakoumis, Dimitrios; Bouganis, Christos-Savvas; Tzovaras, Dimitrios (2019): Understanding of Human Behavior with a Robotic Agent Through Daily Activity Analysis. In: International Journal of Social Robotics 11 (3), S. 437-462. DOI: 10.1007/s12369-019-00513-2

    DOI: https://doi.org/10.1007/s12369-019-00513-2 

    Abstract: Personal assistive robots to be realized in the near future should have the ability to seamlessly coexist with humans in unconstrained environments, with the robot’s capability to understand and interpret the human behavior during human–robot cohabitation significantly contributing towards this end. Still, the understanding of human behavior through a robot is a challenging task as it necessitates a comprehensive representation of the high-level structure of the human’s behavior from the robot’s low-level sensory input. The paper at hand tackles this problem by demonstrating a robotic agent capable of apprehending human daily activities through a method, the Interaction Unit analysis, that enables activities’ decomposition into a sequence of units, each one associated with a behavioral factor. The modelling of human behavior is addressed with a Dynamic Bayesian Network that operates on top of the Interaction Unit, offering quantification of the behavioral factors and the formulation of the human’s behavioral model. In addition, light-weight human action and object manipulation monitoring strategies have been developed, based on RGB-D and laser sensors, tailored for onboard robot operation. As a proof of concept, we used our robot to evaluate the ability of the method to differentiate among the examined human activities, as well as to assess the capability of behavior modeling of people with Mild Cognitive Impairment. Moreover, we deployed our robot in 12 real house environments with real users, showcasing the behavior understanding ability of our method in unconstrained realistic environments. The evaluation process revealed promising performance and demonstrated that human behavior can be automatically modeled through Interaction Unit analysis, directly from robotic agents.

  • 2018

  • Benitez-Garcia, Gibran; Nakamura, Tomoaki; Kaneko, Masahide (2018): Multicultural Facial Expression Recognition Based on Differences of Western-Caucasian and East-Asian Facial Expressions of Emotions. In: IEICE Transactions on Information and Systems 101 (5), S. 1317-1324. DOI: 10.1587/transinf.2017MVP0025

    Abstract: An increasing number of psychological studies have demonstrated that the six basic expressions of emotions are not culturally universal. However, automatic facial expression recognition (FER) systems disregard these findings and assume that facial expressions are universally expressed and recognized across different cultures. Therefore, this paper presents an analysis of Western-Caucasian and East-Asian facial expressions of emotions based on visual representations and cross-cultural FER. The visual analysis builds on the Eigenfaces method, and the cross-cultural FER combines appearance and geometric features by extracting Local Fourier Coefficients (LFC) and Facial Fourier Descriptors (FFD) respectively. Furthermore, two possible solutions for FER under multicultural environments are proposed. These are based on an early race detection, and independent models for culture-specific facial expressions found by the analysis evaluation. HSV color quantization combined with LFC and FFD compose the feature extraction for race detection, whereas culture-independent models of anger, disgust and fear are analyzed for the second solution. All tests were performed using Support Vector Machines (SVM) for classification and evaluated using five standard databases. Experimental results show that both solutions overcome the accuracy of FER systems under multicultural environments. However, the approach which individually considers the culture-specific facial expressions achieved the highest recognition rate.

  • Broussard, Meredith (2018): Artificial unintelligence. How computers misunderstand the world. Cambridge, Massachusetts: The MIT Press

    Abstract: A guide to understanding the inner workings and outer limits of technology and why we should never assume that computers always get it right. In Artificial Unintelligence, Meredith Broussard argues that our collective enthusiasm for applying computer technology to every aspect of life has resulted in a tremendous amount of poorly designed systems. We are so eager to do everything digitally—hiring, driving, paying bills, even choosing romantic partners—that we have stopped demanding that our technology actually work. Broussard, a software developer and journalist, reminds us that there are fundamental limits to what we can (and should) do with technology. With this book, she offers a guide to understanding the inner workings and outer limits of technology—and issues a warning that we should never assume that computers always get things right. Making a case against technochauvinism—the belief that technology is always the solution—Broussard argues that it's just not true that social problems would inevitably retreat before a digitally enabled Utopia. To prove her point, she undertakes a series of adventures in computer programming. She goes for an alarming ride in a driverless car, concluding “the cyborg future is not coming any time soon”; uses artificial intelligence to investigate why students can't pass standardized tests; deploys machine learning to predict which passengers survived the Titanic disaster; and attempts to repair the U.S. campaign finance system by building AI software. If we understand the limits of what we can do with technology, Broussard tells us, we can make better choices about what we should do with it to make the world better for everyone.

  • Calma, A.; Kuhn, J.; Leimeister, J. M.; Lukowicz, P.; Oeste-Reiss, S.; Schmidt, A.; Sick, B.; Stumme, G.; Tomforde, S.; Zweig, A. K. (2018) : A Concept for Productivity Tracking based on Collaborative Interactive Learning Techniques In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/8385431/

     

    Abstract: The academic success of individual students differs widely and it depends on various factors, ranging from financial to social and to health aspects. In this article, we propose a concept for a novel productivity tracking system that provides the basis for a self-assessment of academic behaviour and that can be used by students to support their academic success. The development of such a system requires interdisciplinary efforts, most of them located in the field of collaborative interactive learning (CIL) that is grounded on a socio-technical system perspective. The system is interactive since it is based on bidirectional communication, collaborative in the sense that it uses students, other students, and external sources such as the Internet for generation of knowledge, and learning in the sense that it continuously and autonomously acquires knowledge. It is further self-organised as it decides about interaction partners and self-adaptive in terms of modifying its behaviour according to changing conditions.

  • Diaconescu, A.; Mata, P.; Bellman, K. (2018) : Self-integrating Organic Control Systems: from Crayfish to Smart Homes In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems

    Abstract: Survival in complex environments, for both natural and artificial systems, requires behavioural adaptation to common changes and behavioural innovation to face the unexpected. The challenge here is to produce a vast variety of behaviours, each adapted to current circumstances, while relying on a limited amount of resources (e.g. sensors, controllers and actuators), within a 'suitable' time-frame. Drawing inspiration from neural and behavioural studies on crayfish, this position paper brings to the fore several key design features that enable organisms to address this challenge. It then proposes a similar design for artificial controllers, based on: i) an extensible set of reusable control units; and, ii) a goal-driven, context-sensitive (self-)integration process for assembling control units into a wide variety of integrated system controllers. Pre-integrated sub-controllers can also be merged, to improve efficiency while avoiding conflicts. The proposal is illustrated via a proof-of-concept implementation for the smart home, where users can add and remove goals and devices at runtime and the controller is adapted accordingly. This study brings us closer to our long-term objective of defining reusable methodologies and platforms for the development of self-* systems running in complex unpredictable environments, notably including smart homes, cities, vehicular networks and electrical grids, merged via the Internet of Things, and of People.

  • Haehner, J.; Stein, A.; Margraf, A.; Moroskow, J.; Geinitz, S. (2018) : Toward an Organic Computing Approach to Automated Design of Processing Pipelines In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/8385430/

     

    Abstract: This paper aims to propose a novel Organic Computing concept to dealing with the overall issue of automated design of processing pipelines. It is outlined how several methods standing under the Artificial Intelligence umbrella are combined to form a technique that can be realized by Organic Computing systems to strengthen their self-configuration property by implementing self-optimization and self-learning techniques. Three envisioned application scenarios are discussed which will serve as first testbeds for the proposed architecture in a future research project: The automated design of 1) a data pre-processing observer component for the refurbishment and the analysis of insufficient quality data to improve the learning ability of employed machine learning algorithms, 2) an image processing pipeline for industrial imaging systems, and, 3) production lines in manufacturing scenarios.

  • Haupt, M.; Fischer-Hirchert, U.; Kussmann, P.; Hoppstock, S. (2018) : Real-time Intelligent Tele-Care Assistance Systems In: Institute of Electrical and Electronics Engineers: Broadband Coverage in Germany; 12th ITG-Symposium: Berlin, Germany: VDE Verlag GmbH, S. 1-4. Online verfügbar unter https://ieeexplore.ieee.org/document/8385230/

     

    Abstract: The combination and fusion of technologies and procedures from "Ambient Assisted Living" (AAL), "Human-Technology Interaction" (MTI) and "eHealth" to target a real-time capable sensor data analysis-framework is the re-search focus of the "fast care"-project. This project is a part of the combined "fast" consortium at the Technical University of Dresden, which consists of more than 25 project parts working on the Next Generation 5G haptic internet. "Fast care" is focused on haptic care in the home environment. Measurements and observations by an adhoc-networked, real-time sensor infrastructure are performed with the aim of creating an integrated situation picture for direct interaction with an actor infrastructure or for the generation of a future forecast - with a latency period of less than 10 ms.

  • Herrera-Restrepo, Oscar; Medina-Borja, Alexandra (2018): Virtual organizational design laboratory. Agent-based modeling of the co-evolution of social service delivery networks with population dynamics. In: Expert Systems with Applications 98, S. 189-204. DOI: 10.1016/j.eswa.2018.01.018

    Abstract: This paper extends the concept of biological co-evolution to explain the performance and survival of one type of service organizations. It proposes that service delivery network design would benefit from complex adaptive systems (CAS) modeling approaches to recreate organizational phenomena driven by the interaction of the organization with its operating environment. This approach, paired with experimental design methods can serve as a virtual laboratory. We take the case of social service delivery (SSD) organizations that are structured as nonprofit organizations providing humanitarian assistance and relief services. These organizations often serve different geographical regions, thus, racial composition, migration patterns, and wealth of the populations served are factors that vary between locations. SSDs operate through service nodes (i.e., field offices, chapters, branches) in a network configuration. Therefore, the managerial decision of where to locate the field offices is an important one. An agent-based model to recreate agents' interactions as proxies of those exchanges occurring in real SSD settings is used. A series of validation experiments instill confidence that our model can be used as a virtual research laboratory. This paper contributes to the field of organizational design by testing a model able to recreate different policies that combined with different operating conditions impact the network over time and space. In addition, it provides experimental insights on what type of network configuration might provide a higher number of services delivered over time across the service network. The results can inform those defining the service system architecture looking to achieve SSD's goals considering the demographics of the markets served.

  • Hunter, Anthony (2018): Towards a framework for computational persuasion with applications in behaviour change1. In: Argument & Computation 9 (1), S. 15-40. DOI: 10.3233/AAC-170032

    DOI: https://doi.org/10.3233/AAC-170032 

    Abstract: Persuasion is an activity that involves one party trying to induce another party to believe something or to do something. It is an important and multifaceted human facility. Obviously, sales and marketing is heavily dependent on persuasion. But many other activities involve persuasion such as a doctor persuading a patient to drink less alcohol, a road safety expert persuading drivers to not text while driving, or an online safety expert persuading users of social media sites to not reveal too much personal information online. As computing becomes involved in every sphere of life, so too is persuasion a target for applying computer-based solutions. An automated persuasion system (APS) is a system that can engage in a dialogue with a user (the persuadee) in order to persuade the persuadee to do (or not do) some action or to believe (or not believe) something. To do this, an APS aims to use convincing arguments in order to persuade the persuadee. Computational persuasion is the study of formal models of dialogues involving arguments and counterarguments, of user models, and strategies, for APSs. A promising application area for computational persuasion is in behaviour change. Within healthcare organizations, government agencies, and non-governmental agencies, there is much interest in changing behaviour of particular groups of people away from actions that are harmful to themselves and/or to others around them.

  • Lieto, Antonio; Lebiere, Christian; Oltramari, Alessandro (2018): The knowledge level in cognitive architectures. Current limitations and possible developments. In: COGNITIVE SYSTEMS RESEARCH 48, S. 39-55. DOI: 10.1016/j.cogsys.2017.05.001

    Abstract: In this paper we identify and characterize an analysis of two problematic aspects affecting the representational level of cognitive architectures (CAs), namely: the limited size and the homogeneous typology of the encoded and processed knowledge. We argue that such aspects may constitute not only a technological problem that, in our opinion, should be addressed in order to build artificial agents able to exhibit intelligent behaviors in general scenarios, but also an epistemological one, since they limit the plausibility of the comparison of the CAs' knowledge representation and processing mechanisms with those executed by humans in their everyday activities. In the final part of the paper further directions of research will be explored, trying to address current limitations and future challenges. (C) 2017 Elsevier B.V. All rights reserved.

  • Melo, Celso M. de; Marsella, Stacy; Gratch, Jonathan (2018): Social decisions and fairness change when people’s interests are represented by autonomous agents. In: Autonomous Agents and Multi-Agent Systems 32 (1), S. 163-187. DOI: 10.1007/s10458-017-9376-6

    Abstract: There has been growing interest on agents that represent people's interests or act on their behalf such as automated negotiators, self-driving cars, or drones. Even though people will interact often with others via these agent representatives, little is known about whether people's behavior changes when acting through these agents, when compared to direct interaction with others. Here we show that people's decisions will change in important ways because of these agents; specifically, we showed that interacting via agents is likely to lead people to behave more fairly, when compared to direct interaction with others. We argue this occurs because programming an agent leads people to adopt a broader perspective, consider the other side's position, and rely on social norms-such as fairness-to guide their decision making. To support this argument, we present four experiments: in Experiment 1 we show that people made fairer offers in the ultimatum and impunity games when interacting via agent representatives, when compared to direct interaction; in Experiment 2, participants were less likely to accept unfair offers in these games when agent representatives were involved; in Experiment 3, we show that the act of thinking about the decisions ahead of time-i.e., under the so-called "strategy method"-can also lead to increased fairness, even when no agents are involved; and, finally, in Experiment 4 we show that participants were less likely to reach an agreement with unfair counterparts in a negotiation setting. We discuss theoretical implications for our understanding of the nature of people's social behavior with agent representatives, as well as practical implications for the design of agents that have the potential to increase fairness in society.

  • Nascimento, Susana; Pólvora, Alexandre (2018): Maker Cultures and the Prospects for Technological Action. In: Science and engineering ethics 24 (3), S. 927-946. DOI: 10.1007/s11948-016-9796-8

    DOI: http://www.ncbi.nlm.nih.gov/pubmed/27387562 

    Abstract: Supported by easier and cheaper access to tools and expanding communities, maker cultures are pointing towards the ideas of (almost) everyone designing, creating, producing and distributing renewed, new and improved products, machines, things or artefacts. A careful analysis of the assumptions and challenges of maker cultures emphasizes the relevance of what may be called technological action, that is, active and critical interventions regarding the purposes and applications of technologies within ordinary lives, thus countering the deterministic trends of current directions of technology. In such transformative potential, we will explore a set of elements what is and could be technological action through snapshots of maker cultures based on the empirical research conducted in three particular contexts: the Fab Lab Network, Maker Media core outputs and initiatives such as Maker Faires, and the Open Source Hardware Association (OSHWA). Elements such as control and empowerment through material engagement, openness and sharing, and social, cultural, political and ethical values of the common good in topics such as diversity, sustainability and transparency, are critically analysed.

  • Neyens, G. I. F.; Zampunieris, D. (2018) : A Rule-Based Approach for Self-Optimisation in Autonomic EHealth Systems In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-4. Online verfügbar unter https://ieeexplore.ieee.org/document/8385432/

     

    Abstract: Advances in machine learning techniques in recent years were of great benefit for the detection of diseases/medical conditions in eHealth systems, but only to a limited extend. In fact, while for the detection of some diseases the data mining techniques were performing very well, they still got outperformed by medical experts in about half of the tests done. In this paper, we propose a hybrid approach, which will use a rule-based system on top of the machine learning techniques in order to optimise the results of conflict handling. The goal is to insert the knowledge from medical experts in order to optimise the results given by the classification techniques. Possible positive and negative effects will be discussed.

  • Ravaja, Niklas; Bente, Gary; Katsyri, Jari; Salminen, Mikko; Takala, Tapio (2018): Virtual Character Facial Expressions Influence Human Brain and Facial EMG Activity in a Decision-Making Game. In: IEEE Transactions on Affective Computing 9 (2), S. 285-298. DOI: 10.1109/TAFFC.2016.2601101

    Abstract: We examined the effects of the emotional facial expressions of a virtual character (VC) on human frontal electroencephalographic (EEG) asymmetry (putatively indexing approach/withdrawal motivation), facial electromyographic (EMG) activity (emotional expressions), and social decision making (cooperation/defection). In a within-subjects design, the participants played the Iterated Prisoner's Dilemma game with VCs with different dynamic facial expressions (predefined or dependent on the participant's electrodermal and facial EMG activity). In general, VC facial expressions elicited congruent facial muscle activity. However, both frontal EEG asymmetry and facial EMG activity elicited by an angry VC facial expression varied as a function of preceding interactional events (human collaboration/defection). Pre-decision inner emotional-motivational processes and emotional facial expressions were dissociated, suggesting that human goals influence pre-decision frontal asymmetry, whereas display rules may affect (pre-decision) emotional expressions in human-VC interaction. An angry VC facial expression, high pre-decision corrugator EMG activity, and relatively greater left frontal activation predicted the participant's decision to defect. Both post-decision frontal asymmetry and facial EMG activity were related to reciprocal cooperation. The results suggest that the justifiability of VC emotional expressions and the perceived fairness of VC actions influence human emotional responses.

  • Wolf, K. H.; Tomforde, S.; Dehling, T.; Haux, R.; Huseljic, D.; Kottke, D.; Scheerbaum, J.; Sick, B.; Sunyaev, A. (2018) : Towards Proactive Health-enabling Living Environments: Simulation-based Study and Research Challenges In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/8385433/

     

    Abstract: Nowadays, information and communication technology (ICT) has become a key driver for future health-enabling and ambient assisted living technologies. These future health-enabling living environments proactively anticipate the inhabitants' needs and adapt their behaviour accordingly. They further continuously monitor the behaviour of the inhabitants and may call in support in suspicious cases. In this article, we present an architectural blueprint for such a proactive living environment and highlight the corresponding challenges for research in the field. Afterwards, we present a simulation as experimental platform for learning the daily routine of inhabitants of a flat-sharing community of senior citizens. The experimental evaluation highlights that probably unusual behaviour of persons can be detected using a probabilistic approach, which may serve as an indicator for external support.

  • 2017

  • Alam, Mehwish (2017): Event-based knowledge reconciliation using frame embeddings and frame similarity. In: KNOWLEDGE-BASED SYSTEMS 13, S. 192-203

    Abstract: This paper proposes an evolution over MERGILO, a tool for reconciling knowledge graphs extracted from text, using graph alignment and word similarity. The reconciled knowledge graphs are typically used for multi-document summarization, or to detect knowledge evolution across document series. The main point of improvement focuses on event reconciliation i.e., reconciling knowledge graphs generated by text about two similar events described differently. In order to gather a complete semantic representation of events, we use FRED semantic web machine reader, jointly with Framester, a linguistic linked data hub represented using a novel formal semantics for frames. Framester is used to enhance the extracted event knowledge with semantic frames. We extend MERGILO with similarities based on the graph structure of semantic frames and the subsumption hierarchy of semantic roles as defined in Framester. With an effective evaluation strategy similarly as used for MERGILO, we show the improvement of the new approach (MERGILO plus semantic frame/role similarities) over the baseline.

  • Allahdadi, Marzieh (2017): Explaining the Criteria of Designing Urban Furniture and Landscape, with a Cultural-social Design Approach. In: Journal of History Culture and Art Research 6 (4). DOI: 10.7596/taksad.v6i4.1034

    Abstract: Attention to the deep relationship between human personality and the place in which he lives causes the place to play a crucial role in cultural transformations and prevalence of human life style and formation of values, connections and human activities. Cities are not just a place of transit, but they are also environments that must have mutual communications with the inhabitants in order to realize the meaning of citizen, as there is a distinction between the status of citizenship and urbanization. Urban furniture is one of the elements of urban space that its quantity, beauty and durability play a major role in achieving a healthy and favorable city and satisfies the needs of citizens in terms of performance and beauty. Accordingly, the present study, using descriptive-analytical method and with data collection tools including library and documentary studies, examines the concept of product ecology and answers to the questions whether urban furniture can start or support social interaction or positively affect the roles of citizens? In this paper, the relationship between social-cultural design in urban furniture and the disturbances regarding uneven distribution of elements are identified, and finally the criteria of designing urban furniture and landscape are expressed with a social-design approach.

  • Aslan, Erhan (2017): The impact of face systems on the pragmalinguistic features of academic e-mail requests. In: Pragmatics and Society 8 (1), S. 61-84. DOI: 10.1075/ps.8.1.04asl

    Abstract: This study investigates the impact of power/distance (PD) variables operationalized as face systems on the pragmalinguistic features of academic e-mail requests. A corpus of 90 academic e-mails was classified into four face system groups: hierarchical (sender +P), hierarchical (recipient +P), deference, and solidarity. Request perspectives, strategies, and mitigating supportive moves were analyzed. The analysis revealed that the speaker and hearer dominance were the most frequent request perspectives in the hierarchical (recipient+P) and deference groups. The impersonal perspective was more common in the hierarchical (sender+P) group. The preparatory was the dominant request strategy in all groups, relatively more frequent in the hierarchical (recipient+P) and deference groups. The most common supportive move was the grounder, which occurred more frequently than other supportive moves. The findings of the study indicate that face systems influence the request patterns in academic e-mail communication. The study has implications for future research on pragmatics of computer-mediated communication (CMC).

  • Aspling, Fredrik; Juhlin, Oskar (2017): Theorizing animal–computer interaction as machinations. In: International Journal of Human-Computer Studies 98, S. 135-149. DOI: 10.1016/j.ijhcs.2016.05.005

    Abstract: The increased involvement of animals in digital technology and user-computer research opens up for new possibilities and forms of interaction. It also suggests that the emerging field of Animal-Computer Interaction (ACI) needs to reconsider what should be counted as interaction. The most common already established forms of interaction are direct and dyadic, and limited to domesticated animals such as working dogs and pets. Drawing on an ethnography of the use of mobile proximity sensor cameras in ordinary wild boar hunting we emphasize a more complex, diffuse, and not directly observable form of interaction, which involves wild animals in a technological and naturalistic setting. Investigating human and boar activities related to the use of these cameras in the light of Actor-Network Theory (ANT) and Goffman's notion of strategic interaction reveals a gamelike interaction that is prolonged, networked and heterogeneous, in which members of each species is opposed the other in a mutual assessment acted out through a set of strategies and counter-strategies. We stress the role of theory for the field of ACI and how conceptualizations of interaction can be used to excite the imagination and be generative for design. Seeing interaction as strategies and acknowledging the existence of complex interdependencies could potentially inspire the design of more indirect and non-dyadic interactions where a priori simplifications of design challenges as either human or animal can be avoided. (C) 2016 Elsevier Ltd. All rights reserved.