Alle Publikationen
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2019
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(2019): On Proactive, Transparent, and Verifiable Ethical Reasoning for Robots. In: Proceedings of the IEEE 107 (3), S. 541-561. DOI: 10.1109/JPROC.2019.2898267
DOI: https://doi.org/10.1109/JPROC.2019.2898267 Abstract: Previous work on ethical machine reasoning has largely been theoretical, and where such systems have been implemented, it has, in general, been only initial proofs of principle. Here, we address the question of desirable attributes for such systems to improve their real world utility, and how controllers with these attributes might be implemented. We propose that ethically critical machine reasoning should be proactive, transparent, and verifiable. We describe an architecture where the ethical reasoning is handled by a separate layer, augmenting a typical layered control architecture, ethically moderating the robot actions. It makes use of a simulation-based internal model and supports proactive, transparent, and verifiable ethical reasoning. To do so, the reasoning component of the ethical layer uses our Python-based belief-desire-intention (BDI) implementation. The declarative logic structure of BDI facilitates both transparency, through logging of the reasoning cycle, and formal verification methods. To prove the principles of our approach, we use a case study implementation to experimentally demonstrate its operation. Importantly, it is the first such robot controller where the ethical machine reasoning has been formally verified.
Keywords: BDI implementation, belief desire intention implementation, control engineering computing, Design methodology, ethical machine reasoning, ethical reasoning, Ethics, formal verification, ieee xplore, intelligent robots, layered control architecture, learning (artificial intelligence), machine learning, Moral & Ethik, Predictive models, Python, robot controller, robot programming, Robots, safety, simulation-based internal model, Social implications of technology, software architecture, transparency -
(2019): Sharing the workplace with robots? New tool helps designers create safer socially oriented machines. In: Cyberpsychology, Behavior, and Social Networking 22 (5), S. 360-361. DOI: 10.1089/cyber.2019.29151.ceu
DOI: https://doi.org/10.1089/cyber.2019.29151.ceu Abstract: This article aims to to describe the characteristics of current cyberpsychology research in Europe. In particular, CyberEurope aims at describing the leading research groups and projects running on the other side of the Ocean. Human safety is a primary concern in human–robot interaction (HRI). When there is physical contact between humans and robots, dangerous collisions are likely. The safety map helps users to determine if the robot they are designing is capable of inflicting specific injuries during unexpected collisions. They can also pinpoint the most dangerous areas in the robot’s workspace and compare their robot with others in terms of safety characteristics. As a result, designers have clear information at their fingertips about the injuries most likely to occur during operation. This helps to guide the hardware design process, and also contributes to safe control and motion planning for the robot being designed. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2018
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(2018) : Towards Self-Explaining Digital Systems: A Design Methodology for the Next Generation: 2018 IEEE 3rd International Verification and Security Workshop (IVSW): Costa Brava, Spain: IEEE, S. 1-6
DOI: https://doi.org/10.1109/IVSW.2018.8494900 Abstract: As digital systems get ever more complex, their behaviour may at times appear unfathomable. Users will only be prepared to accept this if they are convinced that the system does indeed work correctly. Thus, we argue the need for self-explaining systems: systems that are able to explain their behaviour, and the reasons for it. In this paper, we propose first steps towards a design methodology for such systems, and argue that beyond user acceptance, self-explanation also has other applications such as self-verification and reconfiguration. We propose a conceptual framework for self-explaining systems, discuss how to achieve completeness, and consider implementation aspects.
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(2018): Collaborative Assembly in Hybrid Manufacturing Cells: An Integrated Framework for Human–Robot Interaction. In: IEEE Transactions on Automation Science and Engineering 15 (3), S. 1178-1192. DOI: 10.1109/TASE.2017.2748386
DOI: https://doi.org/10.1109/TASE.2017.2748386 Abstract: Recent emergence of safe, lightweight, and flexible robots has opened a new realm for human-robot collaboration in manufacturing. Utilizing such robots with the new human-robot interaction (HRI) functionality to interact closely and effectively with a human co-worker, we propose a novel framework for integrating HRI factors (both physical and social interactions) into the robot motion controller for human-robot collaborative assembly tasks in a manufacturing hybrid cell. To meet human physical demands in such assembly tasks, an optimal control problem is formulated for physical HRI (pHRI)-based robot motion control to keep pace with human motion progress. We further augment social HRI (sHRI) into the framework by considering a computational model of the human worker's trust in his/her robot partner as well as robot facial expressions. The human worker's trust in robot is computed and used as a metric for path selection as well as a constraint in the optimal control problem. Robot facial expression is displayed for providing additional visual feedbacks to the human worker. We evaluate the proposed framework by designing a robotic experimental testbed and conducting a comprehensive study with a human-in-the-loop. Results of this paper show that compared to the manual adjustments of robot velocity, an autonomous controller based on pHRI, pHRI and sHRI with trust, or pHRI and sHRI with trust, and emotion result in 34%, 39%, and 44% decrease in human workload and 21%, 32%, and 60% increase in robot's usability, respectively. Compared to the manual framework, human trust in robot increases by 38% and 42%, respectively, in the latter two autonomous frameworks. Moreover, the overall efficiency in terms of assembly time remains the same.
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(2018): An architecture for ethical robots inspired by the simulation theory of cognition. In: COGNITIVE SYSTEMS RESEARCH 48, S. 56-66. DOI: 10.1016/j.cogsys.2017.04.002
DOI: https://doi.org/10.1016/j.cogsys.2017.04.002 Abstract: The expanding ability of robots to take unsupervised decisions renders it imperative that mechanisms are in place to guarantee the safety of their behaviour. Moreover, intelligent autonomous robots should be more than safe; arguably they should also be explicitly ethical. In this paper, we put forward a method for implementing ethical behaviour in robots inspired by the simulation theory of cognition. In contrast to existing frameworks for robot ethics, our approach does not rely on the verification of logic statements. Rather, it utilises internal simulations which allow the robot to simulate actions and predict their consequences. Therefore, our method is a form of robotic imagery. To demonstrate the proposed architecture, we implement a version of this architecture on a humanoid NAO robot so that it behaves according to Asimov’s laws of robotics. In a series of four experiments, using a second NAO robot as a proxy for the human, we demonstrate that the Ethical Layer enables the robot to prevent the human from coming to harm in simple test scenarios. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2017
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(2017): Ethical values and social care robots for older people. An international qualitative study. In: Ethics and Information Technology 19 (1), S. 49-68. DOI: 10.1007/s10676-016-9413-1
Abstract: Values such as respect for autonomy, safety, enablement, independence, privacy and social connectedness should be reflected in the design of social robots. The same values should affect the process by which robots are introduced into the homes of older people to support independent living. These values may, however, be in tension. We explored what potential users thought about these values, and how the tensions between them could be resolved. With the help of partners in the ACCOMPANY project, 21 focus groups (123 participants) were convened in France, the Netherlands and the UK. These groups consisted of: (i) older people, (ii) informal carers and (iii) formal carers of older people. The participants were asked to discuss scenarios in which there is a conflict between older people and others over how a robot should be used, these conflicts reflecting tensions between values. Participants favoured compromise, persuasion and negotiation as a means of reaching agreement. Roles and related role-norms for the robot were thought relevant to resolving tensions, as were hypothetical agreements between users and robot-providers before the robot is introduced into the home. Participants' understanding of each of the values-autonomy, safety, enablement, independence, privacy and social connectedness-is reported. Participants tended to agree that autonomy often has priority over the other values, with the exception in certain cases of safety. The second part of the paper discusses how the values could be incorporated into the design of social robots and operationalised in line with the views expressed by the participants.
2015
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(2015) : Of Robots, Humans, Bodies and Intelligence: Body Languages for Human Robot Interaction: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery
Abstract: Modern approaches to the design of robots with increasing amounts of embodied intelligence affect human-robot interaction paradigms. The physical structure of robots is evolving from traditional rigid, heavy industrial machines into soft bodies exhibiting new levels of versatility, adaptability, safety, elasticity, dynamism and energy efficiency. New challenges and opportunities arise for the control of soft robots: for instance, carefully planning for collision avoidance may no longer be a dominating concern, being on the contrary physical interaction with the environment not only allowed, but even desirable to solve complex tasks. To address these challenges, it is often useful to look at how humans use their own bodies in similar tasks, and even in some cases have a direct dialogue between the natural and artificial counterparts. ACM Classification B.0 General.
Keywords: body languages, Body-Robot Interaction, Collision avoidance, contrary physical interaction, Dexterous Manipulation, embodied intelligence, Grasp Control, human-robot interaction, ieee xplore, Impedance Control, Künstliche Intelligenz, Physical Human-Robot Interaction, physical structure, safety, service robot, soft bodies, Soft robotics, soft robots, Task Analysis 2014
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(2014) : Safety and ethical issues in the development of human assistive robots In: Sankai, Yoshiyuki; Suzuki, Kenji; Hasegawa, Yasuhisa (Hg.): Cybernics: Fusion of human, machine and information systems: New York, NY: Springer Science + Business Media, S. 299-313
DOI: https://doi.org/10.1007/978-4-431-54159-2_15 Abstract: Recent advances in robot technology have led to the practical use of various human assistive robots. With the increase in such robots, there comes a demand to establish a social system that ensures the safety of the users and protects trial subjects. In this chapter we give an overview of the safety and ethical issues in the development of human assistive robots. We first describe the recent standardization activities for the safety of human assistive robots. We next discuss an ethical issue in the development of robots and introduce our proposed stepwise development process for protection of trial subjects. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2010
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(2010): Towards safety in human robot interaction. In: International Journal of Social Robotics 2 (3), S. 217-219. DOI: 10.1007/s12369-010-0061-z
DOI: https://doi.org/10.1007/s12369-010-0061-z Abstract: Many new application areas are emerging where robots will be required to co-operate with or assist humans. This means that they are sharing the same work-space or they are working in our ‘personal’ space. The fundamental resultant issue of working in co-located space is that of safety. In service and social robotics, a major focus has therefore to be safe and reliable operation. This special issue covers a wide range of topics on safe human-robot interaction (HRI) in social and service robotics. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2009
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(2009) : Affective technology: Beyond usability: IEEE 13th International Symposium on Consumer Electronics, 2009: ISCE '09 ; Kyoto, Japan, 25 - 28 May 2009: 2009 IEEE 13th International Symposium on Consumer Electronics (ISCE): Kyoto, Japan: 5/25/2009 - 5/28/2009. Institute of Electrical and Electronics Engineers; IEEE International Symposium on Consumer Electronics; Isce: Piscataway, NJ: IEEE, S. 373-374
Abstract: This paper argues the significant contributions and also limits of usability approach on designing technological products and services. Among various emerging concepts that have been proposed to supplement usability, this paper argues importance of considering human affects when users interact with technology. This paper defines technology that are capable to evoke appropriate affective responses in users as affective technology. Perspectives of affective technology research are discussed.
2008
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(2008) : Measuring human-robot team effectiveness to determine an appropriate autonomy level: 2008 IEEE International Conference on Robotics and Automation: 2008 IEEE International Conference on Robotics and Automation: Pasadena, CA, USA: IEEE, S. 2146-2151
DOI: https://doi.org/10.1109/ROBOT.2008.4543524 Abstract: This paper proposes a methodology to measure the effectiveness of a human-robot team as part of an adjustable autonomy system. The effectiveness measure is aimed at determining an appropriate autonomy level prior to the system’s deployment. Two competing goals need to be traded off: maximising robot performance while minimising the amount of human input. The relative importance of the two goals depend on the mission priorities and constraints which are taken into account. The proposed methodology is applied to a human-robot communication system developed for task- oriented information exchange. The robot uses a decision- theoretic framework to act autonomously and to decide when to request input from human operators. The latter is achieved by computing the value-of-information an operator is able to provide which is compared to the cost of obtaining the information. For our system, the cost parameter represents the autonomy level to be determined. We demonstrate how an appropriate autonomy level can be found experimentally using a navigation task. In our experiment, the robot navigates through a set of simulated worlds with human input being generated by a software component. The results are used to find appropriate autonomy levels for three example missions and a subsequent user study.
Keywords: Angemessen(heit) (von Technik), Anthropometry, Automation, Cognitive robotics, Communication systems, Costs, decision-theoretic framework, Human robot interaction, human-robot communication system, ieee xplore, man-machine systems, Measurement, Navigation, Robot sensing systems, Robotics, Robots, safety, software component, task-oriented information exchange 1999
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(1999): Variables that affect job satisfaction in home health nurses. In: Dissertation Abstracts International: Section B: The Sciences and Engineering 59 (8-B)
Abstract: The purpose of this study was to measure the variables related to job satisfaction and home healthcare nurses. Specifically, this study was designed to determine how satisfied the home healthcare nurse is at the current agency for which he or she is employed. This study attempted to determine which variables produce job satisfaction and which produce job dissatisfaction. The following research hypotheses were tested in this study. The first hypothesis is that seven factors comprise job satisfaction and these factors emerge in factor analysis: safety, autonomy, interaction, compensation, task requirements, professional status, organizational policies. The second hypothesis is that items measuring job satisfaction factors display acceptable internal consistency. The third hypothesis is social demographic variables relate to job satisfaction of home health services. The sample consisted of 150 home health nurses in the greater Houston and surrounding areas. The sample was a convenience sample from registered nurses (RN) and licensed vocational nurses (LVN) currently working at home health agencies. A 46-item Job Attitude Scale (JAS) was proposed in seven hypothesized factors. The seven factors were compensation, safety, autonomy, task requirement, organizational policies, professional status, and interaction. The construct validity of the original seven factor JAS was tested through factor analysis with principal component extraction. After factor analysis testing, the seven factor JAS was reduced to a proposed 3 factor scale which included: Job Compensation (10 items), Work Decorum (10 items), and Ancillary Function (10 items). Therefore, the first hypothesis was rejected. Alpha reliability coefficient was calculated for each of the retained factors. The analysis yielded a correlation coefficient of.86,.85 and.84 for the factors 'Job Compensation', 'Work Decorum', and 'Ancillary Function', respectively. The current scale reveals internal consistency and this is a solid and reliable scale. Therefore, the second hypothesis was accepted. The third hypothesis was tested by using the following measurement techniques: correlation coefficients, multiple regression, and ANOVA. No significant mean factor score differences were found between age and educational background. (Abstract shortened by UMI.) (PsycINFO Database Record (c) 2016 APA, all rights reserved)
Keywords: Arbeits - und Organisationspsychologie, autonomy, compensation & safety & autonomy & task requirement & organizational policies & professional status & interaction & social demographic variables, Compensation (Defense Mechanism), decorum, Demographic Characteristics, Gesundheit, home health nurses, Interpersonal Interaction, Job Satisfaction, Occupational Status, Policy Making, safety
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