{"600291":{"#nid":"600291","#data":{"type":"event","title":"PhD Defense by Daehyung Park","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle: \u003C\/strong\u003EA Multimodal Execution Monitoring System for Assistive Robots\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\nDaehyung Park\u003Cbr \/\u003E\r\nRobotics Ph.D. Student\u003Cbr \/\u003E\r\nSchool of Interactive Computing\u003Cbr \/\u003E\r\nCollege of Computing\u003Cbr \/\u003E\r\nGeorgia Institute of Technology\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\n\u003Cstrong\u003EDate\u003C\/strong\u003E: January 8th, 2018 (Monday)\u003Cbr \/\u003E\r\n\u003Cstrong\u003ETime\u003C\/strong\u003E: 1:00pm to 3:00pm (EST)\u003Cbr \/\u003E\r\n\u003Cstrong\u003ELocation\u003C\/strong\u003E: 3115 (McIntire Conference Room), BME Whitaker Building\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\n\u003Cstrong\u003ECommittee:\u003Cbr \/\u003E\r\n---------------\u003C\/strong\u003E\u003Cbr \/\u003E\r\nDr. Charles C. Kemp (Advisor), Biomedical Engineering, Georgia Institute of Technology \u0026amp; Emory University\u003Cbr \/\u003E\r\nDr. Byron Boots, School of Interactive Computing, Georgia Institute of Technology\u003Cbr \/\u003E\r\nDr. Sonia Chernova, School of Interactive Computing, Georgia Institute of Technology\u003Cbr \/\u003E\r\nDr. James M. Rehg, School of Interactive Computing, Georgia Institute of Technology\u003Cbr \/\u003E\r\nDr. Randy Trumbower, Harvard Medical School, Harvard University\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\n\u003Cstrong\u003EAbstract:\u003Cbr \/\u003E\r\n-----------\u003C\/strong\u003E\u003Cbr \/\u003E\r\nAssistive robots have the potential to serve as caregivers, providing assistance with activities of daily living to people with disabilities. Monitoring when something has gone wrong could help assistive robots operate more safely and effectively around people. However, the complexity of interacting with people and objects in human environments can make challenges in monitoring operations. By monitoring multimodal sensory signals, an execution monitor could perform a variety of roles, such as detecting success, determining when to switch behaviors, and otherwise exhibiting more common sense.\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\nThe purpose of this dissertation is to introduce a multimodal execution monitor to improve safety and success of assistive manipulation services. To accomplish this goal, we make three main contributions. First, we introduce a data-driven anomaly detector, a part of the monitor, that reports anomalous task executions from multimodal sensory signals online. Second, we introduce a data-driven anomaly classifier that recognizes the type and cause of common anomalies through an artificial neural network after fusing multimodal features. Lastly, as the main testbed of the monitoring system, we introduce a robot-assisted feeding system for people with disabilities, using a general-purpose mobile manipulator (a PR2 robot).\u003Cbr \/\u003E\r\n\u003Cbr \/\u003E\r\nWe evaluate the monitoring system with haptic, visual, auditory, and kinematic sensing during household tasks and human-robot interactive tasks including feeding assistance. We show multimodality improves the performance of monitoring methods by detecting and classifying a broader range of anomalies. Overall, our research demonstrates the multimodal execution monitoring system helps the assistive manipulation system to provide safe and successful assistance for people with disabilities.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EHere is a conference call for Skype:\u0026nbsp;\u003Ca href=\u0022https:\/\/join.skype.com\/PREf6T9BjIA5\u0022 target=\u0022_blank\u0022\u003Ehttps:\/\/join.skype.com\/PREf6T9BjIA5\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EHowever, the number of attendees will be limited to 25.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"A Multimodal Execution Monitoring System for Assistive Robots"}],"uid":"27707","created_gmt":"2018-01-02 17:51:13","changed_gmt":"2018-01-19 15:34:42","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2018-01-17T13:00:00-05:00","event_time_end":"2018-01-17T15:00:00-05:00","event_time_end_last":"2018-01-17T15:00:00-05:00","gmt_time_start":"2018-01-17 18:00:00","gmt_time_end":"2018-01-17 20:00:00","gmt_time_end_last":"2018-01-17 20:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}