Florida Institute for Human and Machine Cognition

It is known that for a large magnitude push a human or a humanoid robot must take a step to avoid a fall. Despite some scattered results, a principled approach towards "when and where to take a step" has not yet emerged. Towards this goal, we present methods for computing capture points and the capture region, the region on the ground where a humanoid must step to in order to come to a complete stop. The intersection between the capture region and the base of support determines which strategy the robot should adopt to successfully stop in a given situation. Computing the capture region for a humanoid, in general, is very difficult. However, with simple models of walking, computation of the capture region is simplified. We extend the well-known linear inverted pendulum model to include a flywheel body and show how to compute exact solutions of the capture region for this model. Adding rotational inertia enables the humanoid to control its centroidal angular momentum, much like the way human beings do, significantly enlarging the capture region. We present simulations of a simple planar biped that can recover balance after a push by stepping to the capture region and using internal angular momentum. Ongoing work involves applying the solution from the simple model as an approximate solution to more complex simulations of bipedal walking, including a 3D biped with distributed mass.

This text presents the origin of the concept map tool and some of the early history in the development of this tool.\nSome of the ideas from Ausubel�s (1963; 1968) assimilation theory of cognitive learning that served as a foundation\nfor concept mapping are presented, including the important role that assimilating new concepts and propositions into\na learner�s existing cognitive framework plays in meaning making. Epistemological foundations are also presented\nincluding the idea that creative production of new knowledge can be seen as a very high level of meaningful learning,\nand concept mapping can facilitate the process. The wide range of tools available in free CmapTools software\nand some applications are illustrated, including application for facilitating meaningful learning, better curriculum\ndevelopment, capturing and archiving tacit and explicit expert knowledge, and enhancing creative production. Using\nCmapTools, WWW resources, and other digital resources provide for a powerful New Model for Education leading\nto the creation of individual knowledge portfolios that can document signifi cant learning and serve as a foundation\nfor future related learning. CmapTools also provides extensive support for collaboration, publishing and sharing of\nknowledge models.

Abstract The construction and reconstruction of meanings by learners requires that they actively seek to integrate new knowledge with knowledge already in their cognitive structure. Ausubel's assimilation theory of cognitive learning has been shown to be effective in guiding research and instructional design to facilitate meaningful learning (Ausubel, The psychology of meaningful verbal learning, New York: Grune and Stratton, 1963; Educational psychology: A cognitive view, New York: Holt, Rinehart and Winston, 1968; The acquisition and retention of knowledge, Dordrecht: Kluwer, 2000). Gowin's Vee heuristic has been employed effectively to aid teachers and students in understanding the constructed nature of knowledge (Gowin, Educating, Ithaca, NY: Cornell University Press, 1981). “Situated learning” occurs when learning is by rote or at a lower level of meaningful learning. Concept mapping has been used effectively to aid meaningful learning with resulting modification of student's knowledge structures. When these knowledge structures are limited or faulty in some way, they may be referred to as Limited or Inappropriate Propositional Hierarchies (LIPH's). Conceptual change, or more accurately conceptual reconstrution, requires meaningful learning to modify LIPH's. Collaborative group learning facilitates meaningful learning and new knowledge construction. World‐wide economic changes are forcing major changes in business and industry placing a premium on the power and value of knowledge and new knowledge production. These changes require changes in school and university education that centers on the nature and power of meaningful learning. New computer tools are available to facilitate teaching activities targeted at modifying LIPH's, and aiding meaningful learning in general. © 2002 Wiley Periodicals, Inc. Sci Ed 86: 548–571, 2002; Published online in Wiley Interscience (www.interscience.wiley.com). DOI 10.1002/sce.10032

This fully revised and updated edition of Learning, Creating, and Using Knowledge recognizes that the future of economic well being in today's knowledge and information society rests upon the effectiveness of schools and corporations to empower their people to be more effective learners and knowledge creators. Novak’s pioneering theory of education presented in the first edition remains viable and useful. This new edition updates his theory for meaningful learning and autonomous knowledge building along with tools to make it operational - that is, concept maps, created with the use of CMapTools and the V diagram. The theory is easy to put into practice, since it includes resources to facilitate the process, especially concept maps, now optimised by CMapTools software. CMapTools software is highly intuitive and easy to use. People who have until now been reluctant to use the new technologies in their professional lives are will find this book particularly helpful. Learning, Creating, and Using Knowledge is essential reading for educators at all levels and corporate managers who seek to enhance worker productivity.

Cognitive Task Analysis (CTA) helps researchers understand cognitive skills and strategies make it possible for people to act effectively and get things done. CTA can yield information people need -- employers faced with personnel issues, market researchers who want to understand the thought processes of consumers, trainers and others who design instructional systems, health care professionals who want to apply lessons learned from errors and accidents, systems analysts developing user specifications, and many other professionals. CTA can show what makes the workplace work -- and what keeps it from working as well as it might. Working Minds is a true handbook, offering a set of tools for doing CTA: methods for collecting data about cognitive processes and events, analyzing them, and communicating them effectively. It covers both the why and the how of CTA methods, providing examples, guidance, and stories from the authors' own experiences as CTA practitioners. Because effective use of CTA depends on some conceptual grounding in cognitive theory and research -- on knowing what a cognitive perspective can offer -- the book also offers an overview of current research on cognition. The book provides detailed guidance for planning and carrying out CTA, with chapters on capturing knowledge and capturing the way people reason. It discusses studying cognition in real-world settings and the challenges of rapidly changing technology. And it describes key issues in applying CTA findings in a variety of fields. Working Minds makes the methodology of CTA accessible and the skills involved attainable.

This essay discusses the notion of sensemaking, including definitions and possible applications for intelligent decision support systems. The perspectives on the notion of sensemaking are those of psychology, human-centered computing, and naturalistic decision making. The essay discusses a number of myths about sensemaking (for example, that sensemaking is merely "connecting the dots"), showing how empirical evidence about expert decision making refutes the myths.

Nasrin Mostafazadeh, Nathanael Chambers, Xiaodong He, Devi Parikh, Dhruv Batra, Lucy Vanderwende, Pushmeet Kohli, James Allen. Proceedings of the 2016 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies. 2016.

We propose 10 challenges for making automation components into effective "team players" when they interact with people in significant ways. Our analysis is based on some of the principles of human-centered computing that we have developed individually and jointly over the years, and is adapted from a more comprehensive examination of common ground and coordination.

This essay is the second in a two-part series on sensemaking. It presents a data/frame model of sensemaking, which suggests an approach to intelligent systems that differs from that suggested by calls for systems that will do such things as data fusion and automatic abduction of hypotheses.

Exoskeletons that enhance human strength, endurance, and speed while being transparent to the wearer are feasible. In order to be transparent, the exoskeleton must determine the user's intent, apply forces when and where appropriate, and present low impedance to the wearer. We present a one degree of freedom exoskeleton called the RoboKnee which achieves a high level of transparency. User intent is determined through the knee joint angle and ground reaction forces. Torque is applied across the knee in order to allow the user's quadriceps muscles to relax. Low impedance is achieved through the use of series elastic actuators. The RoboKnee allows the wearer to climb stairs and perform deep knee bends while carrying a significant load in a backpack. The device provides most of the energy required to work against gravity while the user stays in control, deciding when and where to walk, as well as providing balance and control. Videos, photographs, and more information about the RoboKnee can be found at http://www.yobotics.com.

The Semantic Web consists of many RDF graphs nameable by URIs. This paper extends the syntax and semantics of RDF to cover such Named Graphs. This enables RDF statements that describe graphs, which is beneficial in many Semantic Web application areas. As a case study, we explore the application area of Semantic Web publishing: Named Graphs allow publishers to communicate assertional intent, and to sign their graphs; information consumers can evaluate specific graphs using task-specific trust policies, and act on information from those Named Graphs that they accept. Graphs are trusted depending on: their content; information about the graph; and the task the user is performing. The extension of RDF to Named Graphs provides a formally defined framework to be a foundation for the Semantic Web trust layer.

This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. In this part (Part 1), we introduce a theoretical framework for assessing N-step capturability. This framework is used to analyze three simple models of legged locomotion. All three models are based on the 3D Linear Inverted Pendulum Model. The first model relies solely on a point foot step location to maintain balance, the second model adds a finite-sized foot, and the third model enables the use of centroidal angular momentum by adding a reaction mass. We analyze how these mechanisms influence N-step capturability, for any N > 0. Part 2 will show that these results can be used to control a humanoid robot.

The study of expertise has a very long history that has been discussed in several other chapters in this handbook (Ericsson, Chapter 1; Amirault & Branson, Chapter 5). This chapter focuses on the influential developments within cognitive science and cognitive psychology that have occurred over the last three decades. Our chapter consists of two parts. In the first part we briefly review what we consider the major developments in cognitive science and cognitive psychology that led to the new field of expertise studies. In the second part we attempt to characterize some of the emerging insights about mechanisms and aspects of expertise that generalize across domains, and we explore the original theoretical accounts, along with more recent ones.

CONTEXT: Each clinical encounter represents an amazing series of psychological events: perceiving the features of the situation; quickly accessing relevant hypotheses; checking for signs and symptoms that confirm or rule out competing hypotheses, and using related knowledge to guide appropriate investigations and treatment. OBJECTIVE: Script theory, issued from cognitive psychology, provides explanations of how these events are mentally processed. This essay is aimed at clinical teachers who are interested in basic sciences of education. It describes the script concept and how it applies in medicine via the concept of the 'illness script'. METHODS: Script theory asserts that, to give meaning to a new situation in our environment, we use goal-directed knowledge structures adapted to perform tasks efficiently. These integrated networks of prior knowledge lead to expectations, as well as to inferences and actions. Expectations and actions embedded in scripts allow subjects to make predictions about features that may or may not be encountered in a situation, to check these features in order to adequately interpret (classify) the situation, and to act appropriately. CONCLUSIONS: Theory raises questions about how illness scripts develop and are refined with clinical experience. It also provides a framework to assist their acquisition.

A research program at Cornell University that sought to study the ability of children to acquire science concepts and the effect of this learning on later schooling led to the need for a new tool to describe explicit changes in children's conceptual understanding. Concept mapping was invented in 1972 to meet this need, and subsequently numerous other uses have been found for this tool. Underlying the research program and the development of the concept mapping tool was an explicit cognitive psychology of learning and an explicit constructivist epistemology. In 1987, collaboration began between Novak and Cañas and others at the Florida Institute for Human and Machine Cognition, then part of the University of West Florida. Extending the use of concept mapping to other applications such as the integration of concept mapping with the World Wide Web (WWW) led to the development of software that enhanced the potential of concept mapping, evolving into the current version of CmapTools now used worldwide in schools, universities, corporations, and governmental and non-governmental agencies. Differences between concept maps and other knowledge representation tools are described. The integration of concept mapping software programs with the WWW and other new technologies permits a new kind of concept map-centred learning environment wherein learners build their own knowledge models, individually or collaboratively, and these can serve as a basis for life-long meaningful learning. Combined with other educational practices, use of CmapTools permits a New Model for Education. Preliminary studies are underway to assess the possibilities of this New Model.

Within the SemEval-2013 evaluation exercise, the TempEval-3 shared task aims to advance research on temporal information processing. It follows on from TempEval-1 and-2, with: a three-part structure covering temporal expression, event, and temporal relation extraction; a larger dataset; and new single measures to rank systems – in each task and in general. In this paper, we describe the participants’ approaches, results, and the observations from the results, which may guide future research in this area. 1

We describe our initial implementation of the KAoS policy and domain services. While primarily oriented to the dynamic and complex requirements of software agent applications, the services are also being adapted to general-purpose grid computing and Web services environments as well. The KAoS services rely on a DAML description-logic-based ontology of the computational environment, application context, and the policies themselves that enables runtime extensibility and adaptability of the system, as well as the ability to analyze policies relating to entities described at different levels of abstraction.

In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot. Valkyrie is a 44 degree‐of‐freedom, series elastic actuator‐based robot that draws upon over 18 years of humanoid robotics design heritage. Valkyrie's application intent is aimed at not only responding to events like Fukushima, but also advancing human spaceflight endeavors in extraterrestrial planetary settings. This paper presents a brief system overview, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics‐based walking algorithm employed at the Trials. Next, the software and control architectures are highlighted along with a description of the operator interface tools. Finally, some closing remarks are given about the competition, and a vision of future work is provided.

Coactive Design is a new approach to address the increasingly sophisticated roles that people and robots play as the use of robots expands into new, complex domains. The approach is motivated by the desire for robots to perform less like teleoperated tools or independent automatons and more like interdependent teammates. In this article, we describe what it means to be interdependent, why this is important, and the design implications that follow from this perspective. We argue for a human-robot system model that supports interdependence through careful attention to requirements for observability, predictability, and directability. We present a Coactive Design method and show how it can be a useful approach for developers trying to understand how to translate high-level teamwork concepts into reusable control algorithms, interface elements, and behaviors that enable robots to fulfill their envisioned role as teammates. As an example of the coactive design approach, we present our results from the DARPA Virtual Robotics Challenge, a competition designed to spur development of advanced robots that can assist humans in recovering from natural and man-made disasters. Twenty-six teams from eight countries competed in three different tasks providing an excellent evaluation of the relative effectiveness of different approaches to human-machine system design.

This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. Part 1 introduced the N-step capturability framework and showed how to obtain capture regions and control sequences for simplified gait models. In Part 2, we describe an algorithm that uses these results as approximations to control a humanoid robot. The main contributions of this part are (1) step location adjustment using the 1-step capture region, (2) novel instantaneous capture point control strategies, and 3) an experimental evaluation of the 1-step capturability margin. The presented algorithm was tested using M2V2, a 3D force-controlled bipedal robot with 12 actuated degrees of freedom in the legs, both in simulation and in physical experiments. The physical robot was able to recover from forward and sideways pushes of up to 21 Ns while balancing on one leg and stepping to regain balance. The simulated robot was able to recover from sideways pushes of up to 15 Ns while walking, and walked across randomly placed stepping stones.