A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
S. M. Mizanoor Rahman, "Cyber-Physical-Social System Between a Humanoid Robot and a Virtual Human Through a Shared Platform for Adaptive Agent Ecology," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 190-203, Jan. 2018. doi: 10.1109/JAS.2017.7510760
Citation: S. M. Mizanoor Rahman, "Cyber-Physical-Social System Between a Humanoid Robot and a Virtual Human Through a Shared Platform for Adaptive Agent Ecology," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 190-203, Jan. 2018. doi: 10.1109/JAS.2017.7510760

Cyber-Physical-Social System Between a Humanoid Robot and a Virtual Human Through a Shared Platform for Adaptive Agent Ecology

doi: 10.1109/JAS.2017.7510760
More Information
  • Two artificial agents (a humanoid robot and a virtual human) are enriched with various similar intelligence, autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system (CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate (assist each other) to perform a real-world task (search for a hidden object) for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS. The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.


  • loading
  • [1]
    M. J. Salvador, S. Silver, and M. H. Mahoor, "An emotion recognition comparative study of autistic and typically-developing children using the zeno robot, " in Proc. 2015 EEE Int. Conf. Robotics and Automation (ICRA), Seattle, WA, USA, 2015, pp. 6128-6133. http://ieeexplore.ieee.org/document/7140059/
    A. Alkhalifah, B. Alsalman, D. Alnuhait, O. Meldah, S. Aloud, H. S. Al-Khalifa, and H. M. Al-Otaibi, "Using NAO humanoid robot in kindergarten: a proposed system, " in Proc. 2015 IEEE 15th Int. Conf. Advanced Learning Technologies, Hualien, Taiwan, China, 2015, pp. 166-167. http://ieeexplore.ieee.org/document/7265295/
    A. Wagoner, A. Jagadish, E. T. Matson, L. EunSeop, Y. Nah, K. K. Tae, D. H. Lee, and J. E. Joeng, "Humanoid robots rescuing humans and extinguishing fires for cooperative fire security system using HARMS, " in Proc. 20156th Int. Conf. Automation, Robotics and Applications, Queenstown, New Zealand, 2015, pp. 411-415. http://ieeexplore.ieee.org/document/7081183/
    Y. D. Pan, H. Okada, T. Uchiyama, and K. Suzuki, "Direct and indirect social robot interactions in a hotel public space, " in Proc. 2013 IEEE Int. Conf. Robotics and Biomimetics, Shenzhen, China, 2013, pp. 1881-1886. http://ieeexplore.ieee.org/document/6739743/
    S. Yoshida, T. Shirokura, Y. Sugiura, D. Sakamoto, T. Ono, M. Inami, and T. Igarashi, "RoboJockey: designing an entertainment experience with robots, " IEEE Comput. Graphics Appl., vol. 36, no. 1, pp. 62-69, Jan. -Feb. 2016. http://ieeexplore.ieee.org/document/7005367/
    S. M. M. Rahman and Y. Wang, "Dynamic affection-based motion control of a humanoid robot to collaborate with human in flexible assembly in manufacturing, " in Proc. ASME 2015 Dynamic Systems and Controls Conf., Columbus, Ohio, USA, 2015.
    S. M. M. Rahman, "Generating human-like social motion in a humanlooking humanoid robot: the biomimetic approach, " in Proc. 2013 IEEE Int. Conf. Robotics and Biomimetics, Shenzhen, China, 2013, pp. 1377-1383. http://ieeexplore.ieee.org/document/6739657/
    G. Castellano and C. Peters, "Socially perceptive robots: challenges and concerns, " Interact. Stud., vol. 11, no. 2, pp. 201-207, 2010. http://www.academia.edu/704622/Socially_perceptive_robots_Challenges_and_concerns
    I. Leite, C. Martinho, and A. Paiva, "Social robots for long-term interaction: a survey, " Int. J. Soc. Robotics, vol. 5, no. 2, pp. 291-308, Apr. 2013. doi: 10.1007/s12369-013-0178-y
    M. Hays, J. Campbell, M. Trimmer, J. Poore, A. Webb, C. Stark, and T. King, "Can role-play with virtual humans teach interpersonal skills?" in Proc. Interservice/Industry Training, Simulation and Education Conf. (I/ITSEC), Orlando, FL, USA, 2012.
    C. S. Lányi, Z. Geiszt, P. Károlyi, Á. Tilinger, and V. Magyar, "Virtual reality in special needs early education, " Int. J. Virtual Reality, vol. 5, no. 4, pp. 55-68, 2006. http://www.matsclassroom.com/blog/virtual-reality-in-special-needs-education-the-oculus-rift-day-1
    J. C. Campbell, M. J. Hays, M. Core, M. Birch, M. Bosack, and R. E. Clark, "Interpersonal and leadership skills: using virtual humans to teach new officers, " in Proc. Interservice/Industry Training, Simulation, and Education Conf. , 2011. http://ict.usc.edu/bibtexbrowser.php?key=campbell_interpersonal_2011&bib=ICT.bib
    N. Saleh, "The value of virtual patients in medical education, " Ann. Behav. Sci. Med. Educ. , vol. 16, no. 2, pp. 29-31, Sep. 2010.
    P. V. Lawford, A. V. Narracott, K. McCormack, J. Bisbal, C. Martin, B. Brook, M. Zachariou, P. Kohl, K. Fletcher, and V. Diaz-Zucczrini, "Virtual physiological human: training challenges, " Phil. Trans. R. Soc. A, vol. 368, no. 1921, pp. 2841-2851, May 2010. http://rsta.royalsocietypublishing.org/content/368/1921/2841
    W. Swartout, J. Gratch, R. W. Hill, E. Hovy, S. Marsella, J. Rickel, and D. Traum, "Toward virtual humans, " AI Mag., vol. 27, no. 2, pp. 96-108, Jul. 2006.
    A. Reina, M. Salvaro, G. Francesca, L. Garattoni, C. Pinciroli, M. Dorigo, and M. Birattari, "Augmented reality for robots: virtual sensing technology applied to a swarm of e-pucks, " in Proc. 2015 NASA/ESA Conf. Adaptive Hardware and Systems (AHS), Montreal, QC, Canada, 2015, pp. 1-6. http://ieeexplore.ieee.org/document/7231154/
    S. M. M. Rahman and R. Ikeura, "Weight-prediction-based predictive optimal position and force controls of a power assist robotic system for object manipulation, " IEEE Trans. Industr. Electron., vol. 63, no. 9, pp. 5964-5975, Sep. 2016.
    S. M. M. Rahman and R. Ikeura, "Cognition-based control and optimization algorithms for optimizing human-robot interactions in powerassisted object manipulation, " Journal of Information Science and Engineering, vol. 32, no. 5, pp. 1325-1344, Sep. 2016.
    S. M. M. Rahman, "Evaluating and benchmarking the interactions between a humanoid robot and a virtual human for a real-world social task, " in Proc. 2013 Int. Conf. Advances in Information Technology: Advances in Information Technology, Bangkok, Thailand, 2013, pp. 184-197.
    S. M. M. Rahman, "Collaboration between a physical robot and a virtual human through a unified platform for personal assistance to humans, " Personal Assistants: Emerging Computational Technologies, A. Costa, V. Julian, and P. Novais, Eds. Springer, 2017, pp. 149-177.
    S. M. M. Rahman, "People-centric adaptive social ecology between intelligent autonomous humanoid robot and virtual human for social cooperation, " in Proc. 2013 Int. Joint Conf. Ambient Intelligence: Evolving Ambient Intelligence, Dublin, Ireland, 2013, pp. 120-135.
    X. P. Guan, B. Yang, C. L. Chen, W. B. Dai, and Y. Y. Wang "A comprehensive overview of cyber-physical systems: from perspective of feedback system, " IEEE/CAA J. Automat. Sin., vol. 3, no. 1, pp. 1-14, Jan. 2016. http://www.ieee-jas.org/CN/abstract/abstract131.shtml
    G. Xiong, F. H. Zhu, X. W. Liu, X. S. Dong, W. L. Huang, S. H. Chen, and K. Zhao, "Cyber-physical-social system in intelligent transportation, " IEEE/CAA J. Automat. Sin. , vol. 2, no. 3, pp. 320-333, Jul. 2015. http://ieeexplore.ieee.org/document/7152667/
    S. M. M. Rahman, Y. Wang, I. D. Walker, L. Mears, R. Pak, and S. Remy, "Trust-based compliant robot-human handovers of payloads in collaborative assembly in flexible manufacturing, " in Proc. 2016 IEEE Int. Conf. Automation Science and Engineering, Fort Worth, TX, USA, 2016, pp. 355-360. http://ieeexplore.ieee.org/document/7743428/
    S. M. M. Rahman, B. Sadr, and Y. Wang, "Trust-based optimal subtask allocation and model predictive control for human-robot collaborative assembly in manufacturing, " in Proc. ASME 2015 Dynamic Systems and Controls Conf. , Columbus, Ohio, USA, 2015.
    R. Chipalkatty, G. Droge, and M. B. Egerstedt, "Less is more: mixedinitiative model-predictive control with human inputs, " IEEE Trans. Robot. , vol. 29, no. 3, pp. 695-703, Jun. 2013.
    G. Amato, D. Bacciu, M. Broxvall, S. Chessa, S. Coleman, M. Di Rocco, M. Dragone, C. Gallicchio, C. Gennaro, H. Lozano, T. M. McGinnity, A. Micheli, A. K. Ray, A. Renteria, A. Saffiotti, D. Swords, C. Vairo, and P. Vance, "Robotic ubiquitous cognitive ecology for smart homes, " J. Intell. Robot. Syst. , vol. 80, no. 1, pp. 57-81, Dec. 2015. doi: 10.1007/s10846-015-0178-2
    Y. Z. Song and W. Zhao, "Leader follower multi-agents network with discrete-time rendezvous via swarm social system strategies, " in Proc. 31st Chinese Control Conf. , Hefei, China, 2012, pp. 6081-6086. http://ieeexplore.ieee.org/iel5/6373891/6389889/06391008.pdf?arnumber=6391008
    Y. N. Li, K. P. Tee, W. L. Chan, R. Yan, Y. W. Chua, and D. Limbu, "Continuous role adaptation for human-robot shared control, " IEEE Trans. Robot., vol. 31, no. 3, pp. 672-681, Jun. 2015.
    M. Kapadia, A. Shoulson, C. Boatright, P. Huang, F. Durupinar, and N. I. Badler, "What's next? the new era of autonomous virtual humans, " Motion in Games, M. Kallmann and K. Bekris, Eds. Berlin, Heidelberg: Springer, 2012, pp. 170-181. doi: 10.1007/978-3-642-34710-8_16
    J. Gratch, J. Rickel, E. Andre, N. Badler, J. Cassell, E. Petajan, and N. Badler, "Creating interactive virtual humans: some assembly required, " IEEE Intell. Syst. , vol. 17, no. 4, pp. 54-63, Jul. -Aug. 2002. http://ieeexplore.ieee.org/document/1024753/
    Z. Kasap and N. Magnenat-Thalmann, "Intelligent virtual humans with autonomy and personality: state-of-the-art, " New Advances in Virtual Humans, N. Magnenat-Thalmann, L. C. Jain, and N. Ichalkaranje, Eds. Berlin, Heidelberg: Springer, 2008, pp. 43-84. http://dl.acm.org/citation.cfm?id=2595898.2595900
    Y. L. Kang, B. Subagdja, A. H. Tan, Y. S. Ong, and C. Y. Miao, "Virtual characters in agent-augmented co-space, " in Proc. 11th Int. Conf. Autonomous Agents and Multiagent Systems, Valencia, Spain, 2012, pp. 1465-1466. http://dl.acm.org/citation.cfm?id=2344063
    B. R. Chang, H. F. Tsai, C. L. Guo, and C. Y. Chen, "Remote cloud data center backup using HBase and Cassandra with user-friendly GUI, " in Proc. 2015 IEEE Int. Conf. Consumer Electronics, Taipei, Taiwan, China, 2015, pp. 420-421. http://ieeexplore.ieee.org/document/7216976/
    N. Kumar, A. Kumar, and S. Giri, "Design and implementation of three phase commit protocol (3PC) directory structure through Remote Procedure Call (RPC) application, " in Proc. 2014 Int. Conf. Information Communication and Embedded Systems, Chennai, India, 2014, pp. 1-5. http://ieeexplore.ieee.org/document/7033930/
    I. Rodriguez, A. Astigarraga, E. Jauregi, T. Ruiz, and E. Lazkano, "Humanizing NAO robot teleoperation using ROS, " in Proc. 14th IEEERAS Int. Conf. Humanoid Robots, Madrid, Spain, 2014, pp. 179-186. http://www.academia.edu/19741340/Humanizing_NAO_robot_teleoperation_using_ROS
    S. G. Wang, A. Zhou, M. Z. Yang, L. Sun, C. H. Hsu, and F. C. Yang, "Service composition in cyber-physical-social systems, " IEEE Trans. Emerg. Topics Comput., 2017, doi:10.1109/TETC.2017.2675479. (to be published)
    Q. M. Meng and A. L. Chen, "Artificial emotional interaction model based on EFSM, " in Proc. 2011 Int. Conf. Electronic and Mechanical Engineering and Information Technology, Harbin, Heilongjiang, China, 2011, pp. 1852-1855. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6023466&sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6023000%29%26rowsPerPage%3D75
    J. D. Lee and N. Moray, "Trust, self-confidence, and operators' adaptation to automation, " Int. J. Human-Comput. Stud. , vol. 40, no. 1, pp. 153-184, Jan. 1994. https://www.sciencedirect.com/science/article/pii/S107158198471007X
    C. L. Heitmeyer and E. I. Leonard, "Obtaining trust in autonomous systems: tools for formal model synthesis and validation, " in Proc. 2015 IEEE/ACM 3rd FME Workshop on Formal Methods in Software Engineering, Florence, Italy, 2015, pp. 54-60. http://ieeexplore.ieee.org/document/7166698/
    G. Hoffman, "Evaluating fluency in human-robot collaboration, " in Proc. RSS Workshop on Human-Robot Collaboration, 2013. http://guyhoffman.com/evaluating-fluency-in-human-robot-collaboration/
    L. Wu, J. Y. Yan, and Y. J. Fan, "Data mining algorithms and statistical analysis for sales data forecast, " in Proc. 20125th Int. Conf. Computational Sciences and Optimization, Harbin, China, 2012, pp. 577-581. http://ieeexplore.ieee.org/document/6274793/
    W. Guo, Y. Zhang, and L. Li, "The integration of CPS, CPSS, and ITS: A focus on data, " Tsinghua Sci. Technol., vol. 20, no. 4, pp. 327-335, Aug. 2015. http://ieeexplore.ieee.org/document/7173449/
    Z. Liu, D. S. Yang, D. Wen, W. M. Zhang, and W. J. Mao, "Cyberphysical-social systems for command and control, " IEEE Intell. Syst., vol. 26, no. 4, pp. 92-96, Jul. -Aug. 2011.
    B. Guo, Z. W. Yu, and X. S. Zhou, "A data-centric framework for cyberphysical-social systems, " IT Profess., vol. 17, no. 6, pp. 4-7, Nov-Dec. 2015.
    C. Huang, J. Marshall, D. Wang, and M. X. Dong, "Towards reliable social sensing in cyber-physical-social systems, " in Proc. 2016 IEEE Int. Parallel and Distributed Proc. Symp. Workshops, Chicago, IL, USA, 2016, pp. 1796-1802. http://ieeexplore.ieee.org/document/7530087/
    Z. C. M. Candra, H. L. Truong, and S. Dustdar, "On monitoring cyber-physical-social systems, " in Proc. 2016 IEEE World Congress on Services (SERVICES), San Francisco, CA, USA, 2016, pp. 56-63. http://ieeexplore.ieee.org/document/7557393/
    J. W. Huang, M. D. Seck, and A. Gheorghe, "Towards trustworthy smart cyber-physical-social systems in the era of Internet of Things, " in Proc. 11th System of Systems Engineering Conf. , Kongsberg, Norway, 2016, pp. 1-6. http://ieeexplore.ieee.org/document/7542961/
    C. C. Lin, D. J. Deng, and S. Y. Jhong, "A triangular nodetrix visualization interface for overlapping social community structures of cyberphysical-social systems in smart factories, " IEEE Trans. Emerg. Topics Comput., 2017, doi:10.1109/TETC.2017.2671846. (to be published)
    Z. Su, Q. F. Qi, Q. C. Xu, S. Guo, and X. W. Wang, "Incentive scheme for cyber physical social systems based on user behaviors, " IEEE Trans. Emerg. Topics Comput., 2017, doi:10.1109/TETC.2017.2671843. (to be published)
    X. Zheng, Z. P. Cai, J. G. Yu, C. K. Wang, and Y. S. Li, "Follow but no track:privacy preserved profile publishing in cyber-physical social systems, " IEEE Int. Things J., 2017, doi:10.1109/JIOT.2017.2679483. (to be published)


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(19)  / Tables(2)

    Article Metrics

    Article views (1234) PDF downloads(137) Cited by()


    DownLoad:  Full-Size Img  PowerPoint