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Bensch, Suna
Publications (10 of 42) Show all publications
Bensch, S. & Ewert, S. (2019). Describing resource allocation to dynamically formed groups with grammars. In: Mohammad S. Obaidat, Tuncer I. Ören and Floriano De Rango (Ed.), Mohammad S. Obaidat and Tuncer I. Ören and Floriano De Rango (Ed.), Simulation and modeling methodologies, technologies and applications: 7th international conference, (SIMULTECH) 2017, Madrid, Spain, July 26-28, 2017 : revised selected papers. Paper presented at Simulation and Modeling Methodologies, Technologies and Application - 7th International Conference (pp. 153-176). Paper presented at Simulation and Modeling Methodologies, Technologies and Application - 7th International Conference. Springer
Open this publication in new window or tab >>Describing resource allocation to dynamically formed groups with grammars
2019 (English)In: Simulation and modeling methodologies, technologies and applications: 7th international conference, (SIMULTECH) 2017, Madrid, Spain, July 26-28, 2017 : revised selected papers / [ed] Mohammad S. Obaidat, Tuncer I. Ören and Floriano De Rango, Springer, 2019, , p. 23p. 153-176Chapter in book (Refereed)
Abstract [en]

In this paper we model dynamic group formation and resource allocation with grammars in order to gain a deeper understanding into the involved processes. Modelling with grammars allows us to describe resource allocation and group formation as generative processes that provide, at any given time, information about at what stage the process of group formation and resource allocation is. We divide our model into four phases: (1) resource supply, (2) candidate group formation, (3) final group formation, and (4) resource distribution. In particular, we show that we can use permitting random context grammars to describe the first two phases. For the third phase we introduce an algorithm that determines based on a resource allocation strategy the final group to which resources are distributed. The last phase is described with random context grammars under a specific leftmost derivation mode. Our model shows that if information about the available resource and candidate group formation is distributed and kept separate, then the synchronisation of this information at a later stage (i.e. resource distribution phase) needs a more powerful grammar model.

Place, publisher, year, edition, pages
Springer, 2019. p. 23
Series
Advances in intelligent systems and computing (AISC), ISSN 2194-5357, E-ISSN 2194-5365 ; 873
Keywords
Resource allocation, Dynamic group formation, Grammars, Regulated rewriting, Random permitting context grammar, Random context grammar
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-157058 (URN)10.1007/978-3-030-01470-4_9 (DOI)978-3-030-01469-8 (ISBN)978-3-030-01470-4 (ISBN)
Conference
Simulation and Modeling Methodologies, Technologies and Application - 7th International Conference
Available from: 2019-03-06 Created: 2019-03-06 Last updated: 2019-04-17Bibliographically approved
Baranwal, N., Singh, A. & Bensch, S. (2019). Extracting Primary Objects and Spatial Relations from Sentences. In: : . Paper presented at 11th International Conference on Agents and Artificial Intelligence, Prague, Czech Republic, 19-21 February 2019..
Open this publication in new window or tab >>Extracting Primary Objects and Spatial Relations from Sentences
2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In verbal human-robot interaction natural language utterances have to be grounded in visual scenes by the robot. Visual language grounding is a challenging task that includes identifying a primary object among several objects, together with the object properties and spatial relations among the objects. In this paper we focus on extracting this information from sentences only. We propose two language modelling techniques, one uses regular expressions and the other one utilizes Euclidian distance. We compare these two proposed techniques with two other techniques that utilize tree structures, namely an extended Hobb’s algorithm and an algorithm that utilizes a Stanford parse tree. A comparative analysis between all language modelling techniques shows that our proposed two approaches require less computational time than the tree-based approaches. All approaches perform good identifying the primary object and its property, but for spatial relation extraction the Stanford parse tree algorithm performs better than the other language modelling techniques. Time elapsed for the Stanford parse tree algorithm is higher than for the other techniques.

Keywords
Natural Language Grounding, Spatial Relation Extraction, Hobb’s Algorithm, Human-robot Interaction, NLTK, Google Speech, Stanford Parser
National Category
Robotics
Identifiers
urn:nbn:se:umu:diva-157635 (URN)
Conference
11th International Conference on Agents and Artificial Intelligence, Prague, Czech Republic, 19-21 February 2019.
Available from: 2019-03-26 Created: 2019-03-26 Last updated: 2019-03-29Bibliographically approved
Bensch, S. & Hellström, T. (Eds.). (2019). Proceedings of Umeå's 23rd Student Conference in Computing Science: USCCS 2019. Paper presented at Umeå's 23rd Student Conference in Computing Science (USCCS 2019). Umeå: Umeå universitet
Open this publication in new window or tab >>Proceedings of Umeå's 23rd Student Conference in Computing Science: USCCS 2019
2019 (English)Conference proceedings (editor) (Other academic)
Abstract [en]

The Umeå Student Conference in Computing Science (USCCS) is organized annually as part of a course given by the Computing Science department at Umeå University. The objective of the course is to give the students a practical introduction to independent research, scientific writing, and oral presentation.

A student who participates in the course first selects a topic and a research question that he or she is interested in. If the topic is accepted, the student outlines a paper and composes an annotated bibliography to give a survey of the research topic. The main work consists of conducting the actual research that answers the question asked, and convincingly and clearly reporting the results in a scientific paper. Another major part of the course is multiple internal peer review meetings in which groups of students read each others’ papers and give feedback to the author. This process gives valuable training in both giving and receiving criticism in a constructive manner. Altogether, the students learn to formulate and develop their own ideas in a scientific manner, in a process involving internal peer reviewing of each other’s work and under supervision of the teachers, and incremental development and refinement of a scientific paper.

Each scientific paper is submitted to USCCS through an on-line submission system, and receives reviews written by members of the Computing Science department. Based on the review, the editors of the conference proceedings (the teachers of the course) issue a decision of preliminary acceptance of the paper to each author. If, after final revision, a paper is accepted, the student is given the opportunity to present the work at the conference. The review process and the conference format aims at mimicking realistic settings for publishing and participation at scientific conferences.

Place, publisher, year, edition, pages
Umeå: Umeå universitet, 2019. p. 73
Series
Report / UMINF, ISSN 0348-0542 ; 19.02
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-155470 (URN)
Conference
Umeå's 23rd Student Conference in Computing Science (USCCS 2019)
Note

The print version of the publication differs slightly from the online version.

Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-05-28Bibliographically approved
Bensch, S. & Bordihn, H. (2018). Information, codes and languages: Essays dedicated to Helmut Jürgensen on the occassion of his 75th birthday – Preface (23ed.). Journal of Automata, Languages and Combinatorics, 23(1–3), 3-4
Open this publication in new window or tab >>Information, codes and languages: Essays dedicated to Helmut Jürgensen on the occassion of his 75th birthday – Preface
2018 (English)In: Journal of Automata, Languages and Combinatorics, ISSN 1430-189X, Vol. 23, no 1–3, p. 2p. 3-4Article in journal, Editorial material (Refereed) Published
Abstract [en]

This special issue is dedicated to Professor Helmut Jürgensen on the occasion of his 75th birthday and in appreciation of his scientific work and his impact as teacher, mentor, and person. The sixteen papers in this special issue were submitted by invitation of the guest editors. Each paper was reviewed by at least two referees. The authors of the papers in this special issue are collaborators, co-authors, or scientific descendents of Helmut Jürgensen.

Place, publisher, year, edition, pages
Giessen: Institut für Informatik, Justus-Liebig-Universität Giessen, 2018. p. 2 Edition: 23
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-146651 (URN)10.25596/jalc-2018-003 (DOI)
Available from: 2018-04-15 Created: 2018-04-15 Last updated: 2018-06-09Bibliographically approved
Tewari, M. & Bensch, S. (2018). Natural Language Communication with Social Robots for Assisted Living. In: : . Paper presented at Robots for Assisted Living - IROS'2018 Workshop, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), October, 1-5, 2018 Madrid, Spain.
Open this publication in new window or tab >>Natural Language Communication with Social Robots for Assisted Living
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We explore a new dialogue modelling approach for assistive social robots that enables us to formalize flexible conversation flows between a robot and a human. We achieve this by introducing an expectation mechanism to handle, for example, topic change, clarification questions or misunderstandings during a dialogue. The model gave us insight into the dialogue structure and how it is shaped by several linguistic and pragmatic features. This is work in progress and in the future we will explore learning algorithms that mine the features, implement and validate the model with real conversations. 

Keywords
natural language communication, robots, assisted living, dialogue modelling, turn-taking, cooperation, human-robot interaction
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-152546 (URN)
Conference
Robots for Assisted Living - IROS'2018 Workshop, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), October, 1-5, 2018 Madrid, Spain
Available from: 2018-10-10 Created: 2018-10-10 Last updated: 2018-10-12Bibliographically approved
Bensch, S. & Hellström, T. (Eds.). (2018). Proceedings of Umeå's 22nd Student Conference in Computing Science (USCCS 2018). Paper presented at Umeå's 22nd Student Conference in Computing Science – USCCS 2018. Umeå: Department of Computing Science, Umeå University
Open this publication in new window or tab >>Proceedings of Umeå's 22nd Student Conference in Computing Science (USCCS 2018)
2018 (English)Conference proceedings (editor) (Other academic)
Place, publisher, year, edition, pages
Umeå: Department of Computing Science, Umeå University, 2018. p. 87
Series
Report / UMINF, ISSN 0348-0542 ; 18.1
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:umu:diva-144305 (URN)
Conference
Umeå's 22nd Student Conference in Computing Science – USCCS 2018
Available from: 2018-01-30 Created: 2018-01-30 Last updated: 2018-06-11Bibliographically approved
Hellström, T. & Bensch, S. (2018). Understandable Robots: What, Why, and How. Paladyn - Journal of Behavioral Robotics, 9(1), 110-123
Open this publication in new window or tab >>Understandable Robots: What, Why, and How
2018 (English)In: Paladyn - Journal of Behavioral Robotics, ISSN 2080-9778, E-ISSN 2081-4836, Vol. 9, no 1, p. 110-123Article in journal (Refereed) Published
Abstract [en]

As robots become more and more capable and autonomous, there is an increasing need for humans to understand what the robots do and think. In this paper, we investigate what such understanding means and in- cludes, and how robots can be designed to support un- derstanding. After an in-depth survey of related earlier work, we discuss examples showing that understanding includes not only the intentions of the robot, but also de- sires, knowledge, beliefs, emotions, perceptions, capabil- ities, and limitations of the robot. The term understandingis formally defined, and the term communicative actions is defined to denote the various ways in which a robot may support a human’s understanding of the robot. A novel model of interaction for understanding is presented. The model describes how both human and robot may utilize a first or higher-order theory of mind to understand each other and perform communicative actions in order to sup- port the other’s understanding. It also describes simpler cases in which the robot performs static communicative actions in order to support the human’s understanding of the robot. In general, communicative actions performed by the robot aim at reducing the mismatch between the mind of the robot, and the robot’s inferred model of the human’s model of the mind of the robot. Based on the pro- posed model, a set of questions are formulated, to serve as support when developing and implementing the model in real interacting robots.

Place, publisher, year, edition, pages
Warsaw, Poland: De Gruyter Open, 2018
Keywords
human-robot interaction, communication, predictable, explainable
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-150156 (URN)10.1515/pjbr-2018-0009 (DOI)2-s2.0-85050650946 (Scopus ID)
Available from: 2018-07-12 Created: 2018-07-12 Last updated: 2018-10-26Bibliographically approved
Bensch, S., Björklund, J. & Kutrib, M. (2017). Deterministic Stack Transducers. Paper presented at 21st International Conference on Implementation and Application of Automata (CIAA), JUL 19-22, 2016, Yonsei Univ, Seoul, SOUTH KOREA. International Journal of Foundations of Computer Science, 28(5), 583-601
Open this publication in new window or tab >>Deterministic Stack Transducers
2017 (English)In: International Journal of Foundations of Computer Science, ISSN 0129-0541, Vol. 28, no 5, p. 583-601Article in journal (Refereed) Published
Abstract [en]

We introduce and investigate stack transducers, which are one-way stack automata with an output tape. A one-way stack automaton is a classical pushdown automaton with the additional ability to move the stack head inside the stack without altering the contents. For stack transducers, we distinguish between a digging and a non-digging mode. In digging mode, the stack transducer can write on the output tape when its stack head is inside the stack, whereas in non-digging mode, the stack transducer is only allowed to emit symbols when its stack head is at the top of the stack. These stack transducers have a motivation from natural-language interface applications, as they capture long-distance dependencies in syntactic, semantic, and discourse structures. We study the computational capacity for deterministic digging and non-digging stack transducers, as well as for their non-erasing and checking versions. We finally show that even for the strongest variant of stack transducers the stack languages are regular.

Place, publisher, year, edition, pages
World Scientific Publishing Co. Pte. Ltd., 2017
Keywords
Stack transducers, automata theory, computational capacity
National Category
Computer Systems
Identifiers
urn:nbn:se:umu:diva-143669 (URN)10.1142/S0129054117400081 (DOI)000418091500010 ()
Conference
21st International Conference on Implementation and Application of Automata (CIAA), JUL 19-22, 2016, Yonsei Univ, Seoul, SOUTH KOREA
Available from: 2018-01-05 Created: 2018-01-05 Last updated: 2018-06-09Bibliographically approved
Bensch, S., Ewert, S. & Raborife, M. (2017). Modelling the Formation of Virtual Buying Cooperatives with Grammars of Regulated Rewriting. In: Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH: . Paper presented at International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH), Madrid, Spain, July 26-28, 2017 (pp. 45-55). SciTePress
Open this publication in new window or tab >>Modelling the Formation of Virtual Buying Cooperatives with Grammars of Regulated Rewriting
2017 (English)In: Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, SciTePress, 2017, p. 45-55Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we model virtual buying cooperatives (VBC) with grammars of regulated rewriting and show that, if VBC relevant information is distributed over several successive VBC processes and must, in a later stage, be synchronised and co-ordinated, the formal grammar needs to be very powerful with respect to mode of derivation and thus generative capacity. In particular, we show how to model the supplier phase, invitation phase, and declaration phase of a VBC with random permitting context grammars and the VBC reservation phase with random context grammars under a special kind of leftmost derivation. If we use random permitting context grammars for all processes, we can only model a VBC formation during which information is introduced and processed locally and successively rather than being spread over different VBC processes.

Place, publisher, year, edition, pages
SciTePress, 2017
National Category
Computer Sciences
Identifiers
urn:nbn:se:umu:diva-138155 (URN)10.5220/0006403700450055 (DOI)978-989-758-265-3 (ISBN)
Conference
International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH), Madrid, Spain, July 26-28, 2017
Available from: 2017-08-14 Created: 2017-08-14 Last updated: 2019-06-26Bibliographically approved
Bensch, S., Jevtic, A. & Hellström, T. (2017). On Interaction Quality in Human-Robot Interaction. In: H. Jaap van den Herik, Ana Paula Rocha, Joaquim Filipe (Ed.), Proceedings of the 9th International Conference on Agents and Artificial Intelligence: . Paper presented at 9th International Conference on Agents and Artificial Intelligence (ICAART), 24-26 February, 2017, Porto, Portugal (pp. 182-189). Setúbal: SciTePress, 1
Open this publication in new window or tab >>On Interaction Quality in Human-Robot Interaction
2017 (English)In: Proceedings of the 9th International Conference on Agents and Artificial Intelligence / [ed] H. Jaap van den Herik, Ana Paula Rocha, Joaquim Filipe, Setúbal: SciTePress, 2017, Vol. 1, p. 182-189Conference paper, Published paper (Refereed)
Abstract [en]

In many complex robotics systems, interaction takes place in all directions between human, robot, and environment. Performance of such a system depends on this interaction, and a proper evaluation of a system must build on a proper modeling of interaction, a relevant set of performance metrics, and a methodology to combine metrics into a single performance value. In this paper, existing models of human-robot interaction are adapted to fit complex scenarios with one or several humans and robots. The interaction and the evaluation process is formalized, and a general method to fuse performance values over time and for several performance metrics is presented. The resulting value, denoted interaction quality, adds a dimension to ordinary performance metrics by being explicit about the interplay between performance metrics, and thereby provides a formal framework to understand, model, and address complex aspects of evaluation of human-robot interaction. 

Place, publisher, year, edition, pages
Setúbal: SciTePress, 2017
Keywords
Human-Robot Interaction, Evaluation, Performance
National Category
Robotics
Identifiers
urn:nbn:se:umu:diva-137250 (URN)10.5220/0006191601820189 (DOI)000413243500019 ()978-989-758-219-6 (ISBN)
Conference
9th International Conference on Agents and Artificial Intelligence (ICAART), 24-26 February, 2017, Porto, Portugal
Available from: 2017-06-28 Created: 2017-06-28 Last updated: 2018-06-09Bibliographically approved
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