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Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks [article]

Hee-Seung Moon, Jiwon Seo
<span title="2019-03-04">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We apply a deep learning method based on recurrent neural networks using multimodal data: (1) human trajectory, (2) movement of the robotic guide, (3) haptic input data measured from the physical interaction  ...  In this paper, we present a method for predicting the trajectory of a human who follows a haptic robotic guide without using sight, which is valuable for assistive robots that aid the visually impaired  ...  Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks Hee-Seung Moon and Jiwon Seo, Member, IEEE To measure accurate haptic input from the user, our robotic-guide  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1903.01027v1">arXiv:1903.01027v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/d3vnoihad5aw3prvlewrvm4l34">fatcat:d3vnoihad5aw3prvlewrvm4l34</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191022124425/https://arxiv.org/pdf/1903.01027v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/52/bd/52bd478f3492ec1c59afe83ad3602abae62252b1.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1903.01027v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Transfer of skills between human operators through haptic training with robot coordination

Chung Hyuk Park, Jae Wook Yoo, Ayanna M Howard
<span title="">2010</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2010 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
In this paper, we discuss a coordinated haptic training architecture useful for transferring expertise in teleoperation-based manipulation between two human users.  ...  capability of a novice user by coupling learned skills absorbed by a robotic system with haptic feedback.  ...  [5] suggested the use of Recurrent Neural Networks (RNNs) with long short-term memory cells for training the robot to do more complex shaped manipulation tasks such as tie-knotting.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2010.5509160">doi:10.1109/robot.2010.5509160</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/ParkYH10.html">dblp:conf/icra/ParkYH10</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mqx6eh3n3bbpvlq5dp5jz3bwje">fatcat:mqx6eh3n3bbpvlq5dp5jz3bwje</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170812032839/https://smartech.gatech.edu/xmlui/bitstream/handle/1853/38279/IEEE_2010_ICRA_002.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ef/d5/efd51913b538e9c1528a75ad1af6e392e179a359.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/robot.2010.5509160"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Making Sense of Audio Vibration for Liquid Height Estimation in Robotic Pouring [article]

Hongzhuo Liang, Shuang Li, Xiaojian Ma, Norman Hendrich, Timo Gerkmann, Fuchun Sun, Jianwei Zhang
<span title="2019-07-21">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
To tackle these drawbacks, we propose to make use of audio vibration sensing and design a deep neural network PouringNet to predict the liquid height from the audio fragment during the robotic pouring  ...  PouringNet is trained on our collected real-world pouring dataset with multimodal sensing data, which contains more than 3000 recordings of audio, force feedback, video and trajectory data of the human  ...  ACKNOWLEDGMENT This research was funded by the German Research Foundation (DFG) and the National Science Foundation of China (NSFC) in project Crossmodal Learning, DFG TRR-169/NSFC 61621136008.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1903.00650v2">arXiv:1903.00650v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/uymlsdzqmzbtjktbrf5gzvng44">fatcat:uymlsdzqmzbtjktbrf5gzvng44</a> </span>
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Modeling Target-Distractor Discrimination for Haptic Search in a 3D Environment

Alexandra Moringen, Witali Aswolinkiy, Gereon Buscher, Guillaume Walck, Robert Haschke, Helge Ritter
<span title="">2018</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yeqgyhsx6ngq3a5unolasvcire" style="color: black;">2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)</a> </i> &nbsp;
Finally, we compare results for two different types of artificial neural networks, a feedforward and a recurrent network.  ...  This approach both guides our understanding of human haptic interaction with the 3D environment and aids future modeling of artificial touch for anthropomorphic robot hands.  ...  It is advantageous for both robots' own interaction with its environment, and a better understanding and prediction of human actions by a robot in a HRI-scenario.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/biorob.2018.8487705">doi:10.1109/biorob.2018.8487705</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/biorob/MoringenABWHR18.html">dblp:conf/biorob/MoringenABWHR18</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5wn7blcl2nhojfea23jm3vs4fi">fatcat:5wn7blcl2nhojfea23jm3vs4fi</a> </span>
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Sample-Efficient Training of Robotic Guide Using Human Path Prediction Network [article]

Hee-Seung Moon, Jiwon Seo
<span title="2020-08-12">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This paper proposes a human path prediction network (HPPN) and an evolution strategy-based robot training method using virtual human movements generated by the HPPN, which compensates for this sample inefficiency  ...  We applied the proposed method to the training of a robotic guide for visually impaired people, which was designed to collect multimodal human response data and reflect such data when selecting the robot's  ...  In [28, 29] , researchers developed a behavioral model for users under the guidance of a smartphone and a robotic guide, respectively, using the recurrent neural network (RNN) structures.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2008.05054v1">arXiv:2008.05054v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/skzlgyjo7za2pakbqhs7zmqqnm">fatcat:skzlgyjo7za2pakbqhs7zmqqnm</a> </span>
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Human-robot co-manipulation of extended objects: Data-driven models and control from analysis of human-human dyads [article]

Erich Mielke, Eric Townsend, David Wingate, Marc D. Killpack
<span title="2020-01-03">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We also develop a deep neural network based on motion data from human-human trials to predict human intent based on past motion.  ...  We then show how force and motion data can be used as a basis for robot control in a human-robot dyad.  ...  ACKNOWLEDGEMENTS We acknowledge and are grateful for helpful conversations with Michael Goodrich, Steven Charles, and Ryan Farrell (all from Brigham Young University) about our human-human experiments.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2001.00991v1">arXiv:2001.00991v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lnf4gly4ovajnosc5rpqyoxtwm">fatcat:lnf4gly4ovajnosc5rpqyoxtwm</a> </span>
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Sensorimotor skill Communication: A Literature Review

Vahan Babushkin, Muhammad Hassan Jamil, Wanjoo Park, Mohamad Eid
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
One approach to emulate the sensorimotor loop of the human nervous system utilizes recurrent neural networks with parametric bias (RNNPB) [98] [99] [100] to encode sensorimotor trajectories of a humanoid  ...  One way to deal with environmental noise is to apply machine learning techniques (such as reinforcement learning or recurrent neural networks) for tuning and refining the control strategies without human  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3081449">doi:10.1109/access.2021.3081449</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/k662qkzv5banpar4jnsgofr7qy">fatcat:k662qkzv5banpar4jnsgofr7qy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210518091453/https://ieeexplore.ieee.org/ielx7/6287639/6514899/09433546.pdf?tp=&amp;arnumber=9433546&amp;isnumber=6514899&amp;ref=" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e3/09/e309bf1233cf93b59cae6f4134c5effeb6c0ebad.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3081449"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Learning needle insertion from sample task executions [article]

Amir Ghalamzan-E
<span title="2021-03-14">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
The data of robotic surgery can be easily logged where the collected data can be used to learn task models.  ...  Moreover, we present Deep-robot Learning from Demonstrations that predicts the desired state of the robot at the time step after t (which the optimal action taken at t yields) by looking at the video of  ...  Although the proposed D-LfD needs further development for real-robot deployments, they can already be used for training novices via a haptic-guided shared control where the haptic guidance can be generated  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2103.07938v1">arXiv:2103.07938v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/hot4x2tmnjadbhunib6qnhb2ye">fatcat:hot4x2tmnjadbhunib6qnhb2ye</a> </span>
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Neural Behavior Chain Learning of Mobile Robot Actions

Lejla Banjanovic-Mehmedovic, Dzenisan Golic, Fahrudin Mehmedovic, Jasna Havic
<span title="">2012</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/fqn7ak2nbjc6xgzv2ya3jeam4m" style="color: black;">Applied Computational Intelligence and Soft Computing</a> </i> &nbsp;
Second, a multilayer neural network for offline learning of the mapping relations is used.  ...  Last, using behavior learning through a noticed action chain, we can predict mobile robot behavior for a variety of similar tasks in similar environment.  ...  A robot fulfils appropriate purposes using its learning and prediction skills. Predictive strategy in robotics may be implemented in the following ways [4, 5] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2012/382782">doi:10.1155/2012/382782</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/txlhkaqhunhq5amoyyiwee4mzq">fatcat:txlhkaqhunhq5amoyyiwee4mzq</a> </span>
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Deep Learning-Based Haptic Guidance for Surgical Skills Transfer

Pedram Fekri, Javad Dargahi, Mehrdad Zadeh
<span title="2021-01-20">2021</span> <i title="Frontiers Media SA"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/t4zwwbshrrfd3hjbg4s3bysm7q" style="color: black;">Frontiers in Robotics and AI</a> </i> &nbsp;
Having a trusted and useful system that helps to diminish the risk of medical errors and facilitate the improvement of quality in the medical education is indispensable.  ...  In other words, the proposed solution is a skill transfer method that learns professional demonstrations using different effective factors from the body of experts.  ...  ACKNOWLEDGMENTS The experiments of this research were approved by the Kettering University Institutional Review Board (IRB protocol 2012.05).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3389/frobt.2020.586707">doi:10.3389/frobt.2020.586707</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33553246">pmid:33553246</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC7854567/">pmcid:PMC7854567</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/onftbxkvcffijmkmmzz7yqksqy">fatcat:onftbxkvcffijmkmmzz7yqksqy</a> </span>
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Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification [article]

Russell Buchanan, Jakub Bednarek, Marco Camurri, Michał R. Nowicki, Krzysztof Walas, Maurice Fallon
<span title="2021-08-18">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Legged robot navigation in extreme environments can hinder the use of cameras and laser scanners due to darkness, air obfuscation or sensor damage.  ...  Results are demonstrated showing this approach operating online and onboard a ANYmal B300 quadruped robot traversing a series of terrain courses with different geometries and terrain types over more than  ...  Acknowledgments This research has been conducted as part of the ANYbotics research community.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.08015v1">arXiv:2108.08015v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mazn5kg3qnglxjj5fvludpdfpe">fatcat:mazn5kg3qnglxjj5fvludpdfpe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210826081304/https://arxiv.org/pdf/2108.08015v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/18/68/1868e9d4c3da2d91fd0b1ccc75aeaa56860f8d97.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.08015v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Contact Skill Imitation Learning for Robot-Independent Assembly Programming [article]

Stefan Scherzinger, Arne Roennau, Rüdiger Dillmann
<span title="2019-08-17">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demonstrations in simulation environments, using a Long Short Term Memory (LSTM) network.  ...  Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems.  ...  This work was supported in part by the German Aerospace Center (DLR), under national registration no. 50RA1503, and the German Federal Ministry of Education and Research (BMBF) under funding code 16SV7715  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1908.06272v1">arXiv:1908.06272v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5tycq72q6jgjvcjr3ln5er2mmq">fatcat:5tycq72q6jgjvcjr3ln5er2mmq</a> </span>
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Softbot: Software-based lead-through for rigid servo robots

Yackov Lubarsky, Amit Wolf, Lior Wolf, Curime Batliner, Jake Newsum
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2016 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
The core of the method is a neural network classifier that maps position and torque readings to a force direction in 3D space.  ...  We show that running our method online allows a human to move the robot along a desired path by performing intuitive pushes and pulls on the robot's joints.  ...  Early use of neural networks in the field can be seen in [16] , which uses neural networks in order to learn to follow a pre-defined trajectory that was created by an unknown set of control commands.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2016.7487390">doi:10.1109/icra.2016.7487390</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/LubarskyWWBN16.html">dblp:conf/icra/LubarskyWWBN16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yhlhntoipzbyniiqki4ekmlsvq">fatcat:yhlhntoipzbyniiqki4ekmlsvq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160413084914/http://www.cs.tau.ac.il:80/~wolf/papers/softbot-software-based.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c4/fd/c4fd8ecf10a17417ec955da9f57664951be4c42f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2016.7487390"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Deep learning in robotics: a review of recent research

Harry A. Pierson, Michael S. Gashler
<span title="2017-08-18">2017</span> <i title="Informa UK Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ja5obujajjeyfacdieqkxlelvm" style="color: black;">Advanced Robotics</a> </i> &nbsp;
Advances in deep learning over the last decade have led to a flurry of research in the application of deep artificial neural networks to robotic systems, with at least thirty papers published on the subject  ...  This review discusses the applications, benefits, and limitations of deep learning vis-à-vis physical robotic systems, using contemporary research as exemplars.  ...  Structure C is a type of "recurrent neural network," which is designed to model dynamic systems, including robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/01691864.2017.1365009">doi:10.1080/01691864.2017.1365009</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/wmp3fphajnfsnev2omty3uswjq">fatcat:wmp3fphajnfsnev2omty3uswjq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190303221120/http://pdfs.semanticscholar.org/b3d7/a7440bb170a935589f6e12aa665fb7516b47.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b3/d7/b3d7a7440bb170a935589f6e12aa665fb7516b47.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/01691864.2017.1365009"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> tandfonline.com </button> </a>

The importance of machine learning in autonomous actions for surgical decision making

Martin Wagner, Sebastian Bodenstedt, Marie Daum, Andre Schulze, Rayan Younis, Johanna Brandenburg, Fiona R. Kolbinger, Marius Distler, Lena Maier-Hein, Jürgen Weitz, Beat-Peter Müller-Stich, Stefanie Speidel
<span title="">2022</span> <i title="OAE Publishing Inc."> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/t3jrd7eajzajpmtum6mxdcjzwy" style="color: black;">Artificial Intelligence Surgery</a> </i> &nbsp;
The emerging field of Surgical Data Science aims to improve the quality of surgery through acquisition, organization, analysis, and modeling of data, in particular using machine learning (ML).  ...  resulting in a huge potential to improve patient therapy and surgical outcome by means of Surgical Data Science.  ...  with Human-in-the-Loop" (CeTI) of Technische Universitat Dresden.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.20517/ais.2022.02">doi:10.20517/ais.2022.02</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/462tf4p4mbgvxlbvot43hadxwe">fatcat:462tf4p4mbgvxlbvot43hadxwe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220617144135/https://oaepublishstorage.blob.core.windows.net/f63cb46b-2b81-4a36-84fc-a4ef999c3659/4755.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d4/d2/d4d2f71ec2af6fb49aecfbc1a3199824e6f0e432.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.20517/ais.2022.02"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>
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