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Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Energy disaggregation (ED), with minimal infrastructure, can create energy awareness and thus promote energy efficiency by providing appliance-level consumption information. However, ED is highly ill-posed and gets complicated with increase in number and type of devices, similarity between devices, measurement errors, etc. To design, test, and benchmark ED algorithms, the availability of open-access energy consumption datasets is crucial. Most datasets in the literature suit data-intensive pattern-based ED algorithms. Recently, optimization-based ED algorithms that only require information regarding the operational states of the devices are being developed. However, the lack of standard datasets and appropriate evaluation metrics is hindering the development of reproducible state-of-the-art optimization-based ED algorithms. Therefore, in this paper, we propose a dataset with multiple instances that are representative of the different challenges posed by ED in practice. Performance indicators to empirically evaluate different optimization-based ED algorithms are summarized. In addition, baseline simulation results of the state-of-the-art optimization-based ED algorithms are presented. The developed dataset, summarization of different metrics, and baseline results are expected to provide a platform for researchers to develop novel optimization-based frameworks, in general, and evolutionary computation-based frameworks in particular to solve ED.

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Recently, optimization-based energy disaggregation (ED) algorithms have been gaining significance due to their capability to perform disaggregation with minimal information compared to the pattern-based ED algorithms, which demand large amounts of data for training. However, the performances of optimization-based ED algorithms depend on the problem formulation that includes an objective function(s) and/or constraints. In the literature, ED has been formulated as a constrained single-objective problem or an unconstrained multi-objective problem considering disaggregation error, sparsity of state switching, on/off switching, etc. In this work, the ED problem is formulated as a constrained multi-objective problem (CMOP), where the constraints related to the operational characteristics of the devices are included. In addition, the formulated CMOP is solved using a constrained multi-objective evolutionary algorithm (CMOEA). The performance of the proposed formulation is compared with those of three high-performing ED formulations in the literature based on the appliance-level and overall indicators. The results show that the proposed formulation improves both appliance-level and overall ED results.

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