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A Storytelling Robot: Modeling and Evaluation of Human-like Gaze Behavior

A Storytelling Robot: Modeling and Evaluation of Human-like ...

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IEEE-RAS international conference on Humanoid Robots

作者： Bilge Mutlu Jodi Forlizzi Jessica Hodgins Human-Computer Interaction Institute Carnegie Mellon University USA Human-Computer Interaction Institute and School of Design Carnegie Mellon University USA Robotics Institute and Computer Science Department Carnegie Mellon University USA

ISBN: (纸本)1424401992

Engaging storytelling is a necessary skill for humanoid robots if they are to be used in education and entertainment applications. Storytelling requires that the humanoid robot be aware of its audience and able to direct its gaze in a natural way. In this paper, we explore how human gaze can be modeled and implemented on a humanoid robot to create a natural, human-like behavior for storytelling. Our gaze model integrates data collected from a human storyteller and a discourse structure model developed by Cassell and her colleagues for human-like conversational agents (1994). We used this model to direct the gaze of a humanoid robot, Honda's ASIMO, as he recited a Japanese fairy tale using a pre-recorded human voice. We assessed the efficacy of this gaze algorithm by manipulating the frequency of ASIMO's gaze between two participants and used pre and post questionnaires to assess whether participants evaluated the robot more positively and did better on a recall task when ASIMO looked at them more. We found that participants performed significantly better in recalling ASIMO's story when the robot looked at them more. Our results also showed significant differences in how men and women evaluated ASIMO based on the frequency of gaze they received from the robot. Our study adds to the growing evidence that there are many commonalities between human-human communication and human-robot communication

关键词： Humanoid robots Educational robots Human robot interaction Frequency Speech robotics and automation Computer science Computer science education Application software Human voice

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Industrial versatility of inverse kinematics algorithms for general 6R manipulators

Industrial versatility of inverse kinematics algorithms for ...

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international conference on Advanced robotics (ICAR)

作者： Arthur Angerer Michael Hofbaur Institute of Automation and Control Engineering UMIT Hall in Tyrol Austria

Serial manipulators with six revolute joints are the most common type of robots applied in industry and are used for various stages in a production process such as welding or painting. thereby, modern production processes require a continuous increase in manufacturing precision. Additionally the effort to react quickly to changes in the environment demands that the planning of the end-effector path and the associated calculations are executed online. therefore, in modern robot controllers an exact, reliable, fast and efficient computation of the inverse kinematics (IK) is the basis to obtain these requirements. IK solutions specially tailored to a few well known robot structures fulfill these needs and are frequently used. However, they lack flexibility when the IK of a robot with an even slightly deviating structure has to be calculated. Hence, the IK for a manipulator with non-standard structure is often deduced by hand, which is generally a tricky and time consuming task. In this paper two important complete IK solutions for generally structured serial robots with six revolute joints (6R) are analyzed and the capability for their use in an industrial environment is discussed.

关键词： Manipulators Mathematical model Joints Polynomials Kinematics

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HARMONIE: A Multimodal control Framework for Human Assistive robotics

HARMONIE: A Multimodal Control Framework for Human Assistive...

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international IEEE/EMBS conference on Neural Engineering

作者： Kapil D. Katyal Matthew S. Johannes Timothy G. McGee Andrew J. Harris Robert S. Armiger Alex H. Firpi David McMullen Guy Hotson Matthew S. Fifer Nathan E. Crone R. Jacob Vogelstein Brock A. Wester The Johns Hopkins University Applied Physics Laboratory Department of Neurology The Johns Hopkins University School of Medicine Electrical and Computer Engineering The Johns Hopkins University Biomedical Engineering The Johns Hopkins University

ISBN: (纸本)9781467319676

Effective user control of highly dexterous and robotic assistive devices requires intuitive and natural modalities. Although surgically implanted brain-computer interfaces (BCIs) strive to achieve this, a number of non-invasive engineering solutions may provide a quicker path to patient use by eliminating surgical implantation. We present the development of a semi-autonomous control system that utilizes computer vision, prosthesis feedback, effector centric device control, smooth movement trajectories, and appropriate hand conformations to interact with objects of interest. Users can direct a prosthetic limb through an intuitive graphical user interface to complete multi-stage tasks using patient appropriate combinations of control inputs such as eye tracking, conventional prosthetic controls/joysticks, surface electromyography (sEMG) signals, and neural interfaces (ECoG, EEG). Aligned with activities of daily living (ADL), these tasks include directing the prosthetic to specific locations or objects, grasping of objects by modulating hand conformation, and action upon grasped objects such as self-feeding. this Hybrid Augmented Reality Multimodal Operation Neural Integration Environment (HARMONIE) semi-autonomous control system lowers the user's cognitive load, leaving the bulk of command and control of the device to the computer. this flexible and intuitive control system could serve patient populations ranging from wheelchair-bound quadriplegics to upper-limb amputees.

关键词： Assistive robotics Prosthetics Neural pros-thetic system Brain-machine interface Brain-computer interface Semi-autonomous Robotic limb Computer vision Intelligent robotics Hybrid BCI/BMI Modular prosthetic limb

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A FPGA spike-based robot controlled with neuro-inspired VITE

A FPGA spike-based robot controlled with neuro-inspired VITE

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12th international Work-conference on Artificial Neural Networks, IWANN 2013

作者： Perez-Peña, Fernando Morgado-Estevez, Arturo Linares-Barranco, Alejandro Jiménez-Fernández, Angel Lopez-Coronado, Juan Muñoz-Lozano, Jose Luis Applied Robotics Research Lab University of Cadiz Spain Robotic and Technology of Computers Lab University of Seville Spain Automation and System Engineering Department University Polytechnics of Cartagena Spain

ISBN: (纸本)9783642386787

this paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. this paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. the results show an accurate behavior of the robotic platform with 6-bit resolution for a 130° range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Field programmable gate arrays (FPGA)

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Unified Power Electronic Load for burn-in test

Unified Power Electronic Load for burn-in test

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2009 IEEE 6th international Power Electronics and Motion control conference-ECCE Asia

作者： Xu Shecontrol and robotics Research Laboratory, New York University

By defining power electronic load cell (PEL cell) and adopting different control strategies, the application of power electronic load for both AC and DC source is presented in this paper. A unified power electronic load is proposed which is composed of three basic PEL cells. Improved repetitive control is proposed to improve the dynamic performance of the system. theoretical analysis and simulation results verify the validity of this unified power electronic load.

关键词： PWM simulation Unified Power Electronic Load for burn-in test

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Mechatronic Design and Implementation of a Novel Gliding Robotic Dolphin

Mechatronic Design and Implementation of a Novel Gliding Rob...

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IEEE international conference on robotics and Biomimetics

作者： Zhengxing Wu Junzhi Yu Jun Yuan Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department Informatics University of Hamburg Hamburg 22527 Germany

ISBN: (纸本)9781467396769

this paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.

关键词： maneuverability endurance CFD

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An Acupoint Location Method Based on Lightweight Efficient Channel Attention Network

An Acupoint Location Method Based on Lightweight Efficient C...

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international conference on Electronic Engineering and informatics (EEI)

作者： Chengbin Wang Zhaoshui He Xu Wang Bo Yang Jing Guo Hao Liang Zhijie Lin Liqiang Zhang School of Automation Guangdong University of Technology GuangZhou China School of Electronics and Communication Guangdong Mechanical and Electrical Polytechnic Guangzhou China Beijing Research Institute of Automation for Machinery Industry Beijing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

In Traditional Chinese Medicine (TCM), acupuncture localization plays a crucial role in the adjunctive prevention and treatment of various diseases. Traditional localization methods rely on anatomical knowledge and experience, but they are limited in accuracy and labor-intensive. Recently, deep learning techniques have emerged in the medical field due to advancements in computer networks, offering new avenues for acupoint localization. Inspired by the success of deep learning in medical imaging, we propose a Lightweight Efficient Channel Attention (LECA) network for acupoint localization. Specifically, MobileNetV2, a representative lightweight network, is adopted as the backbone of the LECA network to construct an efficient acupoint localization network with high accuracy. Additionally, Efficient Channel Attention (ECA) is integrated to enhance feature extraction capabilities. LECA network effectively improves the accuracy rate and reduces the number of parameters, and the average accuracy on the test image dataset reaches 87.7%, which is better than other existing deep learning methods.

关键词： Location awareness Deep learning Measurement Accuracy Prevention and mitigation Feature extraction Computer networks informatics Biomedical imaging Diseases

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A Cloud-based Architecture for Home Network System

A Cloud-based Architecture for Home Network System

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IEEE international conference on Cloud Computing Technology and Science

作者： Satoshi TAKATORI Shinsuke MATSUMOTO Sachio SAIKI Seiki TOKUNAGA Junho LEE Masahide NAKAMURA Kobe Daigaku Kobe Hyogo JP Graduate School of System Informatics Kobe University JAPAN Kobe Hyogo Japan

Managing a home server within individual house is a major obstacle to practical use of home network system (HNS). Delegating the home server to a cloud is a promising approach. However, the conventional multi-tenant SaaS-based solution has the following risks among different households: security/privacy violation, failure propagation and insufficient resource demand. In this paper, we propose a novel cloud-based architecture for the home network system that achieves security isolation, fault isolation and resource isolation. Specifically, we first create a virtual home server for every household using IaaS. On top of every virtual home server, we then create additional virtual machines, each of which contains a single service or application. Finally, using dynamic scaling, we allocate resources needed for individual virtual home servers. Based on the idea, we construct the proposed architecture by three layers: HNS Lite, House Cloud and Service Provider.

关键词： Servers Home appliances Security Computer architecture Home automation Software Sensors

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Type Synthesis of Single-DOF Multi-Loop-Coupled Planar Continuum Morphing Mechanisms

Type Synthesis of Single-DOF Multi-Loop-Coupled Planar Conti...

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ASME/IFToMM international conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Jieyu Wang Yuxiang Li Yingzhong Tian Fengfeng Xi Guangbo Hao Yinjun Zhao Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Department of Aerospace Engineering Toronto Metropolitan University Toronto ON Canada School of Engineering Electrical and Electronic Engineering University College Cork Cork Ireland School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

this paper investigates a single degree-of-freedom (DOF) multi-loop-coupled planar continuum morphing mechanism (MPCMM), which can be used in broad application prospects in fields such as robotics, aerospace, and biomedical devices. the mechanism is proposed based on the generalized kinematic chains. the design process mainly includes determining the design requirements, selecting the generalized kinematic chains based on the design requirements, modifying the chains, and choosing the most appropriate chain to construct MPCMM. In addition, the vector equation method is used to analyze the mechanisms. Finally, the MPCMM is applied to a variable camber wing trailing edge.

关键词： Couplings Kinematics Vectors Robots

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Algorithms of Flood Water Flow control in Small River Floodplain Channels

Algorithms of Flood Water Flow Control in Small River Floodp...

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international conference on control Systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： Alexander A. Voronin Anna A. Vasilchenko dept. of Fundamental Informatics and Optimal Control Volgograd State University Volgograd Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

the problem of counteracting anthropogenic degradation of modern river floodplains through the construction of dams in river channels is an urgent topic of research worldwide. this paper presents a comparative analysis of the accuracy and efficiency of three algorithms for controlling flood water flows in small channels in the northern part of the Volga-Akhtuba floodplain in order to increase the flooded target area. A two-level dynamic programming algorithm, an algorithm for optimizing flows in a network, and the original two-level and one-level heuristic donor-acceptor algorithms are investigated. Water dynamics calculations are based on shallow water equations. the calculations use the original EcoGIS-Simulation software package for numerical modeling of surface water dynamics with a digital elevation model of the northern part of the Volga-Akhtuba floodplain. the computational core of EcoGIS-Simulation is based on the numerical algorithm CSPH-TVD, which combines Lagrangian (Smoothed-ParticleHydrodynamics) and Eulerian (TotalVariationDiminishing) approaches. Parallel computations are performed on NVIDIATesla GPUs (graphics processing units). the conducted study showed in general low accuracy and efficiency of the investigated algorithms for water flow control. the relative error of all algorithms significantly exceeded the relative error of geoinformation and hydrodynamic modeling. the reason for this is the insufficiently high adequacy of the models for controlling unsteady water flows in a channel system with unstable structure. the heuristic one-level algorithm “donors-acceptors”, using the simplest control model, showed higher accuracy and efficiency compared to other algorithms.

关键词： Accuracy Flow production systems Heuristic algorithms Computational modeling Biological system modeling Software algorithms Hydrodynamics Mathematical models Rivers Floods

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