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Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm

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arXiv 2024年

作者： Beber, Luca Lamon, Edoardo Moretti, Giacomo Fontanelli, Daniele Saveriano, Matteo Palopoli, Luigi Department of Information Engineering and Computer Science Università di Trento Trento Italy DRIM Human-Robot Interfaces and Interaction Istituto Italiano di Tecnologia Genoa Italy Department of Industrial Engineering Università di Trento Trento Italy

This paper introduces a new method for estimating the penetration of the end effector and the parameters of a soft body using a collaborative robotic arm. This is possible using the dimensionality reduction method that simplifies the Hunt-Crossley model. The parameters can be found without a force sensor thanks to the information of the robotic arm controller. To achieve an online estimation, an extended Kalman filter is employed, which embeds the contact dynamic model. The algorithm is tested with various types of silicone, including samples with hard intrusions to simulate cancerous cells within a soft tissue. The results indicate that this technique can accurately determine the parameters and estimate the penetration of the end effector into the soft body. These promising preliminary results demonstrate the potential for robots to serve as an effective tool for early-stage cancer diagnostics. Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic arms

Virtual Reality Pōwhiri—Practicing an indigenous welcoming ceremony 23

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Virtual Reality Pōwhiri—Practicing an indigenous welcoming...

Proceedings of the 35th Australian computer-human interaction Conference

作者： Laurence Lloyd-Jones Claudia Ott Holger Regenbrecht Hēmi Whaanga Human Computer Interaction (HCI) Lab University of Otago New Zealand Information Science University of Otago New Zealand Department of Information Science University of Otago New Zealand Te P?tahi-a-Toi Massey University New Zealand

ISBN: (纸本)9798400717079

Pōwhiri is a traditional welcoming ceremony in Māori culture in Aotearoa New Zealand. Certain protocols (tikanga) have to be followed and must be learned. There is a general lack of understanding regarding this due to the scarcity of pōwhiri. The immersive and experiential nature of Virtual Reality (VR) can be used as a tool to increase understanding and confidence. We have implemented a VR learning tool in the reconstructed context of Te Rau Aroha marae in Bluff which allows for safe practice of pōwhiri before applying it in a real welcoming ceremony. A cultural evaluation study was conducted first followed by a user study to determine understanding and confidence gains, highlighting the complexity of the topic. The user study clearly showed that the system was useful to increase participants’ understanding in regards to pōwhiri as well as their confidence surrounding pōwhiri. We are confident that our experiences and key findings from the studies can be used to drive further development of VR tools in the context of visualising cultural ceremonies.

关键词： 3D Reconstruction Indigenous User Interfaces VR Learning Volumetric Video

A systematic mapping about simulators and remote laboratories using hardware in the loop and robotic: Developing STEM/STEAM skills in pre-university education 23

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A systematic mapping about simulators and remote laboratorie...

23rd International Symposium on computers in Education, SIIE 2021

作者： Mamani, Nibeth Mena Garcia-Penalvo, Francisco Jose Conde, Miguel A. Goncalves, Jose InterAction and eLearning of Salamanca University GRIAL Research Group Salamanca Spain GRIAL Research Group InterAction and eLearning of Salamanca University Computer Science Department Salamanca Spain University of Leon Leon Spain Instituto Politécnico de Bragança Bragança Portugal

ISBN: (纸本)9781665440240

In recent years and after the strong impact of the last global health emergency (COVID-19) information and communication technologies have had a great impact on society but particular in the teaching-learning process. Education has been impacted at all its levels. Therefore, education models have been to be adapted to this new challenging paradigm by using different tools such as videoconferences, simulations, on-line interactive applications, virtual and remote laboratories, robots, *** objective of this work is to elaborate a systematic mapping to know what scientific from its beginning to 2020, identifying the most literature exists regarding simulators, remote and virtual laboratories focused on STEM/STEAM skills development in the educational context. To do so, bibliographical data gathered of four of the most popular and complete electronic databases (ACM, IEEE, Scopus and Web of science). At the begging we selected 1232 articles after applying the acceptance criteria defined as part of the search and select strategy, we had 61 articles that help us to answer some questions like what are the most popular virtual and remote labs? or what are the current trends and issues of these tools? and the future ones? © 2021 IEEE.

关键词： Mapping

Minion: A Technology Probe for Resolving Value Conflicts through Expert-Driven and User-Driven Strategies in AI Companion Applications

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arXiv 2024年

作者： Fan, Xianzhe Xiao, Qing Zhou, Xuhui Su, Yuran Lu, Zhicong Sap, Maarten Shen, Hong Tsinghua University Beijing China Human-Computer Interaction Institute Carnegie Mellon University PittsburghPA United States Department of Computer Science City University of Hong Kong Hong Kong SAR China Language Technologies Institute Carnegie Mellon University PittsburghPA United States

AI companions based on large language models can role-play and converse very naturally. When value conflicts arise between the AI companion and the user, it may offend or upset the user. Yet, little research has examined such conflicts. We first conducted a formative study that analyzed 151 user complaints about conflicts with AI companions, providing design implications for our study. Based on these, we created Minion, a technology probe to help users resolve human-AI value conflicts. Minion applies a user-empowerment intervention method that provides suggestions by combining expert-driven and user-driven conflict resolution strategies. We conducted a technology probe study, creating 40 value conflict scenarios on *** and Talkie. 22 participants completed 274 tasks and successfully resolved conflicts 94.16% of the time. We summarize user responses, preferences, and needs in resolving value conflicts, and propose design implications to reduce conflicts and empower users to resolve them more effectively. Copyright © 2024, The Authors. All rights reserved.

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A 'plug and play' approach to testing virtual environment interaction techniques 6

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A 'plug and play' approach to testing virtual environment in...

6th Eurographics Workshop on Virtual Environments, EGVE 2000

作者： Willans, James S. Harrison, Michael D. Human-Computer Interaction Group Department of Computer Science University of York Heslington YorkYO10 5DD United Kingdom

ISBN: (纸本)3211835164

It is generally agreed that the usability of virtual environment interaction techniques is very poor. One reason for this is because toolkits used by virtual environment developers supply a small number of predefined techniques which are expected to be used regardless of context. In addition, there is no software to facilitate the design and testing of interaction techniques akin to that found for the appearance of the environment. We have developed the Marigold toolset to aid in the systematic design, testing and refining of virtual environment interaction techniques. The toolset uses a visual hybrid specification as a starting point. In this paper we demonstrate how Marigold can be used to aid in determining the suitability of interaction techniques by the rapid testing of alternatives in a `plug and play' style. © 2000 Proceedings of the 6th Eurographics Workshop on Virtual Environments, EGVE 2000. All rights reserved.

关键词： Virtual reality

First Workshop on User Perspectives in human-Centred Artificial Intelligence (HCAI4U) 23

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First Workshop on User Perspectives in Human-Centred Artific...

15th Biannual Conference of the Italian SIGCHI Chapter: Crossing HCI and AI, CHItaly 2023

作者： De Luca, Ernesto William Purificato, Erasmo Boratto, Ludovico Marrone, Stefano Sansone, Carlo Institute of Technical and Business Information Systems Human-Centred AI Group Otto von Guericke University Magdeburg Germany Department of Mathematics and Computer Science University of Cagliari Italy Dipartimento di Ingegneria Elettrica e Delle Tecnologie dell'Informazione University of Naples Federico II Italy

ISBN: (纸本)9798400708060

The emerging concept of human-Centred Artificial Intelligence (HCAI) involves the amplification, augmentation, empowerment, and enhancement of individuals. The goal of HCAI is to ensure that AI meets our needs while also operating transparently, delivering fair and equitable outcomes, and respecting privacy, all while preserving human control. This approach involves multiple stakeholders, such as researchers, developers, business leaders, policy makers, and users, who are affected in various ways by the implementation and evaluation of AI systems. The primary focus of the First Workshop on User Perspectives in human-Centred Artificial Intelligence (HCAI4U) is to examine the potential positive and negative impacts of automated decision-making systems on end-users, as well as how their interaction with AI is influenced by human-centred aspects of reliability, safety, and fairness. The workshop aims to facilitate discussion and exchange of ideas among the community on advances in developing trustworthy, fair, and privacy-preserving systems, as well as user interfaces that are explainable, with a specific focus on the users' perception in real-world scenarios rather than solely on the algorithmic and model performance. Additionally, HCAI4U aims to foster cross-disciplinary and interdisciplinary discussions between experts from various research fields, such as computer science, psychology, sociology, law, medicine, business, etc., to discuss problems and synergies in this exciting research topic. © 2023 Owner/Author.

关键词： human computer interaction

Real-Time Facial Expression Recognition using Facial Landmarks and Neural Networks

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arXiv 2022年

作者： Haghpanah, Mohammad Amin Saeedizade, Ehsan Masouleh, Mehdi Tale Kalhor, Ahmad Human and Robot Interaction Lab School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Computer Science and Engineering University of Nevada Reno United States

This paper presents a lightweight algorithm for feature extraction, classification of seven different emotions, and facial expression recognition in a real-time manner based on static images of the human face. In this regard, a Multi-Layer Perceptron (MLP) neural network is trained based on the foregoing algorithm. In order to classify human faces, first, some pre-processing is applied to the input image, which can localize and cut out faces from it. In the next step, a facial landmark detection library is used, which can detect the landmarks of each face. Then, the human face is split into upper and lower faces, which enables the extraction of the desired features from each part. In the proposed model, both geometric and texture-based feature types are taken into account. After the feature extraction phase, a normalized vector of features is created. A 3-layer MLP is trained using these feature vectors, leading to 96% accuracy on the test set. Copyright © 2022, The Authors. All rights reserved.

关键词： Machine learning

Vision Paper: Leveraging Industrial Big Data – Past, Present, and Future of the World Wide Lab

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Vision Paper: Leveraging Industrial Big Data – Past, Presen...

IEEE International Conference on Big Data

作者： Mohamed Behery Felix Glawe István Koren Martina Ziefle Gerhard Lakemeyer Philipp Brauner Knowledge-Based Systems Group RWTH Aachen University Aachen Germany Human Computer Interaction Center RWTH Aachen University Aachen Germany Chair of Process and Data Science RWTH Aachen University Aachen Germany

Many initiatives aim at answering the challenges of the fourth industrial revolution (Industry 4.0). A key aspect of these initiatives is the connectivity of the different industrial entities. Communication and information exchange between entities usually flows in two dimensions; a vertical one, that spans the different levels of abstraction within the company, and a horizontal one connecting the different entities in the supply chain. In contrast, the Internet of Production (IoP) presents the World Wide Lab (WWL) allowing an extra dimension of communication, which we call the cross-company dimension. Hence, the WWL integrates the different entities within and across potentially competing labs and companies. The WWL leverages and aggregates accessible production data fostering an exchange of information, that prevents redundant experimentation and increases quality of data-driven models by including data from diverse manufacturing settings. This paper discusses work done towards this vision and technical, economic, social, legal, and ethical challenges the WWL faces and provides a roadmap towards infrastructuring the WWL.

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A KALMAN FILTER MODEL FOR SYNCHRONIZATION IN MUSICAL ENSEMBLES

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arXiv 2024年

作者： Carvalho, Hugo T. Li, Min S. di Luca, Massimiliano Wing, Alan M. Department of Statistical Methods Federal University of Rio de Janeiro Brazil Bristol Interaction Group School of Computer Science University of Bristol United Kingdom Virtual Reality Lab School of Psychology University of Birmingham United Kingdom

The synchronization of motor responses to rhythmic auditory cues is a fundamental biological phenomenon observed across various species. While the importance of temporal alignment varies across different contexts, achieving precise temporal synchronization is a prominent goal in musical performances. Musicians often incorporate expressive timing variations, which require precise control over timing and synchronization, particularly in ensemble performance. This is crucial because both deliberate expressive nuances and accidental timing deviations can affect the overall timing of a performance. This discussion prompts the question of how musicians adjust their temporal dynamics to achieve synchronization within an ensemble. This paper introduces a novel feedback correction model based on the Kalman Filter, aimed at improving the understanding of interpersonal timing in ensemble music performances. The proposed model performs similarly to other linear correction models in the literature, with the advantage of low computational cost and good performance even in scenarios where the underlying tempo varies. © 2024, CC BY.

关键词： Kalman filters