Acquisition of joint attention through natural interaction utilizing motion cues

Joint attention is one of the most important cognitive functions for the emergence of communication not only between humans, but also between humans and robots. In previous work, we have demonstrated how a robot can acquire primary joint attention behavior (gaze following) without external evaluation. However, this method needs the human to tell the robot when to shift its gaze. This paper presents a method that does not need such a constraint by introducing an attention selector based on a measure consisting of saliencies of object features and motion cues. In order to realize natural interaction, a self-organizing map for real-time face pattern separation and contingency learning for gaze following without external evaluation are utilized. The attention selector controls the robot gaze to switch often from the human face to an object and vice versa, and pairs of a face pattern and a gaze motor command are input to the contingency learning. The motion cues are expected to reduce the number of incorrect training data pairs due to the asynchronous interaction that affects the convergence of the contingency learning. The experimental result shows that gaze shift utilizing motion cues enables a robot to synchronize its own motion with human motion and to learn joint attention efficiently in about 20 min.     

Cooperative task excecution of a search and rescue mission by a multi-robot team

Rescue robots have proved to be an extremely useful work partner for urban search and rescue (USAR) missions. Human rescuers who carry out these missions frequently enter dangerous zones to search for survivors; however, due to the unstable nature of collapsed buildings or objects, their lives may also be threatened. For this reason, in order to reduce life-threatening risks, rescue robots are deployed to carry out the job instead. Rescuers can now operate the robots at a safe place while the missions are carried out. When the robots have gathered enough information about the location of the victims and data about their physical conditions, rescuers can then enter the disaster site with enough knowledge to avoid harm and rescue the victims in the shortest time possible. In this paper, we introduce examples of 'effective multiple robot cooperative activities' and 'a study of the number of robots and operators in a multi-robot team' from our experiences gained from participating in RoboCup Rescue competitions.     

Applications of a symbolic algebra manipulation language for composite structures analysis

The computer is frequently used in the solution of structural problems involving composite materials. The algebraic manipulations required to cast the problem into a form suitable for direct computer solutions have become the most tedious and error-prone parts of the solution process. This step may now be markedly simplified by using a symbolic aglebra manipulation language. The use of PL/I FORMAC for this purpose is described.     

Function point analysis: evaluation of a software cost estimation model

The merits of function point analysis are discussed. Function point analysis was chosen because it is one of the most widely used aids for software cost estimation. In the analysis we use data from a large survey of Dutch organizations, from an experiment on the effectiveness of software cost estimation models and from a field study aimed at the adjustment part of the FPA model. Conclusions show that it is indeed widely used and that it performs reasonably well as a product sizer, but that the adjustment part of the model is less useful.     

Online construction of the manipulation model of an unknown object by a robot hand using the regrasping primitives

This paper presents a planner which explores an unknown polyhedral object with a multifingered hand in a systematic way by constructing the manipulation-model of the object. The manipulation-model of an object we proposed previously is a database which consists of landmark orientations of the object, the applicability of manipulation primitives to them and intertransformations among them. In this paper, two regrasping primitives, rotation and pivoting, are employed. A multifingered hand probes a given unknown object for pivot/rotation axes. If a new axis is found, the planner recursively performs pivoting or rotation-test (which is similar to rotation but does not actually rotate the object) about the found axis and searches the object for more axes. The manipulation-model of the object is constructed based on the found axes. An experiment for constructing a manipulation-model of a non-convex polyhedral object is conducted using a fourfingered hand. Force/torque sensors mounted on the fingertips collect the data of the object. A geometrical model of the object is also constructed.     

Towards real-time GOMS: a model of expert behaviour in a highly interactive task

We present an analysis of an expert performing a highly interactive computer task. The analysis uses GOMS models, specifying the Goals, Operators, Methods, and Selection rules used by the expert. Two models are presented, one with function-level operators which perform high-level functions in the domain, and one with keystroke-level operators which describe hand movements. For a segment of behaviour in which the expert accomplished about 30 functions in about 30 s, the function-level model predicted the observed behaviour well, while the keystroke-level model predicted only about half of the observed hand movements. These results, including the discrepancy between the models, are discussed.     

Towards real-time GOMS: a model of expert behaviour in a highly interactive task

Abstract

We present an analysis of an expert performing a highly interactive computer task. The analysis uses GOMS models, specifying the Goals, Operators, Methods, and Selection rules used by the expert. Two models are presented, one with function-level operators which perform high-level functions in the domain, and one with keystroke-level operators which describe hand movements. For a segment of behaviour in which the expert accomplished about 30 functions in about 30 s, the function-level model predicted the observed behaviour well, while the keystroke-level model predicted only about half of the observed hand movements. These results, including the discrepancy between the models, are discussed.     

Singular point detection by shape analysis of directional fields in fingerprints

This paper presents a new fingerprint singular point detection method that is type-distinguishable and applicable to various fingerprint images regardless of their resolutions. The proposed method detects singular points by analyzing the shapes of the local directional fields of a fingerprint image. Using the predefined rules, all types of singular points (upper core, lower core, and delta points) can be extracted accurately and delineated in terms of the type of singular points. In case of arch-type fingerprints there exists no singular point, but reference points for arch-type fingerprints are required to be detected for registration. Therefore, we propose a new reference point detection method for arch-type fingerprints as well. The result of the experiments on the two public databases (FVC2000 2a, FVC2002 2a) with different resolutions demonstrates that the proposed method has high accuracy in locating each types of singular points and detecting the reference points of arch-type fingerprints without regard to their image resolutions.     

基于微分几何的蛇形机器人移动与操作统一动力学模型研究

蛇形机器人本体是一种多关节串联机构,可以在各种环境中运动,并且当一端固定时可以实现操作.本文提出一种蛇形机器人移动与操作的统一动力学建模方法,统一蛇形机器人移动状态及操作状态的动力学方程.机器人从移动状态到操作状态的转换意味着机构上的重构,即移动状态无固定基座,而操作状态有固定基座.应用虚设机构法在机构学上统一这两种状态(即构形空间中的嵌入关系),利用指数积公式描述这两种状态的运动学方程.在Riemann流形上建立起蛇形机器人移动和操作的动力学模型,并在对动力学模型中各项计算分析的基础上发现机器人操作动力学方程可直接由移动动力学方程退化得到,同时应用子流形的Gauss公式给出证明.由此在微分几何框架下建立蛇形机器人移动与操作的统一动力学模型.按照几何的观点将蛇形机器人移动与操作动力学模型的统一看作是子流形问题,并赋予几何意义.较单独针对蛇形机器人的一种状态(移动或操作)的动力学模型而言,这种统一的动力学模型能够更深刻地揭示蛇形机器人动力学的特征.     

Sex-specific effects of muscle fatigue on upper body kinematics and discomfort during a repetitive point task performed on a sit-stand stool

When performing repetitive work-like tasks while standing, people may develop leg discomfort and adapt their whole-body motion to arm fatigue. How these responses are affected when working while sitting on a sit-stand stool is unknown. Asymptomatic young adults (N = 29, 15 females) performed a repetitive pointing task sitting on a sit-stand stool, while whole-body kinematics was recorded. Results showed no leg discomfort increase with fatigue. The upper body leaned more backwards and towards the non-reaching side. Variability increased at the seat (p = 0.002), shoulder (p = 0.001) and elbow (p = 0.005) but was preserved at wrist (p = 0.058) and endpoint (p = 0.088). Participants who were more fatigable increased seat variability (males, p = 0.01) or seat range of motion (females, p = 0.022) after fatigue. The sit-stand stool contributed to the response to arm fatigue, although females and males developed different strategies. The maintained endpoint variability and leg discomfort suggest that the sit-stand stool could be recommended as an alternate workstation with minimal disruption to work performance or worker discomfort.     

The development of a model and simulation of an aviation maintenance technician task performance

This paper describes the model of an aircraft maintenance technician (AMT) behaviour working in a real world environment and the application of this model in a computer simulation. The model was derived from the combination of two existing models of cognition (SHELL and RMC/PIPE), based on the paradigm of an information processing system. The simulation structure was developed by transforming the model into an action-execution structure and implementing this model in a computer program based on an object-oriented programming language. An error generation system was coupled to a simple taxonomy of causal correlations between socio-technical and contextual factors operating in an environment defined by a comprehensive task analysis. The simulator can be applied to many aviation maintenance tasks to assist in the design of aviation maintenance training systems through the analysis of the interaction of performance influencing factors and possible AMT performances during the execution of normal maintenance operations. A number of sample outputs from the simulator show the potential of the results to assist in training development. A discussion is also made of other potential applications and the future directions the simulator structure can take.     

随机系数自回归模型变均值点在线监测与应用

对随机系数自回归模型的变均值点进行在线监测时, 如果变均值点的位置远离开始监测点, 则平均地说, 需要较长的运行时间方能检测到该变均值点. 为此, 笔者引进一个窗宽参数, 提出了一种改进的在线监测方法. 给出了监测统计量在原假设下的极限分布, 并证明了此方法的一致性. 模拟结果显示新方法明显优于已有的方法. 最后将该方法应用于两组股票价格均值点的监测问题中, 说明了方法的有效性.     

Flatness-based approach for the manipulation of a microscopic particle by optical tweezers

Based on the fact that optical tweezers (OT) constitute a flat system, with flat outputs given by the horizontal and vertical position coordinates of the geometric centre of the laser beam, a flatness-based control strategy for the manipulation of a microscopical particle is presented in this article. The control strategy is derived under the assumption that the particle is suspended in a frictionless medium, obtaining a simple controller with a relatively simple stability analysis. The control strategy is tested by tracking a straight line, an elliptic curve, and carrying out the rest-to-rest transfer manoeuvre task by using a smooth trajectory.     

A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry

A snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation ha...     

A computational model of emotion through the perspective of benevolent agents for a cooperative task

This paper deals with a computational model of emotions and its application for cooperative benevolent agents. A stochastic emotion model based on Markov theory is adapted to perform their well organized tasks to achieve goal. The emotional model consists of four basic emotions: joy, anger, fear and sad. Different emotional behavior is obtained by updating the state transition matrix of stochastic model. Perception of stimuli has an impact on emotion inducing factors and thus, affects on emotion dynamics. With the developed model, a Matlab based simulation is performed to analyze the behavior of the agents with the emotional capability. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008