Robots as an interactive-social medium in storytelling to multiple children

2021 ◽  
Vol 22 (1) ◽  
pp. 110-140 ◽  
Author(s):  
Yumiko Tamura ◽  
Masahiro Shiomi ◽  
Mitsuhiko Kimoto ◽  
Takamasa Iio ◽  
Katsunori Shimohara ◽  
...  
Keyword(s):  
Group Interaction ◽  
Social Medium ◽  
Experimental Results ◽  
Human Operator ◽  
Depth Sensor ◽  
Children's Speech

Abstract This paper investigates the effects of group interaction in a storytelling situation for children using two robots: a reader robot and a listener robot as a side-participant. We developed a storytelling system that consists of a reader robot, a listener robot, a display, a gaze model, a depth sensor, and a human operator who responds and provides easily understandable answers to the children’s questions. We experimentally investigated the effects of using a listener robot and either one or two children during a storytelling situation on the children’s preferences and their speech activities. Our experimental results showed that the children preferred storytelling with the listener robot. Although two children obviously produced more speech than one child, the listener robot discouraged the children’s speech regardless of whether one or two were listening.

scholarly journals Experiments on learning-based industrial bin-picking with iterative visual recognition

2018 ◽  
Vol 45 (4) ◽  
pp. 446-457 ◽  
Author(s):  
Kensuke Harada ◽  
Weiwei Wan ◽  
Tokuo Tsuji ◽  
Kohei Kikuchi ◽  
Kazuyuki Nagata ◽  
...  
Keyword(s):  
Random Forest ◽  
Point Cloud ◽  
Visual Recognition ◽  
Experimental Results ◽  
Training Data ◽  
Robotic Assembly ◽  
Depth Sensor ◽  
Content Type ◽  
New Finding ◽  
Bin Picking

Purpose This paper aims to automate the picking task needed in robotic assembly. Parts supplied to an assembly process are usually randomly staked in a box. If randomized bin-picking is introduced to a production process, we do not need any part-feeding machines or human workers to once arrange the objects to be picked by a robot. The authors introduce a learning-based method for randomized bin-picking. Design/methodology/approach The authors combine the learning-based approach on randomized bin-picking (Harada et al., 2014b) with iterative visual recognition (Harada et al., 2016a) and show additional experimental results. For learning, we use random forest explicitly considering the contact between a finger and a neighboring object. The iterative visual recognition method iteratively captures point cloud to obtain more complete point cloud of piled object by using 3D depth sensor attached at the wrist. Findings Compared with the authors’ previous research (Harada et al., 2014b) (Harada et al., 2016a), their new finding is as follows: by using random forest, the number of training data becomes extremely small. By adding penalty to occluded area, the learning-based method predicts the success after point cloud with less occluded area. We analyze the calculation time of the iterative visual recognition. We furthermore make clear the cases where a finger contacts neighboring objects. Originality/value The originality exists in the part where the authors combined the learning-based approach with the iterative visual recognition and supplied additional experimental results. After obtaining the complete point cloud of the piled object, prediction becomes effective.

Dual Robot Control for Part Handling Services with Human Interaction

2012 ◽  
pp. 338-356
Author(s):  
Theodor Borangiu ◽  
Florin Daniel Anton ◽  
Silvia Anton
Keyword(s):  
Collision Avoidance ◽  
Robot Control ◽  
Human Interaction ◽  
New Method ◽  
Human Operator ◽  
Depth Sensor ◽  
Robot System ◽  
Natural Interaction ◽  
Depth Sensors ◽  
The Right

The chapter also discusses a new method of using robots to interact with humans (natural interaction) to provide assistance services. Using depth sensors, the robots are able to detect the human operator and to avoid collisions. Collision avoidance is implemented using a depth sensor, which monitors the activity outside and inside the multi-robot system workspace, using skeleton tracking, which allows the robot to detect collisions and stop the motion at the right time.

The Human Operator in Manual Preview Tracking (an Experiment and Its Modeling Via Optimal Control)

1976 ◽  
Vol 98 (4) ◽  
pp. 407-413 ◽  
Author(s):  
M. Tomizuka ◽  
D. E. Whitney
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
Experimental Results ◽  
Tracking Performance ◽  
Human Operator ◽  
Manual Control ◽  
Published Data ◽  
Preview Control ◽  
Variable Parameters

A manual preview tracking experiment and its results are presented. The preview drastically improves the tracking performance compared to zero-preview tracking. Optimal discrete finite preview control is applied to determine the structure of a mathematical model of the manual preview tracking experiment. Variable parameters in the model are adjusted to values which are consistent to the published data in manual control. The model with the adjusted parameters is found to be well correlated to the experimental results.

Development of an Automatic Landmine Detection and Marking System for the Demining Robot Gryphon

2011 ◽  
Vol 15 (6) ◽  
pp. 737-743 ◽  
Author(s):  
Alex M. Kaneko ◽  
◽  
Edwardo F. Fukushima
Keyword(s):  
Human Factors ◽  
System Performance ◽  
Mechanical Systems ◽  
Landmine Detection ◽  
Experimental Results ◽  
Human Operator ◽  
Automatic Method ◽  
Time Duration ◽  
Human Operators

Mechanical systems or robots are designed to support human operators during complex and dangerous tasks such as demining operations. Even though the robot Gryphon was created to automate these operations, some of its tasks still rely greatly on the human operator, who has few or no assisting tools to perform efficient decisions. During the landmine detection and marking task in special, the operator is totally responsible for analyzing the scanned data and pointing the potential targets, which makes the system performance unstable and vulnerable to human factors. This article proposes an automatic method for finding potential targets, which the operator has the simple role of accepting or not the decisions taken by the automatic method. Experimental results showed that time duration, POD and FAR were greatly improved compared to the former methods.

Experiments With the Powered Arm Cobot

2004 ◽  
Author(s):  
Songho Kim ◽  
Michael Peshkin ◽  
J. Edward Colgate
Keyword(s):  
Degree Of Freedom ◽  
Experimental Results ◽  
Free Motion ◽  
Human Operator ◽  
Physical Interaction ◽  
Motion Controller ◽  
Passive Device ◽  
Direct Physical Interaction ◽  
Virtual Paths ◽  
Three Degree Of Freedom

The Arm cobot is a three degree-of-freedom manipulator intended for direct physical interaction with a human operator. The Arm cobot can operate as a passive device, such that the cobot sets the end-effector’s allowed direction of motion, while the human operator provides all motive forces. Previous work with the passive Arm cobot involved displaying free motion and virtual paths and surfaces. This paper presents experimental results with a powered Arm cobot. In one experiment, the Arm cobot is commanded to track a user-defined trajectory, while in another experiment, we show an improved free motion controller.

A modified UNIFAC-ZM model and phase equilibrium prediction of silicone polymers with ABE solution

RSC Advances ◽  
2016 ◽  
Vol 6 (59) ◽  
pp. 53643-53650
Author(s):  
Yang Xia ◽  
Zhen Wu ◽  
Bingxiong Lu ◽  
Tao Wang ◽  
Jiding Li
Keyword(s):  
Phase Equilibrium ◽  
Activity Coefficient ◽  
Temperature Effect ◽  
Infinite Dilution ◽  
Group Interaction ◽  
Experimental Results ◽  
New Model ◽  
Infinite Dilution Activity Coefficient ◽  
Silicone Polymers

Modification of the UNIFAC-ZM model was made with consideration of temperature effect on group interaction. The new model agreed with experimental results of infinite dilution activity coefficient well and could be applied for the prediction of phase equilibrium of PDMS.

scholarly journals Human Adaptation Towards a Force Augmenting Device: Experimental Results

2017 ◽  
Vol 4 (2) ◽  
pp. 205-212
Author(s):  
S. K. Gadi ◽  
A. Osorio -Cordero ◽  
Rogelio Lozano ◽  
R. Garrido
Keyword(s):  
Short Communication ◽  
Mental Workload ◽  
Experimental Results ◽  
Human Operator ◽  
Human Adaptation ◽  
Different Ages ◽  
First Time

This short communication article presents an experiment to test the existence of mental workload (MWL) and adaptability of a human operator (HO) in handling force augmenting devices (FADs). An experiment is conducted where the HOs of three different ages are allowed to handle a FAD with high augmentation factor. Augmentation factor gives the factor by which the HO’s force is amplified. It is observed that the HOs were unable to stabilize the FAD for the first time. With the help of these experiments, it is observed that a human adapts itself to achieve a stable HA-FAD interaction. In another perspective, it can be observed that HO undergoes MWL to handle a FAD with high augmentation factor.

Sensory Saltation and Phantom Sensation for Vibrotactile Display of Spatial and Directional Information

2012 ◽  
Vol 21 (2) ◽  
pp. 192-202 ◽  
Author(s):  
Gi-Hun Yang ◽  
Dongseok Ryu ◽  
Shinsuk Park ◽  
Sungchul Kang
Keyword(s):  
Spherical Surface ◽  
Experimental Results ◽  
Human Operator ◽  
Vibration Isolator ◽  
Vibrotactile Feedback ◽  
Directional Information ◽  
Object Control ◽  
Moving Base ◽  
Multiple Actuators ◽  
Vibrotactile Display

This study proposes a novel handheld vibrotactile display (T-hive) to provide a human operator with spatial and directional information. The proposed design is composed of a spherical knob with a vibrotactile surface and a moving base that allows 6-DOF motion. To isolate vibrotactile stimuli provided by multiple actuators, the spherical knob is divided into 13 vibrotactile modules. Each vibrotactile module consists of a vibration motor, a patch of spherical surface, and a vibration isolator. By coordinating the vibrotactile modules, the vibrotactile display delivers spatial and directional information based on phantom sensation and sensory saltation. Through experiments, we evaluated the effectiveness of the spatial and directional information perceived on the palm and fingers of the operator's hand. The experimental results confirm that vibrotactile feedback is useful for object control by providing intuitive information.

Diagnostics of Gold Laser Plasmas

1988 ◽  
Vol 102 ◽  
pp. 357-360
Author(s):  
J.C. Gauthier ◽  
J.P. Geindre ◽  
P. Monier ◽  
C. Chenais-Popovics ◽  
N. Tragin ◽  
...  
Keyword(s):  
Experimental Results ◽  
Pure Gold ◽  
Electronic Temperature ◽  
X Ray ◽  
Laser Plasmas ◽  
Collisional Radiative Model ◽  
Radiative Model

AbstractIn order to achieve a nickel-like X ray laser scheme we need a tool to determine the parameters which characterise the high-Z plasma. The aim of this work is to study gold laser plasmas and to compare experimental results to a collisional-radiative model which describes nickel-like ions. The electronic temperature and density are measured by the emission of an aluminium tracer. They are compared to the predictions of the nickel-like model for pure gold. The results show that the density and temperature can be estimated in a pure gold plasma.

Observation of Phase Contrast Images in STEM and CTEM Modes by Using 100 kV Field Emission Electron Gun

1974 ◽  
Vol 32 ◽  
pp. 390-391
Author(s):  
Y. Harada ◽  
T. Goto ◽  
H. Koike ◽  
T. Someya
Keyword(s):  
Field Emission ◽  
Phase Contrast ◽  
Image Formation ◽  
Fresnel Diffraction ◽  
Experimental Results ◽  
Electron Gun ◽  
Scanning Microscopy ◽  
Emission Electron ◽  
Lattice Images

Since phase contrasts of STEM images, that is, Fresnel diffraction fringes or lattice images, manifest themselves in field emission scanning microscopy, the mechanism for image formation in the STEM mode has been investigated and compared with that in CTEM mode, resulting in the theory of reciprocity. It reveals that contrast in STEM images exhibits the same properties as contrast in CTEM images. However, it appears that the validity of the reciprocity theory, especially on the details of phase contrast, has not yet been fully proven by the experiments. In this work, we shall investigate the phase contrast images obtained in both the STEM and CTEM modes of a field emission microscope (100kV), and evaluate the validity of the reciprocity theory by comparing the experimental results.

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