scholarly journals Laban-Inspired Task-Constrained Variable Motion Generation on Expressive Aerial Robots

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 24 ◽  
Author(s):  
Hang Cui ◽  
Catherine Maguire ◽  
Amy LaViers
Keyword(s):  
Qualitative Analysis ◽  
User Studies ◽  
Motion Generation ◽  
Task Constraints ◽  
Aerial Robots ◽  
Movement Observation ◽  
Close Study ◽  
Movement System ◽  
Motion Profile ◽  
Algorithmic Procedure

This paper presents a method for creating expressive aerial robots through an algorithmic procedure for creating variable motion under given task constraints. This work is informed by the close study of the Laban/Bartenieff movement system, and movement observation from this discipline will provide important analysis of the method, offering descriptive words and fitting contexts—a choreographic frame—for the motion styles produced. User studies that use utilize this qualitative analysis then validate that the method can be used to generate appropriate motion in in-home contexts. The accuracy of an individual descriptive word for the developed motion is up to 77% and context accuracy is up to 83%. A capacity for state discernment from motion profile is essential in the context of projects working toward developing in-home robots.

scholarly journals The attitude of dictionary users towards automatically extracted collocation data: A user study

2020 ◽  
Vol 8 (2) ◽  
pp. 168-201
Author(s):  
Eva Pori ◽  
Jaka Čibej ◽  
Iztok Kosem ◽  
Špela Arhar Holdt
Keyword(s):  
Qualitative Analysis ◽  
User Study ◽  
Basic Research ◽  
Point Of View ◽  
User Studies ◽  
User Evaluation ◽  
Research Project ◽  
Alternative Perspective ◽  
Basic Research Project ◽  
Language Description

The paper is based on a survey conducted within the framework of the basic research project Collocations as a Basis for Language Description: Semantic and Temporal Perspectives (KOLOS; J6-8255). It presents a qualitative analysis of a user evaluation of the interface of the Collocations Dictionary of Modern Slovene (CDS). It discusses an alternative perspective—the user's point of view—on problematic aspects of individual dictionary features, which require further lexicographic analysis and discussion. The collocations user study presents a model of the process of user evaluation; its findings are significant primarily for determining problems encountered by users. They also serve as a useful basis for methodology improvements in future, comparable lexicographic user studies and analyses.

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

2021 ◽  
Author(s):  
Riddhiman Laha ◽  
Anjali Rao ◽  
Luis F. C. Figueredo ◽  
Qing Chang ◽  
Sami Haddadin ◽  
...  
Keyword(s):  
Linear Interpolation ◽  
Industrial Robots ◽  
Geometric Constraints ◽  
Task Space ◽  
Motion Generation ◽  
Task Constraints ◽  
Single User ◽  
Point To Point ◽  
Definition Of ◽  
Time Point

Abstract Despite the increasing number of collaborative robots in human-centered manufacturing, currently, industrial robots are still largely preprogrammed with very little autonomous features. In this context, it is paramount that the robot planning and motion generation strategies are able to account for changes in production line in a timely and easy-to-implement fashion. The same requirements are also valid for service robotics in unstructured environments where an explicit definition of a task and the underlying path and constraints are often hard to characterize. In this regard, this paper presents a real-time point-to-point kinematic task-space planner based on screw interpolation that implicitly follows the underlying geometric constraints from a user demonstration. We demonstrate through example scenarios that implicit task constraints in a single user demonstration can be captured in our approach. It is important to highlight that the proposed planner does not learn a trajectory or intends to imitate a human trajectory, but rather explores the geometric features throughout a one-time guidance and extend such features as constraints in a generalized path generator. In this sense, the framework allows for generalization of initial and final configurations, it accommodates path disturbances, and it is agnostic to the robot being used. We evaluate our approach on the 7 DOF Baxter robot on a multitude of common tasks and also show generalization ability of our method with respect to different conditions.

Ion thinning of integrated circuit transverse specimens for transmission electron microscopy

1992 ◽  
Vol 50 (2) ◽  
pp. 1426-1427
Author(s):  
F. Shaapur
Keyword(s):  
Electron Microscopy ◽  
Transmission Electron Microscopy ◽  
Integrated Circuit ◽  
Substrate Surface ◽  
Homogeneous Material ◽  
Material System ◽  
Ion Milling ◽  
Cross Sectional ◽  
Transmission Electron ◽  
Motion Profile

Non-uniform ion-thinning of heterogenous material structures has constituted a fundamental difficulty in preparation of specimens for transmission electron microscopy (TEM). A variety of corrective procedures have been developed and reported for reducing or eliminating the effect. Some of these techniques are applicable to any non-homogeneous material system and others only to unidirectionalfy heterogeneous samples. Recently, a procedure of the latter type has been developed which is mainly based on a new motion profile for the specimen rotation during ion-milling. This motion profile consists of reversing partial revolutions (RPR) within a fixed sector which is centered around a direction perpendicular to the specimen heterogeneity axis. The ion-milling results obtained through this technique, as studied on a number of thin film cross-sectional TEM (XTEM) specimens, have proved to be superior to those produced via other procedures.XTEM specimens from integrated circuit (IC) devices essentially form a complex unidirectional nonhomogeneous structure. The presence of a variety of mostly lateral features at different levels along the substrate surface (consisting of conductors, semiconductors, and insulators) generally cause non-uniform results if ion-thinned conventionally.

Object release under varying task constraints in children with hemiplegic cerebral palsy

2003 ◽  
Vol 45 (04) ◽  
Author(s):  
Andrew M Gordon ◽  
Sarah R Lewis ◽  
Ann-Christin Eliasson ◽  
Susan V Duff
Keyword(s):  
Cerebral Palsy ◽  
Task Constraints ◽  
Hemiplegic Cerebral Palsy
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