Graph-Based Visual Manipulation Relationship Reasoning Network for Robotic Grasping

To grasp the target object stably and orderly in the object-stacking scenes, it is important for the robot to reason the relationships between objects and obtain intelligent manipulation order for more advanced interaction between the robot and the environment. This paper proposes a novel graph-based visual manipulation relationship reasoning network (GVMRN) that directly outputs object relationships and manipulation order. The GVMRN model first extracts features and detects objects from RGB images, and then adopts graph convolutional network (GCN) to collect contextual information between objects. To improve the efficiency of relation reasoning, a relationship filtering network is built to reduce object pairs before reasoning. The experiments on the Visual Manipulation Relationship Dataset (VMRD) show that our model significantly outperforms previous methods on reasoning object relationships in object-stacking scenes. The GVMRN model is also tested on the images we collected and applied on the robot grasping platform. The results demonstrated the generalization and applicability of our method in real environment.

TTS-driven Embodied Conversation Avatar for UMB-SmartTV

When human-TV interaction is performed by remote controller and mobile devices only, the interactions tend to be mechanical, dreary and uninformative. To achieve more advanced interaction, and more human-human like, we introduce the virtual agent technology as a feedback interface. Verbal and co-verbal gestures are linked through complex mental processes, and although they represent different sides of the same mental process, the formulations of both are quite different. Namely, verbal information is bound by rules and grammar, whereas gestures are influenced by emotions, personality etc. In this paper a TTS-driven behavior generation system is proposed for more advanced interface used for smart IPTV platforms. The system is implemented as a distributive non-IPTV service and integrated into UMB-SmartTV in a service-oriented fashion. The behavior generation system fuses speech and gesture production models by using FSMs and HRG structures. Features for selecting the shape and alignment of co-verbal movement are based on linguistic features (that can be extracted from arbitrary input text), and prosodic features (as predicted within several processing steps in the TTS engine). At the end, the generated speech and co-verbal behavior are animated by an embodied conversational agent (ECA) engine and represented to the user within the UMB-SmarTV user interface.

Simulation of the Dynamic Behavior of a Centenary Metallic Bridge under Metro Traffic Actions Based on Advanced Interaction Models

The present work focuses on the evaluation of the dynamic behavior of a centenary steel arch bridge, located in Portugal, under light railway traffic loads. This works aims to assess the dynamic behavior of the bridge subjected to an alternative type of railway vehicle, more specifically, a typical underground vehicle that is currently in service in the Lisbon Metro. The dynamic response of the system has been evaluated using two distinct methodologies, namely a moving loads model and a vehicle–bridge interaction model. To achieve this goal, finite element (FE) models from both the bridge and the vehicle have been developed and a comprehensive study has been carried to evaluate the influence of distinct factors in the dynamic response of the bridge–train system, namely the methodology used to assess the dynamic response, the location of the response reference point in the deck, the train speed and the vehicle configuration (single or double vehicle). Moreover, both the traffic safety, passenger comfort and pedestrian comfort have also been evaluated using normative criteria based on acceleration responses. The results shown that the normative limits related to traffic safety and passenger comfort were never exceeded in any condition analyzed in the study. However, the pedestrian comfort was jeopardized when the train speed exceeded 20[Formula: see text]km/h.

SHIFTING GROUNDS: THE ARCHAEOLOGICAL PRACTICE IN THE AGE OF DIGITAL TECHNOLOGY

In the last decade, 3D visualisation has seen a strong diffusion in the cultural heritage sector. The development of more efficient computers, the distribution of friendly user interfaces, and the spread of new sensors for recording and visualising information were pivotal for exploring 3D visualisation technology to support advanced interaction and promote new investigation methods. Since the early 1990s, 3D visualisation was conceived as a dynamic tool for increasing the perception of the archaeological material (Reilly 1991), and 3D models were considered an effective solution for addressing complex questions and revising different hypotheses

Teleodontologia e Teleducação: Design de estratégias de visualização avançada para a supervisão docente em ambiente de telemonitoramento e teleconsulta

This article proposes an advanced interaction and visualization strategy for teacher supervision in a telemonitoring and teleconsultation environment based on video-based services. For the development of the proposal, a case study was carried out with the USP School of Dentistry. The proposal considers issues such as the hierarchy of supervision, request for help and communication, classification of priority of service; control of information flow and marking of contextual attributes such as time and type of service. Finally, it is believed that the presented prostitution is a potential solution both in the scenario of Teledentistry and in other contexts of education and health.

Empowering Museum Experiences Applying Gamification Techniques Based on Linked Data and Smart Objects

Museums play a crucial role in preserving cultural heritage. However, the forms in which they display cultural heritage might not be the most effective at piquing visitors’ interest. Therefore, museums tend to integrate different technologies that aim to create engaging and memorable experiences. In this context, the emerging Internet of Things (IoT) technology results particularly promising due to the possibility of implementing smart objects in museums, granting exhibits advanced interaction capabilities. Gamification techniques are also a powerful technique to draw visitors’ attention. These often rely on interactive question-based games. A drawback of such games is that questions must be periodically regenerated, and this is a time-consuming task. To confront these challenges, this paper proposes a low-maintenance gamified smart object platform that automates the creation of questions by exploiting semantic web technologies. The platform has been implemented in a real-life scenario. The results obtained encourage the use of the platform in the museum considered. Therefore, it appears to be a promising work that could be extrapolated and adapted to other kinds of museums or cultural heritage institutions.

Mechanical Energy Expenditure-based Comfort Evaluation Model for Gesture Interaction

As an advanced interaction mode, the gesture has been widely used for the human-computer interaction (HCI). The paper proposes a comfort evaluation model based on the mechanical energy expenditure (MEE) and the mechanical efficiency (ME) to predict the comfort of gestures. The proposed comfort evaluation model takes nineteen muscles and seven degrees of freedom into consideration based on the data of muscles and joints and is capable of simulating the MEE and the ME of both static and dynamic gestures. The comfort scores (CSs) can be therefore calculated by normalizing and assigning different decision weights to the MEE and the ME. Compared with the traditional comfort prediction methods based on measurement, on the one hand, the proposed comfort evaluation model makes it possible for providing a quantitative value for the comfort of gestures without using electromyography (EMG) or other measuring devices; on the other hand, from the ergonomic perspective, the results provide an intuitive indicator to predict which act has the higher risk of fatigue or injury for joints and muscles. Experiments are conducted to validate the effectiveness of the proposed model. According to the comparison result among the proposed comfort evaluation model, the model based on the range of motion (ROM) and the model based on the method for movement and gesture assessment (MMGA), a slight difference can be found due to the ignorance of dynamic gestures and the relative kinematic characteristics during the movements of dynamic gestures. Therefore, considering the feedback of perceived effects and gesture recognition rate in HCI, designers can achieve a better optimization for the gesture design by making use of the proposed comfort evaluation model.