Advances in Human Robot Interaction for Cloud Robotics applications

In this thesis are analyzed different and innovative techniques for Human Robot Interaction. The focus of this thesis is on the interaction with flying robots. The first part is a preliminary description of the state of the art interactions techniques. Then the first project is Fly4SmartCity, where it is analyzed the interaction between humans (the citizen and the operator) and drones mediated by a cloud robotics platform. Then there is an application of the sliding autonomy paradigm and the analysis of different degrees of autonomy supported by a cloud robotics platform. The last part is dedicated to the most innovative technique for human-drone interaction in the User’s Flying Organizer project (UFO project). This project wants to develop a flying robot able to project information into the environment exploiting concepts of Spatial Augmented Realit

Synergistic multi-doping effects on the Li7La3Zr2O12 solid electrolyte for fast lithium ion conduction.

Here, we investigate the doping effects on the lithium ion transport behavior in garnet Li7La3Zr2O12 (LLZO) from the combined experimental and theoretical approach. The concentration of Li ion vacancy generated by the inclusion of aliovalent dopants such as Al(3+) plays a key role in stabilizing the cubic LLZO. However, it is found that the site preference of Al in 24d position hinders the three dimensionally connected Li ion movement when heavily doped according to the structural refinement and the DFT calculations. In this report, we demonstrate that the multi-doping using additional Ta dopants into the Al-doped LLZO shifts the most energetically favorable sites of Al in the crystal structure from 24d to 96 h Li site, thereby providing more open space for Li ion transport. As a result of these synergistic effects, the multi-doped LLZO shows about three times higher ionic conductivity of 6.14 × 10(-4) S cm(-1) than that of the singly-doped LLZO with a much less efforts in stabilizing cubic phases in the synthetic condition

Towards disappearing user interfaces for ubiquitous computing: human enhancement from sixth sense to super senses

The enhancement of human senses electronically is possible when pervasive computers interact unnoticeably with humans in Ubiquitous Computing. The design of computer user interfaces towards “disappearing” forces the interaction with humans using a content rather than a menu driven approach, thus the emerging requirement for huge number of non-technical users interfacing intuitively with billions of computers in the Internet of Things is met. Learning to use particular applications in Ubiquitous Computing is either too slow or sometimes impossible so the design of user interfaces must be naturally enough to facilitate intuitive human behaviours. Although humans from different racial, cultural and ethnic backgrounds own the same physiological sensory system, the perception to the same stimuli outside the human bodies can be different. A novel taxonomy for Disappearing User Interfaces (DUIs) to stimulate human senses and to capture human responses is proposed. Furthermore, applications of DUIs are reviewed. DUIs with sensor and data fusion to simulate the Sixth Sense is explored. Enhancement of human senses through DUIs and Context Awareness is discussed as the groundwork enabling smarter wearable devices for interfacing with human emotional memories

Augmented reality X-ray vision on optical see-through head mounted displays

Abstract. In this thesis, we present the development and evaluation of an augmented reality X-ray system on optical see-through head-mounted displays. Augmented reality X-ray vision allows users to see through solid surfaces such as walls and facades, by augmenting the real view with virtual images representing the hidden objects. Our system is developed based on the optical see-through mixed reality headset Microsoft Hololens. We have developed an X-ray cutout algorithm that uses the geometric data of the environment and enables seeing through surfaces. We have developed four different visualizations as well based on the algorithm. The first visualization renders simply the X-ray cutout without displaying any information about the occluding surface. The other three visualizations display features extracted from the occluder surface to help the user to get better depth perception of the virtual objects. We have used Sobel edge detection to extract the information. The three visualizations differ in the way to render the extracted features. A subjective experiment is conducted to test and evaluate the visualizations and to compare them with each other. The experiment consists of two parts; depth estimation task and a questionnaire. Both the experiment and its results are presented in the thesis

Augmented Reality

Augmented Reality (AR) is a natural development from virtual reality (VR), which was developed several decades earlier. AR complements VR in many ways. Due to the advantages of the user being able to see both the real and virtual objects simultaneously, AR is far more intuitive, but it's not completely detached from human factors and other restrictions. AR doesn't consume as much time and effort in the applications because it's not required to construct the entire virtual scene and the environment. In this book, several new and emerging application areas of AR are presented and divided into three sections. The first section contains applications in outdoor and mobile AR, such as construction, restoration, security and surveillance. The second section deals with AR in medical, biological, and human bodies. The third and final section contains a number of new and useful applications in daily living and learning