Church Belles: An Interactive System and Composition Using Real-World Metaphors

This paper presents a brief review of current literature detailing some of the issues and trends in composition and performance with interactive music systems. Of particular interest is how musicians interact with a separate machine entity that exercises agency over the creative process. The use of real-world metaphors as a strategy for increasing audience engagement is also discussed. The composition and system Church Belles is presented, analyzed and evaluated in terms of its architecture, how it relates to existing studies of musician-machine creative interaction and how the use of a real-world metaphor can promote audience perceptions of liveness. This develops previous NIME work by offering a detailed case study of the development process of both a system and a piece for popular, non-improvisational vocal/guitar music. keywords: Interactive music systems, real-world, metaphor, physical model, popular musi

Robots, Cyborgs, and Humans. A Model of Consumer Behavior in Services: A Study in the Healthcare Services Sector

La present tesi es basa en una investigació que proposa un ús futurista de l'robot i el cyborg com cirurgians oculars. El model desenvolupat investiga la intenció de l'consumidor per elegir cada cirurgià (és a dir: cirurgià robot, cirurgià cyborg o cirurgià humà). Les dades es van analitzar utilitzant la tècnica PLS-SEM. Els resultats de la investigació mostren que l'expectativa d'esforç, l'expectativa de rendiment, el risc percebut i la influència social van mostrar un impacte significatiu en la intenció d'utilitzar els serveis de l'robot cirurgià. Els resultats de el model per al cyborg cirurgià van confirmar l'impacte significatiu de l'expectativa d'esforç, l'excitació, l'expectativa de rendiment i la influència social en la intenció d'utilitzar els seus serveis. L'expectativa d'esforç i la influència social van confirmar un impacte significatiu en la intenció d'utilitzar els serveis de l'cirurgià humà. Els resultats mostren que en els tres models les variables influència social i expectativa d'esforç afecten significativament a la intenció d'utilitzar aquests serveis de cirurgia i que amb diferent intensitat entre els models per expectativa de esforç-. L'impacte de la influència social dóna una idea general sobre la naturalesa de el sector de la salut a Jordània, on una part de la societat presta més atenció a les recomanacions dels altres a l'elegir els seus cirurgians. A més, l'impacte de l'expectativa d'esforç contribueix a les expectatives per la simplicitat de l'servei dels pacients, en termes d'ús i interacció amb els cirurgians proposats. L'anàlisi multigrup va confirmar que les variables dels models estan afectant de la mateixa manera a l'comparar la intenció d'usar cyborgs i humans, i a l'comparar cyborgs i robots. No obstant això, sí que hi ha diferències significatives a l'comparar l'elecció entre robots i humans en l'impacte de l'expectativa d'esforç per utilitzar els serveis de cirurgia. D'altra banda, els participants van mostrar la seva preferència pel cirurgià humà sobre els cirurgians cyborg i robot, respectivament. Com a resultat, l'acceptació de les tecnologies de robot i cyborg per part de la societat podria donar una idea sobre la lluita esperada en el futur entre el desenvolupament de robots i la millora de les capacitats humanes.La presente tesis se basa en una investigación que propone un uso futurista del robot y el cyborg como cirujanos oculares. El modelo desarrollado investiga la intención del consumidor para elegir a cada cirujano (es decir: cirujano robot, cirujano cyborg o cirujano humano). Los datos se analizaron utilizando la técnica PLS-SEM. Los resultados de la investigación muestran que la expectativa de esfuerzo, la expectativa de rendimiento, el riesgo percibido y la influencia social mostraron un impacto significativo en la intención de utilizar los servicios del robot cirujano. Los resultados del modelo para el cyborg cirujano confirmaron el impacto significativo de la expectativa de esfuerzo, la excitación, la expectativa de rendimiento y la influencia social en la intención de usar sus servicios. La expectativa de esfuerzo y la influencia social confirmaron un impacto significativo en la intención de utilizar los servicios del cirujano humano. Los resultados muestran que en los tres modelos las variables influencia social y expectativa de esfuerzo afectan significativamente a la intención de usar esos servicios de cirugía –aunque con distinta intensidad entre los modelos para expectativa de esfuerzo-. El impacto de la influencia social da una idea general sobre la naturaleza del sector de la salud en Jordania, donde una parte de la sociedad presta más atención a las recomendaciones de los demás al elegir a sus cirujanos. Además, el impacto de la expectativa de esfuerzo contribuye a las expectativas por la simplicidad del servicio de los pacientes, en términos de uso e interacción con los cirujanos propuestos. El análisis multigrupo confirmó que las variables de los modelos están afectando de la misma manera al comparar la intención de usar cyborgs y humanos, y al comparar cyborgs y robots. Sin embargo, sí que existen diferencias significativas al comparar la elección entre robots y humanos en el impacto de la expectativa de esfuerzo para utilizar los servicios de cirugía. Por otro lado, los participantes mostraron su preferencia por el cirujano humano sobre los cirujanos cyborg y robot, respectivamente. Como resultado, la aceptación de las tecnologías de robot y cyborg por parte de la sociedad podría dar una idea sobre la lucha esperada en el futuro entre el desarrollo de robots y la mejora de las capacidades humanThe research proposes a futuristic use of robot and cyborg as surgeons in an eye surgery. Thereafter, the developed model has been applied to investigate the intention to use each surgeon (i.e. robot surgeon, cyborg surgeon, and human surgeon). The data was analyzed using the PLS-SEM technique. According to the research results, effort expectancy, performance expectancy, perceived risk, and social influence showed a significant impact on intention to use robot services. However, the results of the cyborg service model confirmed the significant impact of effort expectancy, arousal, performance expectancy, and social influence on the intention to use cyborg services. Furthermore, effort expectancy and social influence confirmed their significant impact on the intention to use human services. The results of the three models showed that the variables social influence and effort expectancy significantly affected the intention to use these surgical services, with a different intensity between the models for effort expectancy. The social influence impact gives a general idea about the nature of the healthcare sector in Jordan, where a part of society gives more attention to the recommendation from others while choosing their surgeons. Also, the effort expectancy impact contributes to patients' expectations of simplicity, in terms of use and interaction with the proposed surgeons. The multigroup analysis confirmed that the models' variables are affecting the intention to use cyborg and human service, and cyborg and robots in the same way. However, the differences were confirmed between robot and human cyborgs in terms of the impact of effort expectancy on the intention to use these services. On the other side, the participants showed their preference of the human surgeon over the cyborg and robot surgeons, respectively. As a result, the acceptance of the robot and cyborg technologies by a part of the society could give an idea about the expected struggle in the future among developing robots and enhancing human capabilities

Multi-Robot Coordination and Scheduling for Deactivation & Decommissioning

Large quantities of high-level radioactive waste were generated during WWII. This waste is being stored in facilities such as double-shell tanks in Washington, and the Waste Isolation Pilot Plant in New Mexico. Due to the dangerous nature of radioactive waste, these facilities must undergo periodic inspections to ensure that leaks are detected quickly. In this work, we provide a set of methodologies to aid in the monitoring and inspection of these hazardous facilities. This allows inspection of dangerous regions without a human operator, and for the inspection of locations where a person would not be physically able to enter. First, we describe a robot equipped with sensors which uses a modified A* path-planning algorithm to navigate in a complex environment with a tether constraint. This is then augmented with an adaptive informative path planning approach that uses the assimilated sensor data within a Gaussian Process distribution model. The model\u27s predictive outputs are used to adaptively plan the robot\u27s path, to quickly map and localize areas from an unknown field of interest. The work was validated in extensive simulation testing and early hardware tests. Next, we focused on how to assign tasks to a heterogeneous set of robots. Task assignment is done in a manner which allows for task-robot dependencies, prioritization of tasks, collision checking, and more realistic travel estimates among other improvements from the state-of-the-art. Simulation testing of this work shows an increase in the number of tasks which are completed ahead of a deadline. Finally, we consider the case where robots are not able to complete planned tasks fully autonomously and require operator assistance during parts of their planned trajectory. We present a sampling-based methodology for allocating operator attention across multiple robots, or across different parts of a more sophisticated robot. This allows few operators to oversee large numbers of robots, allowing for a more scalable robotic infrastructure. This work was tested in simulation for both multi-robot deployment, and high degree-of-freedom robots, and was also tested in multi-robot hardware deployments. The work here can allow robots to carry out complex tasks, autonomously or with operator assistance. Altogether, these three components provide a comprehensive approach towards robotic deployment within the deactivation and decommissioning tasks faced by the Department of Energy

Nature-Inspired Inductive Biases in Learning Robots

Die in dieser Dissertation vorgestellten Arbeiten studieren verschiedene von der Natur inspirierte induktive Verzerrungen im Kontext von modellfreiem und modellbasiertem selbstverstärkenden Lernen, mit dem Ziel, KI Agenten zu entwerfen, die effizient und autonom in der realen Welt handeln. Dabei sind von Robotern zu bewältigende Objektmanipulationsaufgaben von besonderem Interesse, da die zeitliche Entwicklung dieser dynamischen Systeme nicht trivial ist und Manipulationsaufgaben schwierige Planungsprobleme darstellen. Die betrachteten induktiven Verzerrungen sind hauptsächlich von in der Natur zu findenden intelligenten Agenten, wie Tiere und Menschen, inspiriert. Die primären Inspirationsquellen sind wie folgt. (1) Hierarchisch organisierte und spezialisierte kortikale Strukturen, die die effektive Erlernung von Fähigkeiten unterstützen. (2) Das selbstorganisierte Spielen von Kindern zum Zwecke der Formung intuitiver Modelle und Theorien über die Welt. (3) Strukturierte Explorationsstrategien basierend auf unterschiedliche Formen von intrinsischer Motivation und lang anhaltender zeitlicher Korrelationen in motorischen Befehlen. (4) Imitationslernen. (5) Die Planung von Aktionssequenzen unter der Berücksichtigung von Unsicherheiten in mentalen Modellen der nichtdeterministischen Welt. Diese Arbeit ist die Fortsetzung einer langen Historie von Ideen und Forschungsbemühungen, die Inspiration aus der Natur ziehen, um kompetentere KI Agenten zu entwickeln. Die Bemühungen in diesen Forschungsfeldern mündeten in der Ausbildung verschiedener Forschungsfelder wie hierarchisches selbstverstärkendes Lernen, Entwicklungsrobotik, intrinsisch motiviertes selbstverstärkendes Lernen und Repräsentationslernen. Diese Arbeit baut auf den in diesen Feldern entwickelten Ideen und Konzepten auf und kombiniert diese mit Methoden von modellfreiem und modellbasiertem selbstverstärkenden Lernen, um es Robotern zu ermöglichen, herausfordernde Objektmanipulationsaufgaben von Grund auf zu lösen. Die Hypothese, dass von der Natur inspirierte induktive Verzerrungen einen essenziellen Beitrag zur Erschaffung kompetenterer KI Agenten liefern könnten, wird dabei durch zahlreiche empirische Studien unterstützt.The work presented in this thesis studies various nature-inspired inductive biases in the domain of model-free and model-based reinforcement learning with the goal of designing AI agents that act more efficiently and autonomously in natural environments. The domain of robotic manipulation tasks is particularly interesting as it involves non-trivial system dynamics and requires abundant planning and reasoning. The inductive biases under investigation are primarily inspired by intelligent agents found in nature, such as humans and other animals. The primary sources of inspiration are as follows. (1) Hierarchically organized and specialized cortical structures facilitating efficient skills learning. (2) The self-organized playing of children to form intuitive theories and models about the world. (3) Structured exploration strategies based on various forms of intrinsic motivation and long-lasting temporal correlations in motor commands. (4) Imitation Learning. (5) Uncertainty-aware planning of motor commands in imagined models of a non-deterministic world. Consequently, this work continues a long history of ideas and research efforts that take inspiration from nature to build more competent AI agents. These efforts culminated in research fields such as hierarchical reinforcement learning, developmental robotics, intrinsically motivated reinforcement learning, and representation learning. This work builds on the ideas that were advanced in these fields. It combines them with model-free and model-based reinforcement learning methods to solve challenging robotic manipulation tasks from scratch. Empirical studies are carried out to support the hypothesis that nature-inspired inductive biases might be an essential building block in designing more competent AI agents

What do Collaborations with the Arts Have to Say About Human-Robot Interaction?

This is a collection of papers presented at the workshop What Do Collaborations with the Arts Have to Say About HRI , held at the 2010 Human-Robot Interaction Conference, in Osaka, Japan

Designing Sound for Social Robots: Advancing Professional Practice through Design Principles

Sound is one of the core modalities social robots can use to communicate with the humans around them in rich, engaging, and effective ways. While a robot's auditory communication happens predominantly through speech, a growing body of work demonstrates the various ways non-verbal robot sound can affect humans, and researchers have begun to formulate design recommendations that encourage using the medium to its full potential. However, formal strategies for successful robot sound design have so far not emerged, current frameworks and principles are largely untested and no effort has been made to survey creative robot sound design practice. In this dissertation, I combine creative practice, expert interviews, and human-robot interaction studies to advance our understanding of how designers can best ideate, create, and implement robot sound. In a first step, I map out a design space that combines established sound design frameworks with insights from interviews with robot sound design experts. I then systematically traverse this space across three robot sound design explorations, investigating (i) the effect of artificial movement sound on how robots are perceived, (ii) the benefits of applying compositional theory to robot sound design, and (iii) the role and potential of spatially distributed robot sound. Finally, I implement the designs from prior chapters into humanoid robot Diamandini, and deploy it as a case study. Based on a synthesis of the data collection and design practice conducted across the thesis, I argue that the creation of robot sound is best guided by four design perspectives: fiction (sound as a means to convey a narrative), composition (sound as its own separate listening experience), plasticity (sound as something that can vary and adapt over time), and space (spatial distribution of sound as a separate communication channel). The conclusion of the thesis presents these four perspectives and proposes eleven design principles across them which are supported by detailed examples. This work contributes an extensive body of design principles, process models, and techniques providing researchers and designers with new tools to enrich the way robots communicate with humans

Church Belles: An Interactive System and Composition Using Real-World Metaphors: In Proceedings of the International Conference on New Interfaces for Musical Expression, Queensland Conservatorium Griffith University

Church Belles explores how creating and using an interactive system for popular songwriting based on a physical metaphor impacts the composition process and the liveness of performances. Composing the piece was central to the research process (Candy and Edmonds, 2018) which involved a cyclical, iterative process of literature review, system-building/composing and reflection. While common in more experimental styles, the use of interactive music systems in popular music tends to be limited (Marchini et al, 2017). Several studies have demonstrated the potential for physical metaphors to be used as a design strategy for interactive systems (Johnston et al, 2009) that both facilitates audience understanding and focuses the compositional process. In this piece, church bells were selected as the metaphor they are a highly familiar cultural object with a simple physical mechanism, capable of producing complex timbres and unpredictable rhythms. Church Belles explores the impact of using an interactive system throughout the songwriting process. Creating the system therefore began before any songwriting took place, maximising the system’s influence over each stage of the composition. The research reveals strategies for working with interactive systems in highly-structured popular music contexts, which have been disseminated by a paper and demonstration at New Interfaces for Musical Expression (NIME) (Waite, 2016). Performances with the piece demonstrate high levels of several aspects of liveness (Sanden, 2013). Findings have been shared with international academic and professional audiences at Innovations in Music 2017 (London); Tracking the Creative Process in Music 2017 (Huddersfield) and Loop 2017 (Berlin). Recordings of the piece and accompanying commentary have been published online and the piece has been performed at Sonorities 2016 (Queen’s University), MTI concerts (De Montfort University) and NoiseFloor (Staffordshire University). The software for the piece is available for free download