RUR53: an Unmanned Ground Vehicle for Navigation, Recognition and Manipulation

This paper proposes RUR53: an Unmanned Ground Vehicle able to autonomously navigate through, identify, and reach areas of interest; and there recognize, localize, and manipulate work tools to perform complex manipulation tasks. The proposed contribution includes a modular software architecture where each module solves specific sub-tasks and that can be easily enlarged to satisfy new requirements. Included indoor and outdoor tests demonstrate the capability of the proposed system to autonomously detect a target object (a panel) and precisely dock in front of it while avoiding obstacles. They show it can autonomously recognize and manipulate target work tools (i.e., wrenches and valve stems) to accomplish complex tasks (i.e., use a wrench to rotate a valve stem). A specific case study is described where the proposed modular architecture lets easy switch to a semi-teleoperated mode. The paper exhaustively describes description of both the hardware and software setup of RUR53, its performance when tests at the 2017 Mohamed Bin Zayed International Robotics Challenge, and the lessons we learned when participating at this competition, where we ranked third in the Gran Challenge in collaboration with the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln (UK).Comment: This article has been accepted for publication in Advanced Robotics, published by Taylor & Franci

Situated and distributed cognition in artifact negotiation and trade-specific skills: A cognitive ethnography of Kashmiri carpet weaving practice

This article describes various ways actors in Kashmiri carpet weaving practice deploy a range of artifacts, from symbolic, to material, to hybrid, in order to achieve diverse cognitive accomplishments in their particular task domains: information representation, inter and intra-domain communication, distribution of cognitive labor across people and time, coordination of team activities, and carrying of cultural heritage. In this repertoire, some artifacts position themselves as naïve tools in the actors’ environment to the point of being ignored; however, their usage-in-context unfolds their cognitive involvement in the tasks. These usages-in-context are shown through artifact analysis of their routine, improvised, and opportunistic uses, where cognitive artifacts like talim—the central artifact of this practice—are shown to play not only multifunctional roles beyond representation, but are also complemented by trade-specific skills bearing strong cognitive implications in a task

The Recurrent Model of Bodily Spatial Phenomenology

In this paper, we introduce and defend the recurrent model for understanding bodily spatial phenomenology. While Longo, Azañón and Haggard (2010) propose a bottom-up model, Bermúdez (2017) emphasizes the top-down aspect of the information processing loop. We argue that both are only half of the story. Section 1 intro- duces what the issues are. Section 2 starts by explaining why the top- down, descending direction is necessary with the illustration from the ‘body-based tactile rescaling’ paradigm (de Vignemont, Ehrsson and Haggard, 2005). It then argues that the bottom-up, ascending direction is also necessary, and substantiates this view with recent research on skin space and tactile field (Haggard et al., 2017). Section 3 discusses the model’s application to body ownership and bodily self-representation. Implications also extend to topics such as sense modality individuation (Macpherson, 2011), the constancy- based view of perception (Burge, 2010), and the perception/cognition divide (Firestone and Scholl, 2016)

A tackle box guide to: common saltwater fishes of southwest Florida

There are well over 150 species of fish caught by hook and line in local waters. The 86 species included in this book were selected by the author and editors because they are the most frequently encountered. For eachspecies, important informationabout distinguishing features, biology/habitat, and fishing methods is provided. The often confusing common nicknames applied to each fish are noted, as well as the fish's preferred common name. (56pp.