Learning Dynamic Robot-to-Human Object Handover from Human Feedback

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform object handover almost flawlessly. The success of humans, however, belies the complexity of object handover as collaborative physical interaction between two agents with limited communication. This paper presents a learning algorithm for dynamic object handover, for example, when a robot hands over water bottles to marathon runners passing by the water station. We formulate the problem as contextual policy search, in which the robot learns object handover by interacting with the human. A key challenge here is to learn the latent reward of the handover task under noisy human feedback. Preliminary experiments show that the robot learns to hand over a water bottle naturally and that it adapts to the dynamics of human motion. One challenge for the future is to combine the model-free learning algorithm with a model-based planning approach and enable the robot to adapt over human preferences and object characteristics, such as shape, weight, and surface texture.Comment: Appears in the Proceedings of the International Symposium on Robotics Research (ISRR) 201

Engineering evaluations and studies. Report for Ku-band studies, exhibit A

System performance aspects of the Ku band radar communication hardware and investigations into the Ku band/payload interfaces are discussed. The communications track problem caused by the excessive signal dynamic range at the servo input was investigated. The management/handover logic is discussed and a simplified description of the transmitter enable logic function is presented. Output noise produced by a voltage-controlled oscillator chip used in the SPA return-link channel 3 mid-bit detector is discussed. The deployed assembly (DA) and EA-2 critical design review data are evaluated. Cross coupling effects on antenna servo stability were examined. A series of meetings on the acceptance test specification for the deployed assembly is summarized

An autonomous GNSS anti-spoofing technique

open3siIn recent years, the problem of Position, Navigation and Timing (PNT) resiliency has received significant attention due to an increasing awareness on threats and the vulnerability of the current GNSS signals. Several proposed solutions make uses of cryptography to protect against spoofing. A limitation of cryptographic techniques is that they introduce a communication and processing computation overhead and may impact the performance in terms of availability and continuity for GNSS users. This paper introduces autonomous non cryptographic antispoofing mechanisms, that exploit semi-codeless receiver techniques to detect spoofing for signals with a component making use of spreading code encryption.openCaparra, Gianluca; Wullems, Christian; Ioannides, Rigas T.Caparra, Gianluca; Wullems, Christian; Ioannides, Rigas T

Autonomous Multicamera Tracking on Embedded Smart Cameras

There is currently a strong trend towards the deployment of advanced computer vision methods on embedded systems. This deployment is very challenging since embedded platforms often provide limited resources such as computing performance, memory, and power. In this paper we present a multicamera tracking method on distributed, embedded smart cameras. Smart cameras combine video sensing, processing, and communication on a single embedded device which is equipped with a multiprocessor computation and communication infrastructure. Our multicamera tracking approach focuses on a fully decentralized handover procedure between adjacent cameras. The basic idea is to initiate a single tracking instance in the multicamera system for each object of interest. The tracker follows the supervised object over the camera network, migrating to the camera which observes the object. Thus, no central coordination is required resulting in an autonomous and scalable tracking approach. We have fully implemented this novel multicamera tracking approach on our embedded smart cameras. Tracking is achieved by the well-known CamShift algorithm; the handover procedure is realized using a mobile agent system available on the smart camera network. Our approach has been successfully evaluated on tracking persons at our campus

Orbiter global positioning system design and Ku-band problems investigation, exhibit B, revision 1

The LinCom effort in supporting the JSC study of the use of the Global Positioning System (GPS) on the space shuttle and in Ku-band problem investigation is documented. LinCom was tasked to evaluate system implementation, performance, and integration aspects of the shuttle GPS and to provide independent technical assessment of reports submitted to JSC regarding integration studies, system studies and navigation analyses

Textual Mediation in Simulated Nursing Handoffs: Examining How Student Writing Coordinates Action

In clinical nursing simulations, a group of students provide care for a robotic patient during a structured scenario. As care is transferred from one group to another, they participate in a patient handoff, with outgoing students passing key information onto incoming students. In healthcare, the nursing handoff is a critical and perilous communication moment that is mediated by a range of participants and texts. Drawing on observations and video recordings of 52 simulation handoffs in the United States, this article examines how two student-designed texts – a collaborative patient chart and individual notes – are leveraged during the handoff. I also consider how handoff talk and writing changes as student nursing knowledge increases over the course of a year. By focusing on textual mediation of the simulated nursing handoff, this article contributes to existing research on professional writing pedagogy and to nursing scholarship on the handoff. Ultimately, it argues that a textual mediation framework can help bridge class room and professional contexts by evaluating student writing not for how successfully it meets a set of imposed criteria but for how effectively it supports classroom activities