Socially aware robot navigation system in human-populated and interactive environments based on an adaptive spatial density function and space affordances

Traditionally robots are mostly known by society due to the wide use of manipulators, which are generally placed in controlled environments such as factories. However, with the advances in the area of mobile robotics, they are increasingly inserted into social contexts, i.e., in the presence of people. The adoption of socially acceptable behaviours demands a trade-off between social comfort and other metrics of efficiency. For navigation tasks, for example, humans must be differentiated from other ordinary objects in the scene. In this work, we propose a novel human-aware navigation strategy built upon the use of an adaptive spatial density function that efficiently cluster groups of people according to their spatial arrangement. Space affordances are also used for defining potential activity spaces considering the objects in the scene. The proposed function defines regions where navigation is either discouraged or forbidden. To implement a socially acceptable navigation, the navigation architecture combines a probabilistic roadmap and rapidly-exploring random tree path planners, and an adaptation of the elastic band algorithm. Trials in real and simulated environments carried out demonstrate that the use of the clustering algorithm and social rules in the navigation architecture do not hinder the navigation performance

MADEC. Material Design Culture

reserved2noThis paper wants to present a research promoted by the Design Department of Politecnico di Milano and funded by FARB (University Funds for Basic Research), for the creation of a Research Centre named MADEC, with the ambition of recognizing peculiarities of Italian Material Design Culture, and tracking their evolution in the contemporary era of “tailor-made materials” as technological paradigma. This paper is divided into three parts: the first part concerns reasons, motivations and the state of the art of the research; the second part describes in detail the research activities developed during the first year of the project; the third part is dedicated to conclusions with some critical considerations and future actions.Ferrara, M., Lecce, C.Ferrara, MARIA RITA; Lecce, Chiar

User modelling for robotic companions using stochastic context-free grammars

Creating models about others is a sophisticated human ability that robotic companions need to develop in order to have successful interactions. This thesis proposes user modelling frameworks to personalise the interaction between a robot and its user and devises novel scenarios where robotic companions may apply these user modelling techniques. We tackle the creation of user models in a hierarchical manner, using a streamlined version of the Hierarchical Attentive Multiple-Models for Execution and Recognition (HAMMER) architecture to detect low-level user actions and taking advantage of Stochastic Context-Free Grammars (SCFGs) to instantiate higher-level models which recognise uncertain and recursive sequences of low-level actions. We discuss a couple of distinct scenarios for robotic companions: a humanoid sidekick for power-wheelchair users and a companion of hospital patients. Next, we address the limitations of the previous scenarios by applying our user modelling techniques and designing two further scenarios that fully take advantage of the user model. These scenarios are: a wheelchair driving tutor which models the user abilities, and the musical collaborator which learns the preferences of its users. The methodology produced interesting results in all scenarios: users preferred the actual robot over a simulator as a wheelchair sidekick. Hospital patients rated positively their interactions with the companion independently of their age. Moreover, most users agreed that the music collaborator had become a better accompanist with our framework. Finally, we observed that users' driving performance improved when the robotic tutor instructed them to repeat a task. As our workforce ages and the care requirements in our society grow, robots will need to play a role in helping us lead better lives. This thesis shows that, through the use of SCFGs, adaptive user models may be generated which then can be used by robots to assist their users.Open Acces

Commonwealth Times 2011-04-21

https://scholarscompass.vcu.edu/com/2730/thumbnail.jp

The Enactivist Revolution

Among the many ideas that go by the name of “enactivism” there is the idea that by “cognition” we should understand what is more commonly taken to be behavior. For clarity, label such forms of enactivism “enactivismb.” This terminology requires some care in evaluating enactivistb claims. There is a genuine risk of enactivist and non-enactivist cognitive scientists talking past one another. So, for example, when enactivistsb write that “cognition does not require representations” they are not necessarily denying what cognitivists claim when they write that “cognition requires representations.” This paper will draw attention to instances of some of these unnecessary confusions

Influence of Financial Statement Comparability on Applicability of Earnings

Comparability in accounting implies a nature of bookkeeping data that works with the examination of monetary revealing of one organization to the monetary detailing of another organization. Similarity permits clients to look at monetary position and execution across time and across organizations. Comparability improves convenience of fiscal summaries since it permits clients to complete pattern investigation, cross-sectional examination and basic size investigation. We additionally give proof that likeness is emphatically connected with administrative gauge exactness and accuracy, reliable with equivalence improving the capacity of chiefs to anticipate future firm earnings. Comparability in accounting upgrades an organizations' data quality, as sane contributing and loaning choices require near data. The improved firm data climate that originates from more prominent equivalence prompts better dynamic and, consequently, the contention for similarity is especially relevant