Suitable task allocation in intelligent systems for assistive environments

The growing need of technological assistance to provide support to people with special needs demands for systems more and more efficient and with better performances. With this aim, this work tries to advance in a multirobot platform that allows the coordinated control of different agents and other elements in the environment to achieve an autonomous behavior based on the user’s needs or will. Therefore, this environment is structured according to the potentiality of each agent and elements of this environment and of the dynamic context, to generate the adequate actuation plans and the coordination of their execution.Peer ReviewedPostprint (author's final draft

Autonomous dexterous end-effectors for space robotics

The development of a knowledge-based controller is summarized for the Belgrade/USC robot hand, a five-fingered end effector, designed for maximum autonomy. The biological principles of the hand and its architecture are presented. The conceptual and software aspects of the grasp selection system are discussed, including both the effects of the geometry of the target object and the task to be performed. Some current research issues are presented

Soft thought (in architecture and choreography)

This article is an introduction to and exploration of the concept of ‘soft thought’. What we want to propose through the definition of this concept is an aesthetic of digital code that does not necessarily presuppose a relation with the generative aspects of coding, nor with its sensorial perception and evaluation. Numbers do not have to produce something, and do not need to be transduced into colours and sounds, in order to be considered as aesthetic objects. Starting from this assumption, our main aim will be to reconnect the numerical aesthetic of code with a more ‘abstract’ kind of feeling, the feeling of numbers indirectly felt as conceptual contagions’, that are ‘conceptually felt but not directly sensed. The following pages will be dedicated to the explication and exemplification of this particular mode of feeling, and to its possible definition as ‘soft thought’

Human-like arm motion generation: a review

In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.FCT Project UID/MAT/00013/2013FCT–Fundação para a Ciência e Tecnologia within the R&D Units Project Scope: UIDB/00319/2020

OpenBIM-Tango integrated virtual showroom for offsite manufactured production of self-build housing

As a result of progressive use of BIM in the AEC sector, the amount of diverse project information is increasing rapidly, thus necessitating interoperability of tools, compatibility of data, effective collaboration and sophisticated data management. Media-rich VR and AR environments have been proven to help users better understand design solutions, however, they have not been quite advanced in supporting interoperability and collaboration. Relying on capabilities of openBIM and IFC schema, this study posits that this shortcoming of VR and AR environment could be addressed by use of BIM server concept allowing for concurrent multiuser and low-latency communication between applications. Successful implementation of this concept can ultimately mitigate the need for advanced technical skills for participation in design processes and facilitate the generation of more useful design solutions by early involvement of stakeholders and end-users in decision making. This paper exemplifies a method for integration of BIM data into immersive VR and AR environments, in order to streamline the design process and provide a pared-down agnostic openBIM system with low latency and synchronised concurrent user accessibility that gives the “right information to the right people at the right time”. These concepts have been further demonstrated through development of a prototype for openBIM-Tango integrated virtual showroom for offsite manufactured production of self-build housing. The prototype directly includes BIM models and data from IFC format and interactively presents them to users on both VR immersive and AR environments, including Google Tango enabled devices. This paper contributes by offering innovative and practical solutions for integration of openBIM and VR/AR interfaces, which can address interoperability issues of the AEC industry

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Towards a More Socially Sustainable Advanced Pilot Training by IntegratingWearable Augmented Reality Devices

For flying all types of turbine-engine airplanes, a pilot must undergo an intense type rating (TR) course. This study investigated the learning conditions and TR course content, and specifies the most difficult course elements that could be tackled by augmented reality (AR) applications. Because women are underrepresented in the worldwide pilot population, it is important to address gender-specific preferences and needs in the development of AR-based wearable technologies for advanced pilot training. A gender-sensitive survey of the learning conditions and course contents was conducted with 31 pilots and 22 instructors. Despite many similarities, the results confirm that there are gender-specific needs and preferences for the development of future AR-based applications for TR training. In addition, the views of both pilots’ and instructors’ are required to obtain a comprehensive assessment of the learning contents and conditions related to TR. The results also show that time pressure increased the perceived difficulty of the course for some trainees. These results are important because they indicate the directions to be taken in developing future AR-based training applications for a more learner-centered and inclusive TR training. Future directions to foster a socially sustainable development of AR-based training means for TR with special focus on gender diversity are presented