44 research outputs found
Design, Control, and Evaluation of a Human-Inspired Robotic Eye
Schulz S. Design, Control, and Evaluation of a Human-Inspired Robotic Eye. Bielefeld: Universität Bielefeld; 2020.The field of human-robot interaction deals with robotic systems that involve
humans and robots closely interacting with each other. With these systems
getting more complex, users can be easily overburdened by the operation
and can fail to infer the internal state of the system or its ”intentions”. A
social robot, replicating the human eye region with its familiar features and
movement patterns, that are the result of years of evolution, can counter
this. However, the replication of these patterns requires hard- and software
that is able to compete with the human characteristics and performance.
Comparing previous systems found in literature with the human capabili-
ties reveal a mismatch in this regard. Even though individual systems solve
single aspects, the successful combination into a complete system remains
an open challenge. In contrast to previous work, this thesis targets to close
this gap by viewing the system as a whole — optimizing the hard- and
software, while focusing on the replication of the human model right from
the beginning. This work ultimately provides a set of interlocking building
blocks that, taken together, form a complete end-to-end solution for the de-
sign, control, and evaluation of a human-inspired robotic eye. Based on the
study of the human eye, the key driving factors are identified as the success-
ful combination of aesthetic appeal, sensory capabilities, performance, and
functionality. Two hardware prototypes, each based on a different actua-
tion scheme, have been developed in this context. Furthermore, both hard-
ware prototypes are evaluated against each other, a previous prototype, and
the human by comparing objective numbers obtained by real-world mea-
surements of the real hardware. In addition, a human-inspired and model-
driven control framework is developed out, again, following the predefined
criteria and requirements. The quality and human-likeness of the motion,
generated by this model, is evaluated by means of a user study. This frame-
work not only allows the replication of human-like motion on the specific
eye prototype presented in this thesis, but also promotes the porting and
adaption to less equipped humanoid robotic heads. Unlike previous systems
found in literature, the presented approach provides a scaling and limiting
function that allows intuitive adjustments of the control model, which can
be used to reduce the requirements set on the target platform. Even though
a reduction of the overall velocities and accelerations will result in a slower
motion execution, the human characteristics and the overall composition of
the interlocked motion patterns remain unchanged
Políticas de Copyright de Publicações Científicas em Repositórios Institucionais: O Caso do INESC TEC
A progressiva transformação das práticas científicas, impulsionada pelo desenvolvimento das novas Tecnologias de Informação e Comunicação (TIC), têm possibilitado aumentar o acesso à informação, caminhando gradualmente para uma abertura do ciclo de pesquisa. Isto permitirá resolver a longo prazo uma adversidade que se tem colocado aos investigadores, que passa pela existência de barreiras que limitam as condições de acesso, sejam estas geográficas ou financeiras. Apesar da produção científica ser dominada, maioritariamente, por grandes editoras comerciais, estando sujeita às regras por estas impostas, o Movimento do Acesso Aberto cuja primeira declaração pública, a Declaração de Budapeste (BOAI), é de 2002, vem propor alterações significativas que beneficiam os autores e os leitores. Este Movimento vem a ganhar importância em Portugal desde 2003, com a constituição do primeiro repositório institucional a nível nacional. Os repositórios institucionais surgiram como uma ferramenta de divulgação da produção científica de uma instituição, com o intuito de permitir abrir aos resultados da investigação, quer antes da publicação e do próprio processo de arbitragem (preprint), quer depois (postprint), e, consequentemente, aumentar a visibilidade do trabalho desenvolvido por um investigador e a respetiva instituição. O estudo apresentado, que passou por uma análise das políticas de copyright das publicações científicas mais relevantes do INESC TEC, permitiu não só perceber que as editoras adotam cada vez mais políticas que possibilitam o auto-arquivo das publicações em repositórios institucionais, como também que existe todo um trabalho de sensibilização a percorrer, não só para os investigadores, como para a instituição e toda a sociedade. A produção de um conjunto de recomendações, que passam pela implementação de uma política institucional que incentive o auto-arquivo das publicações desenvolvidas no âmbito institucional no repositório, serve como mote para uma maior valorização da produção científica do INESC TEC.The progressive transformation of scientific practices, driven by the development of new Information and Communication Technologies (ICT), which made it possible to increase access to information, gradually moving towards an opening of the research cycle. This opening makes it possible to resolve, in the long term, the adversity that has been placed on researchers, which involves the existence of barriers that limit access conditions, whether geographical or financial. Although large commercial publishers predominantly dominate scientific production and subject it to the rules imposed by them, the Open Access movement whose first public declaration, the Budapest Declaration (BOAI), was in 2002, proposes significant changes that benefit the authors and the readers. This Movement has gained importance in Portugal since 2003, with the constitution of the first institutional repository at the national level. Institutional repositories have emerged as a tool for disseminating the scientific production of an institution to open the results of the research, both before publication and the preprint process and postprint, increase the visibility of work done by an investigator and his or her institution. The present study, which underwent an analysis of the copyright policies of INESC TEC most relevant scientific publications, allowed not only to realize that publishers are increasingly adopting policies that make it possible to self-archive publications in institutional repositories, all the work of raising awareness, not only for researchers but also for the institution and the whole society. The production of a set of recommendations, which go through the implementation of an institutional policy that encourages the self-archiving of the publications developed in the institutional scope in the repository, serves as a motto for a greater appreciation of the scientific production of INESC TEC