A real-time human-robot interaction system based on gestures for assistive scenarios

Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times.Postprint (author's final draft

Toward Contention Analysis for Parallel Executing Real-Time Tasks

In measurement-based probabilistic timing analysis, the execution conditions imposed to tasks as measurement scenarios, have a strong impact to the worst-case execution time estimates. The scenarios and their effects on the task execution behavior have to be deeply investigated. The aim has to be to identify and to guarantee the scenarios that lead to the maximum measurements, i.e. the worst-case scenarios, and use them to assure the worst-case execution time estimates. We propose a contention analysis in order to identify the worst contentions that a task can suffer from concurrent executions. The work focuses on the interferences on shared resources (cache memories and memory buses) from parallel executions in multi-core real-time systems. Our approach consists of searching for possible task contenders for parallel executions, modeling their contentiousness, and classifying the measurement scenarios accordingly. We identify the most contentious ones and their worst-case effects on task execution times. The measurement-based probabilistic timing analysis is then used to verify the analysis proposed, qualify the scenarios with contentiousness, and compare them. A parallel execution simulator for multi-core real-time system is developed and used for validating our framework. The framework applies heuristics and assumptions that simplify the system behavior. It represents a first step for developing a complete approach which would be able to guarantee the worst-case behavior

Using and evaluating the real-time spatial perception system hydra in real-world scenarios

Hydra is a real-time machine perception system released open source in 2022 as a package for Robot Operating System (ROS). Machine perception systems like Hydra may play a role in the engineering of the next generation of spatial AIs for autonomous robots. Hydra is in the preliminary stages of its existence and does not come with intrinsic support for running on custom datasets. This thesis primarily aims to find out whether the promised capabilities of Hydra can be replicated. As well as to establish a workflow and guidelines for what modifications to Hydra are needed to successfully run it

Run-time middleware to support real-time system scenarios

Abstract—Systems on Chip (SOC) are powerful multipro-cessor systems capable of running multiple independent applica-tions, often with both real-time and non-real-time requirements. Scenarios exist at two levels: first, combinations of independent applications, and second, different states of a single application. Scenarios are dynamic since applications can be started and stopped independently, and a single application’s behaviour can depend on its inputs, on different stages in processing, and so on. In this paper we describe how the CompSOC platform offers system integrators and application writers the capability to implement multiple scenarios. I

Air quality impact of a decision support system for reducing pollutant emissions: CARBOTRAF

Traffic congestion with frequent “stop & go” situations causes substantial pollutant emissions. Black carbon (BC) is a good indicator of combustion-related air pollution and results in negative health effects. Both BC and CO2 emissions are also known to contribute significantly to global warming. Current traffic control systems are designed to improve traffic flow and reduce congestion. The CARBOTRAF system combines real-time monitoring of traffic and air pollution with simulation models for emission and local air quality prediction in order to deliver on-line recommendations for alternative adaptive traffic management. The aim of introducing a CARBOTRAF system is to reduce BC and CO2 emissions and improve air quality by optimizing the traffic flows. The system is implemented and evaluated in two pilot cities, Graz and Glasgow. Model simulations link traffic states to emission and air quality levels. A chain of models combines micro-scale traffic simulations, traffic volumes, emission models and air quality simulations. This process is completed for several ITS scenarios and a range of traffic boundary conditions. The real-time DSS system uses these off-line model simulations to select optimal traffic and air quality scenarios. Traffic and BC concentrations are simultaneously monitored. In this paper the effects of ITS measures on air quality are analysed with a focus on BC

CARBOTRAF: A decision Support system for reducing pollutant emissions by adaptive traffic management

Traffic congestion with frequent “stop & go” situations causes substantial pollutant emissions. Black carbon (BC) is a good indicator of combustion-related air pollution and results in negative health effects. Both BC and CO2 emissions are also known to contribute significantly to global warming. Current traffic control systems are designed to improve traffic flow and reduce congestion. The CARBOTRAF system combines real-time monitoring of traffic and air pollution with simulation models for emission and local air quality prediction in order to deliver on-line recommendations for alternative adaptive traffic management. The aim of introducing a CARBOTRAF system is to reduce BC and CO2 emissions and improve air quality by optimizing the traffic flows. The system is implemented and evaluated in two pilot cities, Graz and Glasgow. Model simulations link traffic states to emission and air quality levels. A chain of models combines micro-scale traffic simulations, traffic volumes, emission models and air quality simulations. This process is completed for several ITS scenarios and a range of traffic boundary conditions. The real-time DSS system uses all these model simulations to select optimal traffic and air quality scenarios. Traffic and BC concentrations are simultaneously monitored. In this paper the effects of ITS measures on air quality are analysed with a focus on BC