Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software

Touch future x ROBOT: examining production, consumption, and disability at a social robot research laboratory and a centre for independent living in Japan

This thesis contributes to anthropological discussions on the relationship between production and consumption by engaging in multi-sited ethnography that investigates the design of social robots in cutting-edge Japanese research laboratories and also explores the day-to-day lives of Japanese disabled people who are potential consumers of such devices. By drawing on these disparate groups, located in disparate sites, this thesis traces connections but also disconnections as it analyses the 'friction' between the technical problem-solving of researchers and the organized activist politics of disabled people. It investigates the rationales of robot research, messy and multiple, as well as the material and political impetus behind the 'barrier free' movement for independent living. Social robots hold a special interest in Japan because not only do many people, both inside and outside of Japan, believe that the nation has a unique cultural interest and affinity for robots, but, with an ageing population, the Japanese state has looked toward social robots as potential care-givers and as a solution to the 'demographic crisis'. Through the engagement of both science and technology studies and disability studies, this thesis focuses on the theme of problems to show how the problem-making approach of robotics researchers, which identifies problems of the body as a disability to be solved by a technical fix in the form of a robot, contrasts with the perspective from disabled people themselves, who see disability as a problem of society and the environment rather than the individual and the body

Why Do Humans Imagine Robots?

This project analyzes why people are intrigued by the thought of robots, and why they choose to create them in both reality and fiction. Numerous movies, literature, news articles, online journals, surveys, and interviews have been used in determining the answer

Adoption state of artificial intelligence: a saas perspective

The following thesis will focus on the general topic of Artificial Intelligence (AI). The main purpose of this work is to investigate how generally AI is being implemented and developed in modern times. Artificial Intelligence is critical in the SaaS industry. The study aims to get an overview of the state of adoption of Artificial Intelligence with particular attention to how it is in the SaaS industry and what it may indicate for the future. The author compares secondary data analysis with interviews of SaaS experts to better understand of how the SaaS industry differentiates from the general market

Stories of what is to come: the future in film and television 1959-1989

The thesis examines films, television programmes and associated newspaper articles from the period 1959-1989 to discover how the future has been talked about in popular discourses. It considers both fiction and nonfiction in the areas of defence, nuclear issues, ecological catastrophes, space and artificial beings. It is particularly concerned to contrast scientific discourse with science fiction to discover how the distinction between them is maintained when the temporal setting is the future and whatever is asserted or depicted is characterised by not yet having happened. The thesis begins by investigating the discursive struggle over the naming of the US military policy both Star Wars and SDI. It uses the concept of professional language and Michel Foucault's arguments about regimes of truth to explain the status of the more scientific term, while the popularity and success of the film are advanced as reasons for the appeal of the popular title. The following chapters attempt to discover whether this example is charcteristic or an oddity. The examination of the presentation of potential eco-catastrophes, particularly in TV science programmes finds minimal variation and piecemeal presentation being used in an attempt to separate scientific discourse from SF and emphasise certainty. In looking at nuclear discourse the competing claims of the defence establishment and those people making nuclear war dramas for TV to speak with authority about the future are investigated to try to understand why there is such a paucity of depictions of the nuclear future. It is discovered that talking about the future in space shifted with economic discourse became more dominant than scientific, but that this did not apply to those fictions, like Star Trek, which were constrained by precursors from the 1960s. These are the major instances of an optimistic future. In considering the case of artificial beings, changes are found within the fictions as certain categories of being become scientifically more feasible. An analogy with colonial discourse and the concept 'hybridity' proves particularly useful. The thesis concludes by finding hybrids of fiction and non-fiction, scientific and science fictional discourses most characteristic of popular discourses about the future

Creative Technologies for Behaviour Change

behaviour change; motivational interviewing; motivation; physical activity; exercise; qualitative research; computer-assisted therapy; robotics; social robotics; virtual coaching; video coaching; functional imagery trainingThis thesis presents innovative uses of technology to support motivation, using motivational interviewing (MI) and functional imagery training (FIT) scripts developed specifically for remote delivery. MI scripts aimed to develop discrepancy, evoke solutions and promote self-efficacy. FIT scripts included multi-sensory mental imagery exercises at key points in the MI scripts. Four methods of delivery were developed: a human video-counsellor, a NAO robot programmed with Choregraphe software, a video robot counsellor for comparison with the human video-counsellor, and a life-sized two dimensional 'holographic' projection. Four empirical studies tested these developments in participants wanting to become more physically active. Study 1 (N=18) and Study 2 (N=20) used qualitative methods to explore the usability and acceptability of MI delivered by a pre-recorded human video counsellor and NAO robot respectively. Analysis of participants' verbal dialogue with the video counsellor in Study 1 showed high levels of change talk, an important ingredient of effective MI. In both studies, participants reported that voicing their goals aloud was helpful but they were somewhat frustrated by the lack of personalised response. Participants positively appraised the non-judgemental aspect of the interview with the robot. Study 3 tested if virtual FIT would be more acceptable and effective than virtual MI. Ninety-eight participants received FIT or MI delivered by a video robot, and compared to a wait-list control group. In Study 4, 104 participants were randomized to a monologue version of FIT delivered by a human counsellor projected as a two-dimensional life-size hologram, or on a computer screen, or a wait-list control condition. Neither Study 3 or 4 found any quantitative effect of virtual counselling on physical activity, self-efficacy, or motivation. As in studies 1 and 2, although participants found the technological interaction somewhat impersonal, qualitative responses were largely positive: participants liked the opportunity to voice their goals, reported a motivational boost, and perceived the virtual coaches as non-judgmental. This research has shown that people perceive benefits from speaking aloud about their goals and problems, and even engaging silently in imagery-based counselling. There is potential to deliver a brief motivational intervention that is fully-automated and acceptable to participants

Leveraging Conversational User Interfaces and Digital Humans to Provide an Accessible and Supportive User Experience on an Ophthalmology Service

Designing E-Health services that are accessible, engaging, and provide valuable information to patients is an endeavor that requires research and validation with potential users. The information needs to be perceived as trustworthy and reliable, in order to promote people’s ability to make informed decisions about their health. This Master’s thesis work focused on understanding the potential of conversational user interfaces (CUIs) featuring digital humans (DHs) as communication agents to provide healthcare-related information to users. The case study underlying the research was proposed by Roche: the company wanted to create an informational ophthalmology website featuring a digital human to substitute the traditional text-based website. The main goal of this work was to understand whether CUIs and DHs can provide a higher level of accessibility and engagement for users, with a special focus on people starting to live with low vision (potential ophthalmology patients). Managing to address these aspects would allow providing a better user experience for people visiting the website. Since digital humans are not yet extensively adopted in the healthcare domain, few design guidelines are available. The work employed a human-centered design approach, to gather requirements and feedback from users, and led to defining six guidelines and an extensive set of observations about user experience and accessibility. These guidelines are: ensure that the digital human is as realistic as possible; create a clear and easy to follow conversation; present options simply and allow flexibility in choice methods; provide a text version of the content; ensure that easy and self-explanatory navigation; ensure compatibility with assistive technologies and provide flexibility, personalization and integration. The user research was divided into two phases. First, an exploratory research session was conducted, where ten participants were recruited to investigate the needs and expectations of people living with eye conditions towards an informative service and their first impressions of DHs. This session employed the semi-structured interview methodology, and the results informed the further development of the service. When the first proof of concept prototype version of the website was built, an evaluative research phase with eighteen participants was conducted. This session was conducted using the participant observation methodology paired with semi-structured elicitation interviews. Afterwards focus group sessions were organized to have the participants further discuss their experience. The user-based research was paired with expert evaluation using the cognitive walkthrough methodology and a simplified WCAG 2.1 accessibility assessment. Combining the two approaches gave a good overview of the merits and issues of the approach. The results of the research allowed building a good understanding of the positive and negative aspects of using a digital human as an agent in a conversational user interface. Users generally appreciated the concept: they found it engaging, trustworthy and easy to use. However, there are some aspects that could not be addressed during this research, and which need further understanding. The primary areas that need to be addressed are guidance, navigation, and error management. Nonetheless, the positive feedback gathered from the participants of the evaluation sessions proves that it is worth investing in the research and development of this relatively new kind of service. In fact, the results of the work show that having a digital human as agent for a conversation-based informative service in healthcare has strong potential, in terms of both accessibility and engagement