The role of the vocal stream in telepresence communication

This paper helps in developing a new telepresence TP that will capture the vocal stream, and allow users to relate to natural behaviours that spontaneously arise during speech. Most of the work in affective computing within telepresence robot platforms adds to current research and knowledge generation as opposed to application. Consequently, users do not get clear benefits from them in the real world. The main reason behind this lack of benefit is that most research does not represent reality, and the actual capabilities we have in the real world do not match the capabilities that are used in research. Therefore, contemporary telepresence robot design should be based on an understanding of different aspects of human-human interaction (HHI) in regard to that which can be feasibly implemented in TP. Thus, this study will provided step by step guidelines to govern the creation of practical natural user interfaces using the vocal stream

Examining the role of smart TVs and VR HMDs in synchronous at-a-distance media consumption

This article examines synchronous at-a-distance media consumption from two perspectives: How it can be facilitated using existing consumer displays (through TVs combined with smartphones), and imminently available consumer displays (through virtual reality (VR) HMDs combined with RGBD sensing). First, we discuss results from an initial evaluation of a synchronous shared at-a-distance smart TV system, CastAway. Through week-long in-home deployments with five couples, we gain formative insights into the adoption and usage of at-a-distance media consumption and how couples communicated during said consumption. We then examine how the imminent availability and potential adoption of consumer VR HMDs could affect preferences toward how synchronous at-a-distance media consumption is conducted, in a laboratory study of 12 pairs, by enhancing media immersion and supporting embodied telepresence for communication. Finally, we discuss the implications these studies have for the near-future of consumer synchronous at-a-distance media consumption. When combined, these studies begin to explore a design space regarding the varying ways in which at-a-distance media consumption can be supported and experienced (through music, TV content, augmenting existing TV content for immersion, and immersive VR content), what factors might influence usage and adoption and the implications for supporting communication and telepresence during media consumption

A study on the Lombard Effect in telepresence robotics

In this study, we present a new experiment in order to study the Lombard effect in telepresence robotics. In this experiment, one person talks with a robot controled remotely by someone in a different room. The remote pilot (R) is immersed in both environments, while the local interlocutor (L) interacts directly with the robot. In this context, the position of the noise source, in the remote or in the local room, may modify the subjects' voice adaptations. In order to study in details this phenomenon, we propose four particular conditions: no added noise, noise in room R heard only by R, virtual noise in room L heard only by R, and noise in room L heard by both R and L. We measured the variations of maximum intensity in order to quantify the Lombard effect. Our results show that there is indeed a modification of voice intensity in all noisy conditions. However, the amplitude of this modification varies depending on the condition

Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environments

Population ageing and pandemics recently demonstrate to cause isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and elderly monitoring is one of the services a robot can handle for collective well-being. Despite these emerging needs, in the actual landscape of robotic assistants there are no platform which successfully combines a reliable mobility in cluttered domestic spaces, with lightweight and offline Artificial Intelligence (AI) solutions for perception and interaction. In this work, we present Marvin, a novel assistive robotic platform we developed with a modular layer-based architecture, merging a flexible mechanical design with cutting-edge AI for perception and vocal control. We focus the design of Marvin on three target service functions: monitoring of elderly and reduced-mobility subjects, remote presence and connectivity, and night assistance. Compared to previous works, we propose a tiny omnidirectional platform, which enables agile mobility and effective obstacle avoidance. Moreover, we design a controllable positioning device, which easily allows the user to access the interface for connectivity and extends the visual range of the camera sensor. Nonetheless, we delicately consider the privacy issues arising from private data collection on cloud services, a critical aspect of commercial AI-based assistants. To this end, we demonstrate how lightweight deep learning solutions for visual perception and vocal command can be adopted, completely running offline on the embedded hardware of the robot.Comment: 20 pages, 9 figures, 3 tabl

Performance and Complexity Co-Evaluations of MPEG4-ALS Compression Standard for Low-Latency Music Compression

In this thesis compression ratio and latency of different classical audio music tracks are analyzed with various encoder options of MPEG4ALS. Different tracks of audio music tracks are tested with MPEG4-ALS coder with different options to find the optimum values for various parameters to obtain maximum compression ratio with minimum CPU time (encoder and decoder time). Optimum frame length for which the compression ratio saturates for music audio is found out by analyzing the results when different classical music tracks are experimented with various frame lengths. Also music tracks with varying sampling rate are tested and the compression ratio and latency relationship with sampling rate are analyzed and plotted. It is found that the compression gain rate was higher when the codec complexity is less, and joint channel correlation and long term correlations are not significant and latency trade off make the more complex codec options unsuitable for applications where latency is critical. When the two entropy coding options, Rice code and BGMC (Block Gilbert-Moore Codes) are applied on various classical music tracks, it was obvious that the Rice code is more suitable for low-latency applications compared to the more complex BGMC coding, as BGMC improved compression performance with the expense of latency, making it unsuitable in real-time applications

A 3D virtual environment for social telepresence

We examine OnLive Traveler as a case study. Traveler is a clientserver application allowing real-time synchronous communication between individuals over the Internet. The Traveler client interface presents the user with a shared virtual 3D world, in which participants are represented by avatars. The primary mode of communication is through multi-point, full duplex voice, managed by the server. Our design goal was to develop a virtual community system that emulates natural social paradigms, allowing the participants to sense a tele-presence, the subjective sensation that remote users are actually co-located within a virtual space. Once this level of immersive "sense of presence" and engagement is achieved, we believe an enhanced level of socialization, learning, and communication are achievable. We examine a number of very specific design and implementation decisions that were made to achieve this goal within platform constraints. We also will detail some observed results gleaned from the virtual community userbase, which has been online for several year

Human-Machine Interfaces for Service Robotics

L'abstract è presente nell'allegato / the abstract is in the attachmen