Remote laboratories in teaching and learning – issues impinging on widespread adoption in science and engineering education

This paper discusses the major issues that impinge on the widespread adoption of remote controlled laboratories in science and engineering education. This discussion largely emerges from the work of the PEARL project and is illustrated with examples and evaluation data from the project. Firstly the rationale for wanting to offer students remote experiments is outlined. The paper deliberately avoids discussion of technical implementation issues of remote experiments but instead focuses on issues that impinge on the specification and design of such facilities. This includes pedagogic, usability and accessibility issues. It compares remote experiments to software simulations. It also considers remote experiments in the wider context for educational institutions and outlines issues that will affect their decisions as to whether to adopt this approach. In conclusion it argues that there are significant challenges to be met if remote laboratories are to achieve a widespread presence in education but expresses the hope that this delineation of the issues is a contribution towards meeting these challenges

Online Robot Introspection via Wrench-based Action Grammars

Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act paradigm, however more recently robots are undergoing a sense-plan-act-verify paradigm. In this work, we present a principled methodology to bootstrap online robot introspection for contact tasks. In effect, we are trying to enable the robot to answer the question: what did I do? Is my behavior as expected or not? To this end, we analyze noisy wrench data and postulate that the latter inherently contains patterns that can be effectively represented by a vocabulary. The vocabulary is generated by segmenting and encoding the data. When the wrench information represents a sequence of sub-tasks, we can think of the vocabulary forming a sentence (set of words with grammar rules) for a given sub-task; allowing the latter to be uniquely represented. The grammar, which can also include unexpected events, was classified in offline and online scenarios as well as for simulated and real robot experiments. Multiclass Support Vector Machines (SVMs) were used offline, while online probabilistic SVMs were are used to give temporal confidence to the introspection result. The contribution of our work is the presentation of a generalizable online semantic scheme that enables a robot to understand its high-level state whether nominal or abnormal. It is shown to work in offline and online scenarios for a particularly challenging contact task: snap assemblies. We perform the snap assembly in one-arm simulated and real one-arm experiments and a simulated two-arm experiment. This verification mechanism can be used by high-level planners or reasoning systems to enable intelligent failure recovery or determine the next most optima manipulation skill to be used.Comment: arXiv admin note: substantial text overlap with arXiv:1609.0494

Lights, Camera, Action! Exploring Effects of Visual Distractions on Completion of Security Tasks

Human errors in performing security-critical tasks are typically blamed on the complexity of those tasks. However, such errors can also occur because of (possibly unexpected) sensory distractions. A sensory distraction that produces negative effects can be abused by the adversary that controls the environment. Meanwhile, a distraction with positive effects can be artificially introduced to improve user performance. The goal of this work is to explore the effects of visual stimuli on the performance of security-critical tasks. To this end, we experimented with a large number of subjects who were exposed to a range of unexpected visual stimuli while attempting to perform Bluetooth Pairing. Our results clearly demonstrate substantially increased task completion times and markedly lower task success rates. These negative effects are noteworthy, especially, when contrasted with prior results on audio distractions which had positive effects on performance of similar tasks. Experiments were conducted in a novel (fully automated and completely unattended) experimental environment. This yielded more uniform experiments, better scalability and significantly lower financial and logistical burdens. We discuss this experience, including benefits and limitations of the unattended automated experiment paradigm

Implementation of explosion safety regulations in design of a mobile robot for coal mines

The article focuses on specific challenges of the design of a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after a catastrophic event. Systems that are designated for these conditions must meet specific standards and regulations. In this paper is discussed primarily the main conception of meeting explosion safety regulations of European Union 2014/34/EU (also called ATEX-from French "Appareils destines a etre utilises en ATmospheres Explosives") for Group I (equipment intended for use in underground mines) and Category M1 (equipment designed for operation in the presence of an explosive atmosphere). An example of a practical solution is described on main subsystems of the mobile robot TeleRescuera teleoperated robot with autonomy functions, a sensory subsystem with multiple cameras, three-dimensional (3D) mapping and sensors for measurement of gas concentration, airflow, relative humidity, and temperatures. Explosion safety is ensured according to the Technical Report CLC/TR 60079-33 "s" by two main independent protections-mechanical protection (flameproof enclosure) and electrical protection (automatic methane detector that disconnects power when methane breaches the enclosure and gets inside the robot body).Web of Science811art. no. 230

IntRepair: Informed Repairing of Integer Overflows

Integer overflows have threatened software applications for decades. Thus, in this paper, we propose a novel technique to provide automatic repairs of integer overflows in C source code. Our technique, based on static symbolic execution, fuses detection, repair generation and validation. This technique is implemented in a prototype named IntRepair. We applied IntRepair to 2,052C programs (approx. 1 million lines of code) contained in SAMATE's Juliet test suite and 50 synthesized programs that range up to 20KLOC. Our experimental results show that IntRepair is able to effectively detect integer overflows and successfully repair them, while only increasing the source code (LOC) and binary (Kb) size by around 1%, respectively. Further, we present the results of a user study with 30 participants which shows that IntRepair repairs are more than 10x efficient as compared to manually generated code repairsComment: Accepted for publication at the IEEE TSE journal. arXiv admin note: text overlap with arXiv:1710.0372

Is conflict adaptation triggered by feature repetitions? An unexpected finding

For decades, cognitive adaptation to response conflict has been considered to be the hallmark of cognitive control. Notwithstanding a vast amount of evidence ruling out low-level interpretations of these findings, disbelief still exists with regard to the underlying cause of the observed effects. Especially when considering cognitive adaptation to unconscious conflict, it is still a matter of debate whether repetitions of features between trials might explain this intriguing finding rather than the involvement of unconscious control. To this purpose, we conducted two masked priming experiments in which four different responses to four different stimuli were required. This allowed us to completely eliminate repetitions of prime and target over consecutive trials. Independent of whether conflicting information was presented clearly visible or almost imperceptible, the results showed an unexpected pattern. Contrary to the regular congruency sequence effect (CSE; i.e., classic Gratton effect), in both experiments the congruency effect increased following incongruent trials. Interestingly, this reversed effect completely disappeared when we eliminated all trials with feature repetitions from the analysis. A third experiment, in which feature repetitions were excluded a priori, showed a small but regular CSE in the error rates only. Given that feature repetitions are theoretically thought to create a regular CSE, our results are not in line with an interpretation in terms of feature repetitions nor with an interpretation in terms of cognitive control. We conclude that examining cognitive adaptation with or without feature repetitions might be more difficult to conceive than is often suggested in the literature

Semi-autonomous scheme for pushing micro-objects

-In many microassembly applications, it is often desirable to position and orient polygonal micro-objects lying on a planar surface. Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object will not yield a pure translational motion. In order to translate a micro-object, the line of pushing should pass through the center of friction. In this paper, a semi-autonomous scheme based on hybrid vision/force feedback is proposed to push microobjects with human assistance using a custom built telemicromanipulation setup to achieve pure translational motion. The pushing operation is divided into two concurrent processes: In one process human operator who acts as an impedance controller alters the velocity of the pusher while in contact with the micro-object through scaled bilateral teleoperation with force feedback. In the other process, the desired line of pushing for the micro-object is determined continuously using visual feedback procedures so that it always passes through the varying center of friction. Experimental results are demonstrated to prove nanoNewton range force sensing, scaled bilateral teleoperation with force feedback and pushing microobjects