Detecting Gaze Direction Using Robot-Mounted and Mobile-Device Cameras

Two common channels through which humans communicate are speech andgaze. Eye gaze is an important mode of communication: it allows people tobetter understand each others’ intentions, desires, interests, and so on. The goalof this research is to develop a framework for gaze triggered events which canbe executed on a robot and mobile devices and allows to perform experiments.We experimentally evaluate the framework and techniques for extracting gazedirection based on a robot-mounted camera or a mobile-device camera whichare implemented in the framework. We investigate the impact of light on theaccuracy of gaze estimation, and also how the overall accuracy depends on usereye and head movements. Our research shows that the light intensity is im-portant, and the placement of light source is crucial. All the robot-mountedgaze detection modules we tested were found to be similar with regard to ac-curacy. The framework we developed was tested in a human-robot interactionexperiment involving a job-interview scenario. The flexible structure of thisscenario allowed us to test different components of the framework in variedreal-world scenarios, which was very useful for progressing towards our long-term research goal of designing intuitive gaze-based interfaces for human robotcommunication

Gaze aversion in conversational settings: An investigation based on mock job interview

We report the results of an empirical study on gaze aversion during dyadic human-to-human conversation in an interview setting. To address various methodological challenges in as- sessing gaze-to-face contact, we followed an approach where the experiment was conducted twice, each time with a different set of interviewees. In one of them the interviewer’s gaze was tracked with an eye tracker, and in the other the interviewee’s gaze was tracked. The gaze sequences obtained in both experiments were analyzed and modeled as Discrete-Time Markov Chains. The results show that the interviewer made more frequent and longer gaze contacts compared to the interviewee. Also, the interviewer made mostly diagonal gaze aversions, whereas the interviewee made sideways aversions (left or right). We discuss the relevance of this research for Human-Robot Interaction, and discuss some future research problems

The Concept of Autonomous Power Supply System Fed with Renewable Energy Sources

Sustainable economic development requires the use of renewable energy sources in a rational and thoughtful way. In Polish conditions the use of several types of renewable energy sources on a single setup is a new issue. In particular, hybrid devices in conjunction with intelligent energy systems, such as lighting systems are generally not used. Therefore, the Polish energy production still relies on the burning of coal. Despite their advantages, renewable energy sources are characterized by seasonality and considerable instability. Access to renewable energy varies daily and seasonally, hence activities promoting the use of autonomous, hybrid power systems must be intensified. The presented research aims at the development of the Autonomous Power Supply (APS) system based on the so-called energy mix. Such a system works in an isolated arrangement and serves to reliably supply electricity from renewable sources for small residential or public utility devices in an urban area. Systems with up to 3 kW power consist of modules, whose modular design allows the combination of various power configurations and types of renewable energy used. The basic system consists of a primary power source, additional power source, emergency power source, energy storage device, weather station and controller. The energy mix depends on the geographical location of the system. The emergency source can be implemented as an on-grid connector or fuel power generator with the participation of 100% until the primary or accessory power source failure is removed. The energy storage system consists of batteries or supercapacitors. The proposed system can be combined to create a local network that automatically responds to energy shortages in various network nodes by adjusting the supply of electricity within the network depending on its needs. For Poland realistic solutions in this article are the new and modern answer to these requirements

On the role of trust in child-robot interaction

In child-robot interaction, the element of trust towards the robot is critical. This is particularly important the first time the child meets the robot, as the trust gained during this interaction can play a decisive role in future interactions. We present an in-the-wild study where Polish kindergartners interacted with a Pepper robot. The videos of this study were analyzed for the issues of trust, anthropomorphization, and reaction to malfunction, with the assumption that the last two factors influence the children’s trust towards Pepper. Our results reveal children’s interest in the robot performing tasks specific for humans, highlight the importance of the conversation scenario and the need for an extended library of answers provided by the robot about its abilities or origin and show how children tend to provoke the robot

Novel Sensitizing Agent Formulation for Bulk Emulsion Explosives with Improved Energetic Parameters

Bulk emulsion explosives, although they are very convenient and safe to use, also have disadvantages, with the main one being the relatively low power in relation to cartridged emulsion explosives or classic nitroesters (e.g., dynamites). Therefore, materials of this type currently have only limited use. In addition, these materials are characterized by the variability of blasting parameters over time from loading into the blasthole, which is closely dependent on the utilised mining method of the mine, which makes it difficult to precisely control the fragmentation. The industry is trying to respond to the demand for bulk emulsion explosives with increased energy and improved parameter stability, but so far it has not been possible to do so in a safe and effective way. Methods of improving blasting parameters mainly rely on additives to oxidant solutions during production, which creates additional risks at the production stage, as it involves handling hot and concentrated ammonium nitrate solutions, for which there are known cases of uncontrolled decomposition of such solutions, even leading to an explosion. This paper presents a method of improving the thermodynamic parameters and the stability of the sensitization reaction without the need for changes in the oxidant solution

Emulsion Explosives: A Tutorial Review and Highlight of Recent Progress

Emulsion explosives (EE) have been commercially available in various forms for over 50 years. Over this period, the popularity and production technology of this class of energetic materials have been developing constantly. Despite this rapid rise to prominence and, in some applications, prevalence over traditional energetic materials, remarkably little information is available on the physicochemical and energetic properties of these materials and factors affecting those properties. This work is dedicated to presenting the fundamental information relevant to the features, properties and applications of EEs, while highlighting the most significant recent progress pertaining to those materials. Particular emphasis has been given to providing information about the types, composition, modifications and detonation parameters of EEs, as well as to highlighting the less obvious, emerging applications of EEs

The Stricter the Better? The Relationship between Targeted HbA1c Values and Metabolic Control of Pediatric Type 1 Diabetes Mellitus

Introduction. It remains unclear how HbA1c recommendations influence metabolic control of paediatric patients with type 1 diabetes mellitus. To evaluate this we compared reported HbA1c with guideline thresholds. Materials and Methods. We searched systematically MEDLINE and EMBASE for studies reporting on HbA1c in children with T1DM and grouped them according to targeted HbA1c obtained from regional guidelines. We assessed the discrepancies in the metabolic control between these groups by comparing mean HbA1c extracted from each study and the differences between actual and targeted HbA1c. Results. We included 105 from 1365 searched studies. The median (IQR) HbA1c for the study population was 8.30% (8.00%–8.70%) and was lower in “6.5%” than in “7.5%” as targeted HbA1c level (8.20% (7.85%–8.57%) versus 8.40% (8.20%–8.80%); p=0.028). Median difference between actual and targeted HbA1c was 1.20% (0.80%–1.70%) and was higher in “6.5%” than in “7.5%” (1.70% (1.30%–2.07%) versus 0.90% (0.70%–1.30%), resp.; p<0.001). Conclusions. Our study indicates that the 7.5% threshold results in HbA1c levels being closer to the therapeutic goal, but the actual values are still higher than those observed in the “6.5%” group. A meta-analysis of raw data from national registries or a prospective study comparing both approaches is warranted as the next step to examine this subject further

Reduced Cancer Incidence in Huntington's Disease: Analysis in the Registry Study

Background: People with Huntington's disease (HD) have been observed to have lower rates of cancers. Objective: To investigate the relationship between age of onset of HD, CAG repeat length, and cancer diagnosis. Methods: Data were obtained from the European Huntington's disease network REGISTRY study for 6540 subjects. Population cancer incidence was ascertained from the GLOBOCAN database to obtain standardised incidence ratios of cancers in the REGISTRY subjects. Results: 173/6528 HD REGISTRY subjects had had a cancer diagnosis. The age-standardised incidence rate of all cancers in the REGISTRY HD population was 0.26 (CI 0.22-0.30). Individual cancers showed a lower age-standardised incidence rate compared with the control population with prostate and colorectal cancers showing the lowest rates. There was no effect of CAG length on the likelihood of cancer, but a cancer diagnosis within the last year was associated with a greatly increased rate of HD onset (Hazard Ratio 18.94, p < 0.001). Conclusions: Cancer is less common than expected in the HD population, confirming previous reports. However, this does not appear to be related to CAG length in HTT. A recent diagnosis of cancer increases the risk of HD onset at any age, likely due to increased investigation following a cancer diagnosis