Tactile Interactions with a Humanoid Robot : Novel Play Scenario Implementations with Children with Autism

Acknowledgments: This work has been partially supported by the European Commission under contract number FP7-231500-ROBOSKIN. Open Access: This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.The work presented in this paper was part of our investigation in the ROBOSKIN project. The project has developed new robot capabilities based on the tactile feedback provided by novel robotic skin, with the aim to provide cognitive mechanisms to improve human-robot interaction capabilities. This article presents two novel tactile play scenarios developed for robot-assisted play for children with autism. The play scenarios were developed against specific educational and therapeutic objectives that were discussed with teachers and therapists. These objectives were classified with reference to the ICF-CY, the International Classification of Functioning – version for Children and Youth. The article presents a detailed description of the play scenarios, and case study examples of their implementation in HRI studies with children with autism and the humanoid robot KASPAR.Peer reviewedFinal Published versio

A Pilot Study with a Novel Setup for Collaborative Play of the Humanoid Robot KASPAR with children with autism

This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.This article describes a pilot study in which a novel experimental setup, involving an autonomous humanoid robot, KASPAR, participating in a collaborative, dyadic video game, was implemented and tested with children with autism, all of whom had impairments in playing socially and communicating with others. The children alternated between playing the collaborative video game with a neurotypical adult and playing the same game with the humanoid robot, being exposed to each condition twice. The equipment and experimental setup were designed to observe whether the children would engage in more collaborative behaviours while playing the video game and interacting with the adult than performing the same activities with the humanoid robot. The article describes the development of the experimental setup and its first evaluation in a small-scale exploratory pilot study. The purpose of the study was to gain experience with the operational limits of the robot as well as the dyadic video game, to determine what changes should be made to the systems, and to gain experience with analyzing the data from this study in order to conduct a more extensive evaluation in the future. Based on our observations of the childrens’ experiences in playing the cooperative game, we determined that while the children enjoyed both playing the game and interacting with the robot, the game should be made simpler to play as well as more explicitly collaborative in its mechanics. Also, the robot should be more explicit in its speech as well as more structured in its interactions. Results show that the children found the activity to be more entertaining, appeared more engaged in playing, and displayed better collaborative behaviours with their partners (For the purposes of this article, ‘partner’ refers to the human/robotic agent which interacts with the children with autism. We are not using the term’s other meanings that refer to specific relationships or emotional involvement between two individuals.) in the second sessions of playing with human adults than during their first sessions. One way of explaining these findings is that the children’s intermediary play session with the humanoid robot impacted their subsequent play session with the human adult. However, another longer and more thorough study would have to be conducted in order to better re-interpret these findings. Furthermore, although the children with autism were more interested in and entertained by the robotic partner, the children showed more examples of collaborative play and cooperation while playing with the human adult.Peer reviewe

Temporary Intervention and Long Term Legacy: Lessons from London Case Studies

The paper explores the issue of temporary projects on vacant land focusing on London in the 2007-2012 downturn. Using a case study approach, a link has been identified between the success of temporary projects and a longer-term vision, as well as a move toward better integration between temporary occupants and developer/land-owner. Within this paradox the whole idea of temporariness is put under question, as is the traditional mainstream depiction of bottom-up in opposition to top-down action. These trends are contextualised within the dynamics of recession that has triggered new types of creative conversations between parties traditionally considered in opposition and may contribute to reframing urban development as an incremental, organic and collaborative process

Control of an atom laser using feedback

A generalised method of using feedback to control Bose-Einstein condensates is introduced. The condensates are modelled by the Gross-Pitaevskii equation, so only semiclassical fluctations can be suppressed, and back-action from the measurement is ignored. We show that for any available control, a feedback scheme can be found to reduce the energy while the appropriate moment is still dynamic. We demonstrate these schemes by considering a condensate trapped in a harmonic potential that can be modulated in strength and position. The formalism of our feedback scheme also allows the inclusion of certain types of non-linear controls. If the non-linear interaction between the atoms can be controlled via a Feshbach resonance, we show that the feedback process can operate with a much higher efficiency.Comment: 6 pages, 7 figure

Spontaneous symmetry breaking in a quenched ferromagnetic spinor Bose condensate

A central goal in condensed matter and modern atomic physics is the exploration of many-body quantum phases and the universal characteristics of quantum phase transitions in so far as they differ from those established for thermal phase transitions. Compared with condensed-matter systems, atomic gases are more precisely constructed and also provide the unique opportunity to explore quantum dynamics far from equilibrium. Here we identify a second-order quantum phase transition in a gaseous spinor Bose-Einstein condensate, a quantum fluid in which superfluidity and magnetism, both associated with symmetry breaking, are simultaneously realized. $^{87}$Rb spinor condensates were rapidly quenched across this transition to a ferromagnetic state and probed using in-situ magnetization imaging to observe spontaneous symmetry breaking through the formation of spin textures, ferromagnetic domains and domain walls. The observation of topological defects produced by this symmetry breaking, identified as polar-core spin-vortices containing non-zero spin current but no net mass current, represents the first phase-sensitive in-situ detection of vortices in a gaseous superfluid.Comment: 6 pages, 4 figure

Atom laser coherence and its control via feedback

We present a quantum-mechanical treatment of the coherence properties of a single-mode atom laser. Specifically, we focus on the quantum phase noise of the atomic field as expressed by the first-order coherence function, for which we derive analytical expressions in various regimes. The decay of this function is characterized by the coherence time, or its reciprocal, the linewidth. A crucial contributor to the linewidth is the collisional interaction of the atoms. We find four distinct regimes for the linewidth with increasing interaction strength. These range from the standard laser linewidth, through quadratic and linear regimes, to another constant regime due to quantum revivals of the coherence function. The laser output is only coherent (Bose degenerate) up to the linear regime. However, we show that application of a quantum nondemolition measurement and feedback scheme will increase, by many orders of magnitude, the range of interaction strengths for which it remains coherent.Comment: 15 pages, 6 figures, revtex

The persistence landscape and some of its properties

Persistence landscapes map persistence diagrams into a function space, which may often be taken to be a Banach space or even a Hilbert space. In the latter case, it is a feature map and there is an associated kernel. The main advantage of this summary is that it allows one to apply tools from statistics and machine learning. Furthermore, the mapping from persistence diagrams to persistence landscapes is stable and invertible. We introduce a weighted version of the persistence landscape and define a one-parameter family of Poisson-weighted persistence landscape kernels that may be useful for learning. We also demonstrate some additional properties of the persistence landscape. First, the persistence landscape may be viewed as a tropical rational function. Second, in many cases it is possible to exactly reconstruct all of the component persistence diagrams from an average persistence landscape. It follows that the persistence landscape kernel is characteristic for certain generic empirical measures. Finally, the persistence landscape distance may be arbitrarily small compared to the interleaving distance.Comment: 18 pages, to appear in the Proceedings of the 2018 Abel Symposiu

Structure and mechanism of acetolactate decarboxylase

Acetolactate decarboxylase catalyzes the conversion of both enantiomers of acetolactate to the (R)-enantiomer of acetoin, via a mechanism that has been shown to involve a prior rearrangement of the non-natural (R)-enantiomer substrate to the natural (S)-enantiomer. In this paper, a series of crystal structures of ALDC complex with designed transition state mimics are reported. These structures, coupled with inhibition studies and site-directed mutagenesis provide an improved understanding of the molecular processes involved in the stereoselective decarboxylation/protonation events. A mechanism for the transformation of each enantiomer of acetolactate is proposed

Using ‘sport in the community schemes’ to tackle crime and drug use among young people: Some policy issues and problems

This is a PDF version of an article published in European physical education review © Sage, 2004. The definitive version is available at www.sagepub.com.This article discusses the effectiveness of sport in the community schemes such as the Positive Futures initative and Summer Splsh/Splash Extra in reducing crime and drug use amongst young people