Integrating Constrained Experiments in Long-term Human-Robot Interaction using Task– and Scenario–based Prototyping

© 2015 The Author(s). Published with license by Taylor & Francis© Dag Sverre Syrdal, Kerstin Dautenhahn, Kheng Lee Koay, and Wan Ching Ho. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. The moral rights of the named author(s) have been asserted. Permission is granted subject to the terms of the License under which the work was published. Please check the License conditions for the work which you wish to reuse. Full and appropriate attribution must be given. This permission does not cover any third party copyrighted material which may appear in the work requested.In order to investigate how the use of robots may impact everyday tasks, 12 participants interacted with a University of Hertfordshire Sunflower robot over a period of 8 weeks in the university’s Robot House.. Participants performed two constrained tasks, one physical and one cognitive , 4 times over this period. Participant responses were recorded using a variety of measures including the System Usability Scale and the NASA Task Load Index . The use of the robot had an impact on the experienced workload of the participants differently for the two tasks, and this effect changed over time. In the physical task, there was evidence of adaptation to the robot’s behaviour. For the cognitive task, the use of the robot was experienced as more frustrating in the later weeks.Peer reviewe

Sharing spaces, sharing lives - The impact of robot mobility on user perception of a home companion robot

Syrdal D.S., Dautenhahn K., Koay K.L., Walters M.L., Ho W.C. (2013) 'Sharing Spaces, Sharing Lives – The Impact of Robot Mobility on User Perception of a Home Companion Robot', In: Herrmann G., Pearson M.J., Lenz A., Bremner P., Spiers A., Leonards U. (eds) Social Robotics. ICSR 2013. Lecture Notes in Computer Science, Vol 8239. DOI: 10.1007/978-3-319-02675-6_32 Paper presented at the International Conference on Social Robotics, (ICSR) 2013, Bristol, UK, 27-29 October 2013. © Springer-Verlag Berlin Heidelberg 2013This paper examines the role of spatial behaviours in building human-robot relationships. A group of 8 participants, involved in a long-term HRI study, interacted with an artificial agent using different embodiments over a period of one and a half months. The robot embodiments had similar interactional and expressive capabilities, but only one embodiment was capable of moving. Participants reported feeling closer to the robot embodiment capable of physical movement and rated it as more likable. Results suggest that while expressive and communicative abilities may be important in terms of building affinity and rapport with human interactants, the importance of physical interactions when negotiating shared physical space in real time should not be underestimated

Topology of the ground state of two interacting Bose-Einstein condensates

We investigate the spatial patterns of the ground state of two interacting Bose-Einstein condensates. We consider the general case of two different atomic species (with different mass and in different hyperfine states) trapped in a magnetic potential whose eigenaxes can be tilted with respect to the vertical direction, giving rise to a non trivial gravitational sag. Despite the complicated geometry, we show that within the Thomas-Fermi approximations and upon appropriate coordinate transformations, the equations for the density distributions can be put in a very simple form. Starting from this expressions we give explicit rules to classify the different spatial topologies which can be produced, and we discuss how the behavior of the system is influenced by the inter-atomic scattering length. We also compare explicit examples with the full numeric Gross-Pitaevskii calculation.Comment: RevTex4, 8 pages, 7 figure

Boundary of two mixed Bose-Einstein condensates

The boundary of two mixed Bose-Einstein condensates interacting repulsively was considered in the case of spatial separation at zero temperature. Analytical expressions for density distribution of condensates were obtained by solving two coupled nonlinear Gross-Pitaevskii equations in cases corresponding weak and strong separation. These expressions allow to consider excitation spectrum of a particle confined in the vicinity of the boundary as well as surface waves associated with surface tension.Comment: 6 pages, 3 figures, submitted to Phys.Rev.

Universal physics of 2+1 particles with non-zero angular momentum

The zero-energy universal properties of scattering between a particle and a dimer that involves an identical particle are investigated for arbitrary scattering angular momenta. For this purpose, we derive an integral equation that generalises the Skorniakov - Ter-Martirosian equation to the case of non-zero angular momentum. As the mass ratio between the particles is varied, we find various scattering resonances that can be attributed to the appearance of universal trimers and Efimov trimers at the collisional threshold.Comment: 6 figure

Symmetric-Asymmetric transition in mixtures of Bose-Einstein condensates

We propose a new kind of quantum phase transition in phase separated mixtures of Bose-Einstein condensates. In this transition, the distribution of the two components changes from a symmetric to an asymmetric shape. We discuss the nature of the phase transition, the role of interface tension and the phase diagram. The symmetric to asymmetric transition is the simplest quantum phase transition that one can imagine. Careful study of this problem should provide us new insight into this burgeoning field of discovery.Comment: 6 pages, 3 eps figure

Dynamics of spin-2 Bose condensate driven by external magnetic fields

Dynamic response of the F=2 spinor Bose-Einstein condensate (BEC) under the influence of external magnetic fields is studied. A general formula is given for the oscillation period to describe population transfer from the initial polar state to other spin states. We show that when the frequency and the reduced amplitude of the longitudinal magnetic field are related in a specific manner, the population of the initial spin-0 state will be dynamically localized during time evolution. The effects of external noise and nonlinear spin exchange interaction on the dynamics of the spinor BEC are studied. We show that while the external noise may eventually destroy the Rabi oscillations and dynamic spin localization, these coherent phenomena are robust against the nonlinear atomic interaction.Comment: 16 pages, 7 figures. accepted by Phys. Rev.

Constraining Maximally Supersymmetric Membrane Actions

We study the recent construction of maximally supersymmetric field theory Lagrangians in three spacetime dimensions that are based on algebras with a triple product. Assuming that the algebra has a positive definite metric compatible with the triple product, we prove that the only non-trivial examples are either the well known case based on a four dimensional algebra or direct sums thereof.Comment: 11 pages, very minor changes. Reference added. Version to be published in JHE

Atom trapping and two-dimensional Bose-Einstein condensates in field-induced adiabatic potentials

We discuss a method to create two-dimensional traps as well as atomic shell, or bubble, states for a Bose-Einstein condensate initially prepared in a conventional magnetic trap. The scheme relies on the use of time-dependent, radio frequency-induced adiabatic potentials. These are shown to form a versatile and robust tool to generate novel trapping potentials. Our shell states take the form of thin, highly stable matter-wave bubbles and can serve as stepping-stones to prepare atoms in highly-excited trap eigenstates or to study `collapse and revival phenomena'. Their creation requires gravitational effects to be compensated by applying additional optical dipole potentials. However, in our scheme gravitation can also be exploited to provide a route to two-dimensional atom trapping. We demonstrate the loading process for such a trap and examine experimental conditions under which a 2D condensate may be prepared.Comment: 16 pages, 10 figure

Dimensional and Temperature Crossover in Trapped Bose Gases

We investigate the long-range phase coherence of homogeneous and trapped Bose gases as a function of the geometry of the trap, the temperature, and the mean-field interactions in the weakly interacting limit. We explicitly take into account the (quasi)condensate depletion due to quantum and thermal fluctuations, i.e., we include the effects of both phase and density fluctuations. In particular, we determine the phase diagram of the gas by calculating the off-diagonal one-particle density matrix and discuss the various crossovers that occur in this phase diagram and the feasibility of their experimental observation in trapped Bose gases.Comment: One figure added, typos corrected, refernces adde