Towards socially adaptive robots : A novel method for real time recognition of human-robot interaction styles

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/ICHR.2008.4756004Automatically detecting different styles of play in human-robot interaction is a key challenge towards adaptive robots, i.e. robots that are able to regulate the interactions and adapt to different interaction styles of the robot users. In this paper we present a novel algorithm for pattern recognition in human-robot interaction, the Cascaded Information Bottleneck Method. We apply it to real-time autonomous recognition of human-robot interaction styles. This method uses an information theoretic approach and enables to progressively extract relevant information from time series. It relies on a cascade of bottlenecks, the bottlenecks being trained one after the other according to the existing Agglomerative Information Bottleneck Algorithm. We show that a structure for the bottleneck states along the cascade emerges and we introduce a measure to extrapolate unseen data. We apply this method to real-time recognition of Human-Robot Interaction Styles by a robot in a detailed case study. The algorithm has been implemented for real interactions between humans and a real robot. We demonstrate that the algorithm, which is designed to operate real time, is capable of classifying interaction styles, with a good accuracy and a very acceptable delay. Our future work will evaluate this method in scenarios on robot-assisted therapy for children with autism.Peer reviewe

Using real-time recognition of human-robot interaction styles for creating adaptive robot behaviour in robot-assisted play

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/ALIFE.2009.4937693This paper presents an application of the Cascaded Information Bottleneck Method for real-time recognition of Human-Robot Interaction styles in robot-assisted play. This method, that we have developed, is implemented here for an adaptive robot that can recognize and adapt to children's play styles in real time. The robot rewards well-balanced interaction styles and encourages children to engage in the interaction. The potential impact of such an adaptive robot in robot-assisted play for children with autism is evaluated through a study conducted with seven children with autism in a school. A statistical analysis of the results shows the positive impact of such an adaptive robot on the children's play styles and on their engagement in the interaction with the robot

Investment Spikes: New Facts and a General Equilibrium Exploration

Using plant-level data from Chile and the U.S. we show that investment spikes are highly pro-cyclical, so much so that changes in the number of establishments undergoing investment spikes (the "extensive margin") account for the bulk of variation in aggregate investment. The number of establishments undergoing investment spikes also has independent predictive power for aggregate investment, even controlling for past investment and sales. We re-calibrate the Thomas (2002) model (that includes fixed costs of investing) so that it assigns a prominent role to extensive adjustment. The recalibrated model has different properties than the standard RBC model for some shocks.

A review of the processes and effects of droughts and summer floods in rivers and threats due to climate change on current adaptive strategies

Europe is expected to experience a greater frequency of floods and droughts as precipitation and evapotranspiration patterns are modified by climate change in future. Several large scale drought and flooding events have occurred in Europe since 2000. Studies of drought are rare but indicate important impacts on freshwater habitats, water quality, plants and animals, which may have wider consequences for ecosystem functioning. The main factors determining the impacts of droughts and floods are event duration and seasonality of the event. A diverse habitat distribution and the presence of refugia at the reach scale confer the most resilience against droughts and floods. Management measures will also be impacted particularly with regard to riparian zones, channel morphology, flow and floodplain connectivity. However there is a conflict between management actions that target the effects of drought, and those that target floods. This report reviews information on droughts and aseasonal floods (summer floods) published since 2000 with a principal focus on small lowland rivers. Using several recent (post 2000) reviews on these topics, we describe abiotic and biotic effects of droughts and floods, providing recent European examples where possible. We explain the current status of droughts and summer floods in Europe, and where the main sources of data can be found. We highlight the threats posed by these phenomena to some of the most common current adaptive management strategies in place in the EU. To this end we use measures already described within REFRESH under Deliverables 1.1 and 1.2, and we focused solely on adaptive measures relating to riparian zones, channel morphology, flow and floodplain connectivity

Cosmic Neutron Star Merger Rate and Gravitational Waves constrained by the R Process Nucleosynthesis

The cosmic evolution of the neutron star merger (NSM) rate can be deduced from the observed cosmic star formation rate. This allows to estimate the rate expected in the horizon of the gravitational wave detectors advanced Virgo and ad LIGO and to compare those rates with independent predictions. In this context, the rapid neutron capture process, or r process, can be used as a constraint assuming NSM is the main astrophysical site for this nucleosynthetic process. We compute the early cosmic evolution of a typical r process element, Europium. Eu yields from NSM are taken from recent nucleosynthesis calculations. The same approach allows to compute the cosmic rate of Core Collapse SuperNovae (CCSN) and the associated evolution of Eu. We find that the bulk of Eu observations at high iron abundance can be rather well fitted by either CCSN or NSM scenarios. However, at lower metallicity, the early Eu cosmic evolution favors NSM as the main astrophysical site for the r process. A comparison between our calculations and spectroscopic observations at very low metallicities allows to constrain the coalescence timescale in the NSM scenario to about 0.1 to 0.2 Gyr. These values are in agreement with the coalescence timescales of some observed binary pulsars. Finally, the cosmic evolution of Eu is used to put constraints on the NSM rate, the merger rate in the horizon of the gravitational wave detectors advanced Virgo/ad LIGO, as well as the expected rate of electromagnetic counterparts to mergers (kilonovae) in large near-infrared surveys.Comment: accepted in MNRAS, 19 page

Three-axis attitude determination via Kalman filtering of magnetometer data

A three-axis Magnetometer/Kalman Filter attitude determination system for a spacecraft in low-altitude Earth orbit is developed, analyzed, and simulation tested. The motivation for developing this system is to achieve light weight and low cost for an attitude determination system. The extended Kalman filter estimates the attitude, attitude rates, and constant disturbance torques. Accuracy near that of the International Geomagnetic Reference Field model is achieved. Covariance computation and simulation testing demonstrate the filter's accuracy. One test case, a gravity-gradient stabilized spacecraft with a pitch momentum wheel and a magnetically-anchored damper, is a real satellite on which this attitude determination system will be used. The application to a nadir pointing satellite and the estimation of disturbance torques represent the significant extensions contributed by this paper. Beyond its usefulness purely for attitude determination, this system could be used as part of a low-cost three-axis attitude stabilization system

Parton Propagation and Fragmentation in QCD Matter

We review recent progress in the study of parton propagation, interaction and fragmentation in both cold and hot strongly interacting matter. Experimental highlights on high-energy hadron production in deep inelastic lepton-nucleus scattering, proton-nucleus and heavy-ion collisions, as well as Drell-Yan processes in hadron-nucleus collisions are presented. The existing theoretical frameworks for describing the in-medium interaction of energetic partons and the space-time evolution of their fragmentation into hadrons are discussed and confronted to experimental data. We conclude with a list of theoretical and experimental open issues, and a brief description of future relevant experiments and facilities.Comment: Invited review paper for "Rivista del Nuovo Cimento". 112 pages, 67 figures, 13 table