In good company? : Perception of movement synchrony of a non-anthropomorphic robot

Copyright: © 2015 Lehmann et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot’s likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot®3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a) the powerful role that robot movements in general can have on participants’ perception of the robot, and b) that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.Peer reviewe

A band structure scenario for the giant spin-orbit splitting observed at the Bi/Si(111) interface

The Bi/Si(111) (sqrt{3} x sqrt{3})R30 trimer phase offers a prime example of a giant spin-orbit splitting of the electronic states at the interface with a semiconducting substrate. We have performed a detailed angle-resolved photoemission (ARPES) study to clarify the complex topology of the hybrid interface bands. The analysis of the ARPES data, guided by a model tight-binding calculation, reveals a previously unexplored mechanism at the origin of the giant spin-orbit splitting, which relies primarily on the underlying band structure. We anticipate that other similar interfaces characterized by trimer structures could also exhibit a large effect.Comment: 11 pages, 13 figure

Evolutionary Laws, Initial Conditions, and Gauge Fixing in Constrained Systems

We describe in detail how to eliminate nonphysical degrees of freedom in the Lagrangian and Hamiltonian formulations of a constrained system. Two important and distinct steps in our method are the fixing of ambiguities in the dynamics and the determination of inequivalent initial data. The Lagrangian discussion is novel, and a proof is given that the final number of degrees of freedom in the two formulations agrees. We give applications to reparameterization invariant theories, where we prove that one of the constraints must be explicitly time dependent. We illustrate our procedure with the examples of trajectories in spacetime and with spatially homogeneous cosmological models. Finally, we comment briefly on Dirac's extended Hamiltonian technique.Comment: 23 pages; plain TeX. To appear: Classical & Quantum Gravit

Ag-coverage-dependent symmetry of the electronic states of the Pt(111)-Ag-Bi interface: The ARPES view of a structural transition

We studied by angle-resolved photoelectron spectroscopy the strain-related structural transition from a pseudomorphic monolayer (ML) to a striped incommensurate phase in an Ag thin film grown on Pt(111). We exploited the surfactant properties of Bi to grow ordered Pt(111)-xMLAg-Bi trilayers with 0 < x < 5 ML, and monitored the dispersion of the Bi-derived interface states to probe the structure of the underlying Ag film. We find that their symmetry changes from threefold to sixfold and back to threefold in the Ag coverage range studied. Together with previous scanning tunneling microscopy and photoelectron diffraction data, these results provide a consistent microscopic description of the coverage-dependent structural transition.Comment: 10 pages, 9 figure

Generally covariant theories: the Noether obstruction for realizing certain space-time diffeomorphisms in phase space

Relying on known results of the Noether theory of symmetries extended to constrained systems, it is shown that there exists an obstruction that prevents certain tangent-space diffeomorphisms to be projectable to phase-space, for generally covariant theories. This main result throws new light on the old fact that the algebra of gauge generators in the phase space of General Relativity, or other generally covariant theories, only closes as a soft algebra and not a a Lie algebra. The deep relationship between these two issues is clarified. In particular, we see that the second one may be understood as a side effect of the procedure to solve the first. It is explicitly shown how the adoption of specific metric-dependent diffeomorphisms, as a way to achieve projectability, causes the algebra of gauge generators (constraints) in phase space not to be a Lie algebra --with structure constants-- but a soft algebra --with structure {\it functions}.Comment: 22 pages, version to be published in Classical & Quantum Gravit

On the equivalence of the Einstein-Hilbert and the Einstein-Palatini formulations of general relativity for an arbitrary connection

In the framework of the Einstein-Palatini formalism, even though the projective transformation connecting the arbitrary connection with the Levi Civita connection has been floating in the literature for a long time and perhaps the result was implicitly known in the affine gravity community, yet as far as we know Julia and Silva were the first to realise its gauge character. We rederive this result by using the Rosenfeld-Dirac-Bergmann approach to constrained Hamiltonian systems and do a comprehensive self contained analysis establishing the equivalence of the Einstein-Palatini and the metric formulations without having to impose the gauge choice that the connection is symmetric. We also make contact with the the Einstein-Cartan theory when the matter Lagrangian has fermions.Comment: 18 pages. Slight change in the title and wording of some sections to emphasize the main results. References added. Matches published versio

Canonical Noether symmetries and commutativity properties for gauge systems

For a dynamical system defined by a singular Lagrangian, canonical Noether symmetries are characterized in terms of their commutation relations with the evolution operators of Lagrangian and Hamiltonian formalisms. Separate characterizations are given in phase space, in velocity space, and through an evolution operator that links both spaces.Comment: 22 pages; some references updated, an uncited reference deleted, minor style change

Effect of lattice mismatch-induced strains on coupled diffusive and displacive phase transformations

Materials which can undergo slow diffusive transformations as well as fast displacive transformations are studied using the phase-field method. The model captures the essential features of the time-temperature-transformation (TTT) diagrams, continuous cooling transformation (CCT) diagrams, and microstructure formation of these alloys. In some materials systems there can exist an intrinsic volume change associated with these transformations. We show that these coherency strains can stabilize mixed microstructures (such as retained austenite-martensite and pearlite-martensite mixtures) by an interplay between diffusive and displacive mechanisms, which can alter TTT and CCT diagrams. Depending on the conditions there can be competitive or cooperative nucleation of the two kinds of phases. The model also shows that small differences in volume changes can have noticeable effects on the early stages of martensite formation and on the resulting microstructures. -- Long version of cond-mat/0605577 -- Keywords: Ginzburg-Landau, martensite, pearlite, spinodal decomposition, shape memory, microstructures, TTT diagram, CCT diagram, elastic compatibilityComment: 10 pages, 13 figures, long version of cond-mat/0605577. Physical Review B, to appear in volume 75 (2007

Tables of Hyperonic Matter Equation of State for Core-Collapse Supernovae

We present sets of equation of state (EOS) of nuclear matter including hyperons using an SU_f(3) extended relativistic mean field (RMF) model with a wide coverage of density, temperature, and charge fraction for numerical simulations of core collapse supernovae. Coupling constants of Sigma and Xi hyperons with the sigma meson are determined to fit the hyperon potential depths in nuclear matter, U_Sigma(rho_0) ~ +30 MeV and U_Xi(rho_0) ~ -15 MeV, which are suggested from recent analyses of hyperon production reactions. At low densities, the EOS of uniform matter is connected with the EOS by Shen et al., in which formation of finite nuclei is included in the Thomas-Fermi approximation. In the present EOS, the maximum mass of neutron stars decreases from 2.17 M_sun (Ne mu) to 1.63 M_sun (NYe mu) when hyperons are included. In a spherical, adiabatic collapse of a 15$M_\odot$ star by the hydrodynamics without neutrino transfer, hyperon effects are found to be small, since the temperature and density do not reach the region of hyperon mixture, where the hyperon fraction is above 1 % (T > 40 MeV or rho_B > 0.4 fm^{-3}).Comment: 23 pages, 6 figures (Fig.3 and related comments on pion potential are corrected in v3.

Substituting fields within the action: consistency issues and some applications

In field theory, as well as in mechanics, the substitution of some fields in terms of other fields at the level of the action raises an issue of consistency with respect to the equations of motion. We discuss this issue and give an expression which neatly displays the difference between doing the substitution at the level of the Lagrangian or at the level of the equations of motion. Both operations do not commute in general. A very relevant exception is the case of auxiliary variables, which are discussed in detail together with some of their relevant applications. We discuss the conditions for the preservation of symmetries - Noether as well as non-Noether - under the reduction of degrees of freedom provided by the mechanism of substitution. We also examine how the gauge fixing procedures fit in our framework and give simple examples on the issue of consistency in this case.Comment: 17 page