On the Integration of Adaptive and Interactive Robotic Smart Spaces

© 2015 Mauro Dragone et al.. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. (CC BY-NC-ND 3.0)Enabling robots to seamlessly operate as part of smart spaces is an important and extended challenge for robotics R&D and a key enabler for a range of advanced robotic applications, such as AmbientAssisted Living (AAL) and home automation. The integration of these technologies is currently being pursued from two largely distinct view-points: On the one hand, people-centred initiatives focus on improving the user’s acceptance by tackling human-robot interaction (HRI) issues, often adopting a social robotic approach, and by giving to the designer and - in a limited degree – to the final user(s), control on personalization and product customisation features. On the other hand, technologically-driven initiatives are building impersonal but intelligent systems that are able to pro-actively and autonomously adapt their operations to fit changing requirements and evolving users’ needs,but which largely ignore and do not leverage human-robot interaction and may thus lead to poor user experience and user acceptance. In order to inform the development of a new generation of smart robotic spaces, this paper analyses and compares different research strands with a view to proposing possible integrated solutions with both advanced HRI and online adaptation capabilities.Peer reviewe

Differentiation in the social evaluation of work: an investigation of stigmatizing characteristics of death-related occupations

At the theoretical level, the thesis seeks to confirm the significance of stigma and to analyse its social composition, classifiability and influence on certain occupational groups, an earlier research topic of the author, focussed here on death work. It begins with a critical review of recent theorists' attempts to grapple with the applications to and implications for socially discredited groups and practitioners. A synthesized model is then presented to reflect the crucial variables in stigmatization. The occupational stigma concept as such, whilst the subject of a deeper theoretical examination in relation to such phenomena as status, prestige, public image and self-perception of incumbents exposed to it, must also be capable of empirical verification. This is provided by an examination of the changing social structure of the 'death industry'. Key ethnographic elements associated with the work of funeral directors, embalmers and gravediggers derived from fieldwork material are elaborated to establish attempts to enhance prestige and counter occupational stigma. Further chapters focus particularly on forensic pathologists as professional doctors in death work, made most acutely aware of their marginality by medical colleagues' denial that they are healers. The reasons for the demise of the forensic pathology profession are critically examined with regard to how incumbents perceive their work and their propensity to manage stress. Stigma-alleviating factors are identified which attach themselves also to a recognised profession as distinct from other death occupations. The thesis concludes by providing the wider cultural and social policy context for the changes that have occurred within the death industry and by offering a reassessment of the concept of stigma in the light of the empirical findings. The five-part appendix includes matters methodological, a discussion of stigma origins, cases studies, some detailed responses from the forensic pathologists and ideas for measuring stigma

A template based user-teaching system for an Assistive Robot

Demographics issues, characterised by an increasing elderly population, are expected to be a major concern both in Europe and other countries around the world. A proposed cost and care solution to these issues has been suggested that uses assistive robots in 'smarthome' environments. The deployment of such integrated facilities presents many challenges, one of which concerns the customisation of such systems to meet the needs of the elderly person themselves. One approach is to allow the elderly person to actually teach the robot sufficient behaviours that meet their care requirements. The teaching could equally well be carried out by the elderly person's relatives or carers. The overriding premise being that teaching is both intuitive and 'non-technical'. As part of a European project investigating these issues we have deployed a commercially available robot in a fully sensorised but otherwise ordinary suburban house, and designed a non-technical teaching system, based on behavioural templates, to achieve this goal. We have evaluated this integrated system within the house with 20 participants in a Human-Robot interaction experiment. Results indicate that participants overall found the interface easy to use, and felt that they would be capable of using it in a real-life situation. There were also some salient individual differences within the sample

Computational periscopy with an ordinary digital camera

Computing the amounts of light arriving from different directions enables a diffusely reflecting surface to play the part of a mirror in a periscope—that is, perform non-line-of-sight imaging around an obstruction. Because computational periscopy has so far depended on light-travel distances being proportional to the times of flight, it has mostly been performed with expensive, specialized ultrafast optical systems^1,2,3,4,5,6,7,8,9,10,11,12. Here we introduce a two-dimensional computational periscopy technique that requires only a single photograph captured with an ordinary digital camera. Our technique recovers the position of an opaque object and the scene behind (but not completely obscured by) the object, when both the object and scene are outside the line of sight of the camera, without requiring controlled or time-varying illumination. Such recovery is based on the visible penumbra of the opaque object having a linear dependence on the hidden scene that can be modelled through ray optics. Non-line-of-sight imaging using inexpensive, ubiquitous equipment may have considerable value in monitoring hazardous environments, navigation and detecting hidden adversaries.We thank F. Durand, W. T. Freeman, Y. Ma, J. Rapp, J. H. Shapiro, A. Torralba, F. N. C. Wong and G. W. Wornell for discussions. This work was supported by the Defense Advanced Research Projects Agency (DARPA) REVEAL Program contract number HR0011-16-C-0030. (HR0011-16-C-0030 - Defense Advanced Research Projects Agency (DARPA) REVEAL Program)Accepted manuscrip

Analytical Hartree-Fock gradients for periodic systems

We present the theory of analytical Hartree-Fock gradients for periodic systems as implemented in the code CRYSTAL. We demonstrate how derivatives of the integrals can be computed with the McMurchie-Davidson algorithm. Highly accurate gradients with respect to nuclear coordinates are obtained for systems periodic in 0,1,2 or 3 dimensions.Comment: accepted by International Journal of Quantum Chemistr

Experimental evidence for radiative attachment in astrochemistry from electron attachment to NCCCCN

Electron attachment to NCCCCN, dicyanoacetylene (2-butynedinitrile), has been observed. Metastable parent anions, NCCCCN_∗, with microsecond or longer lifetimes are formed close to 0 eV electron energy with a cross section of ≥0.25 2. The stability of NCCCCN suggests that radiative attachment to NCCCCN and similar _∗ °A linear carbon chain molecules may be an important mechanism for the formation of negatively charged molecular ions in astrophysical environments. CCCN_ and CN_ fragment anions are formed at ∼3 and ∼6 eV

Achieving Corresponding Effects on Multiple Robotic Platforms: Imitating in Context Using Different Effect Metrics

Original paper can be found at: www.aisb.org.uk/publications/proceedings/aisb05/3_Imitation_Final.pdfOne of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching is according to different metrics and granularity. This paper presents JABBERWOCKY, a system that uses captured data from a human demonstrator to generate appropriate action commands, addressing the correspondence problem in imitation. Towards a characterization of the space of effect metrics, we are exploring absolute/relative angle and displacement aspects and focus on the overall arrangement and trajectory of manipulated objects. Using as an example a captured demonstration from a human, the system produces a correspondence solution given a selection of effect metrics and starting from dissimilar initial object positions, producing action commands that are then executed by two imitator target platforms (in simulation) to successfully imitate

"The fridge door is open" : temporal verification of a robotic assistant's behaviours

Robotic assistants are being designed to help, or work with, humans in a variety of situations from assistance within domestic situations, through medical care, to industrial settings. Whilst robots have been used in industry for some time they are often limited in terms of their range of movement or range of tasks. A new generation of robotic assistants have more freedom to move, and are able to autonomously make decisions and decide between alternatives. For people to adopt such robots they will have to be shown to be both safe and trustworthy. In this paper we focus on formal verification of a set of rules that have been developed to control the Care-O-bot, a robotic assistant located in a typical domestic environment. In particular, we apply model-checking, an automated and exhaustive algorithmic technique, to check whether formal temporal properties are satisfied on all the possible behaviours of the system. We prove a number of properties relating to robot behaviours, their priority and interruptibility, helping to support both safety and trustworthiness of robot behaviours

Adhesion between atomically pure metallic surfaces, part IV Semiannual report

Adhesion between metal couples in vacuum environment and use of contact resistance measurements to evaluate surface contaminatio

Guide to the use of Mariner images

Planetary imaging from unmanned spacecraft, almost exclusively done by digital systems, is examined. The Mars Mariner 9 television camera, representative of such systems, is considered. Each image consists of 700 lines, each containing 832 picture elements, or pixels. Each pixel contains nine binary bits of information capable of displaying 512 discrete brightness levels. Several problems inherent in television systems are discussed. These include nonuniform target response, residual images, noise, and blemishes. These defects can be removed to some extent by decalibration of the image. The final product is geometrically corrected for camera distortion and photometrically corrected. Several versions of the decalibrated images are available. The most generally useful are the geometrically corrected images with enhanced contrast. The Mariner 10 imaging of Mercury is briefly discussed