The Human-Robot Interaction Operating System

In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API

Coordinate Frames in Robotic Teleoperation

Abstract—An important mode of human-robot interaction is teleoperation, in which a human operator directly controls a robot via hardware such as a joystick or mouse. Such control is not always easy, however, as the viewpoint of the human, the alignment of the input device, and the local coordinate frame of the robot are rarely all aligned. These discrepancies force the user to reconcile the involved coordinate frames during teleoperation. Therefore, the choice of coordinate frames is critical since an unintuitive coordinate frame mapping will likely lead to higher mental workload and reduced efficiency. We discuss this concern, describe the various difficulties involved with natural remote teleoperation of a robot, and report experiments that demonstrate the effects of using different frames of reference on task performance and user mental workload. I

Homogeneity and Heterogeneity as Situational Properties: Producing – and Moving Beyond? – Race in Post-Genomic Science

In this article, we explore current thinking and practices around the logics of difference in gene–environment interaction research in the post-genomic era. We find that scientists conducting gene–environment interaction research continue to invoke well-worn notions of racial difference and diversity, but use them strategically to try to examine other kinds of etiologically significant differences among populations. Scientists do this by seeing populations not as inherently homogeneous or heterogeneous, but rather by actively working to produce homogeneity along some dimensions and heterogeneity along others in their study populations. Thus we argue that homogeneity and heterogeneity are situational properties – properties that scientists seek to achieve in their study populations, the available data, and other aspects of the research situation they are confronting, and then leverage to advance post-genomic science. Pointing to the situatedness of homogeneity and heterogeneity in gene–environment interaction research underscores the work that these properties do and the contingencies that shape decisions about research procedures. Through a focus on the situational production of homogeneity and heterogeneity more broadly, we find that gene–environment interaction research attempts to shift the logic of difference from solely racial terms as explanatory ends unto themselves, to racial and other dimensions of difference that may be important clues to the causes of complex diseases

A Preliminary Study of Peer-to-Peer Human-Robot Interaction

The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance

Investigation of Relationships between Urinary Biomarkers of Phytoestrogens, Phthalates, and Phenols and Pubertal Stages in Girls

BackgroundHormonally active environmental agents may alter the course of pubertal development in girls, which is controlled by steroids and gonadotropins.ObjectivesWe investigated associations of concurrent exposures from three chemical classes (phenols, phthalates, and phytoestrogens) with pubertal stages in a multiethnic longitudinal study of 1,151 girls from New York City, New York, greater Cincinnati, Ohio, and northern California who were 6-8 years of age at enrollment (2004-2007).MethodsWe measured urinary exposure biomarkers at visit 1 and examined associations with breast and pubic hair development (present or absent, assessed 1 year later) using multivariate adjusted prevalence ratios (PR) and 95% confidence intervals (CIs). Modification of biomarker associations by age-specific body mass index percentile (BMI%) was investigated, because adipose tissue is a source of peripubertal hormones.ResultsBreast development was present in 30% of girls, and 22% had pubic hair. High-molecular-weight phthalate (high MWP) metabolites were weakly associated with pubic hair development [adjusted PR, 0.94 (95% CI, 0.88-1.00), fifth vs. first quintile]. Small inverse associations were seen for daidzein with breast stage and for triclosan and high MWP with pubic hair stage; a positive trend was observed for low-molecular-weight phthalate biomarkers with breast and pubic hair development. Enterolactone attenuated BMI associations with breast development. In the first enterolactone quintile, for the association of high BMI with any development, the PR was 1.34 (95% CI, 1.23-1.45 vs. low BMI). There was no BMI association in the fifth, highest quintile of enterolactone.ConclusionsWeak hormonally active xenobiotic agents investigated in this study had small associations with pubertal development, mainly among those agents detected at highest concentrations

Clinical Sequencing Exploratory Research Consortium: Accelerating Evidence-Based Practice of Genomic Medicine

Despite rapid technical progress and demonstrable effectiveness for some types of diagnosis and therapy, much remains to be learned about clinical genome and exome sequencing (CGES) and its role within the practice of medicine. The Clinical Sequencing Exploratory Research (CSER) consortium includes 18 extramural research projects, one National Human Genome Research Institute (NHGRI) intramural project, and a coordinating center funded by the NHGRI and National Cancer Institute. The consortium is exploring analytic and clinical validity and utility, as well as the ethical, legal, and social implications of sequencing via multidisciplinary approaches; it has thus far recruited 5,577 participants across a spectrum of symptomatic and healthy children and adults by utilizing both germline and cancer sequencing. The CSER consortium is analyzing data and creating publically available procedures and tools related to participant preferences and consent, variant classification, disclosure and management of primary and secondary findings, health outcomes, and integration with electronic health records. Future research directions will refine measures of clinical utility of CGES in both germline and somatic testing, evaluate the use of CGES for screening in healthy individuals, explore the penetrance of pathogenic variants through extensive phenotyping, reduce discordances in public databases of genes and variants, examine social and ethnic disparities in the provision of genomics services, explore regulatory issues, and estimate the value and downstream costs of sequencing. The CSER consortium has established a shared community of research sites by using diverse approaches to pursue the evidence-based development of best practices in genomic medicine

Towards Probabilistic Plan Management

In temporally uncertain domains, taking uncertainty into account while planning leads to problems with scalability. One alternative to this is to plan deterministically and replan when execution deviates from schedule. In large, complex problems, however, replanning during execution can be prohibitively expensive. To address this, we have developed a general plan management framework called Probabilistic Plan Management (PPM). PPM probabilistically limits how far in the future it is necessary to consider tasks while repairing and replanning during execution. PPM also decides whether to replan based on the probability that a violated constraint will occur in execution, not on the presence of a conflict in the plan. These features decrease replanning during execution while ensuring that the quality of execution does not unduely suffer. In this paper, we describe our approach and discuss results in simulation that show large savings in the total time spent replanning during execution

Pre-positioning Assets to Increase Execution Efficiency

Abstract — In many robotic domains, efficiency is an important component of task execution. One way to improve task efficiency is to lessen the overhead of beginning a task by making sure the necessary agents are near the task site when execution begins, minimizing travel time delays – in other words, pre-positioning agents for their future tasks. In static, certain domains, this can easily be done in advance and incorporated into the initial plan. In dynamic domains such as search and rescue, however, there is not enough certainty about task execution to plan for this ahead of time. To address this, we present here a planner that adds pre-positioning to a plan during execution. The planner strategically positions groups of idle robots whose future task assignments are uncertain in order to minimize travel time by the group as a whole once its members are allocated tasks. Because this planner must run in real time, we present five versions of the planning algorithm, addressing the trade-off of computation time and solution quality that results. We then show that by adding in this type of planning, the overhead of beginning a task can be reduced by up to 90%. I

The human-robot interaction operating system

In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the “Human-Robot Interaction Operating System ” (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API. Categories and Subject Descriptor