Utilizing social virtual reality robot (V2R) for music education to children with high-functioning autism

Virtual Reality (VR) technology is a growing technology that has been used in various fields of psychology, education, and therapy. One group of potential users of VR are children with autism who need education and have poor social interactions; this technology could help them improve their social skills through real-world simulation. In this study, we evaluated the feasibility of conducting virtual music education programs with automatic assessment system for children with autism at treatment/research centers without the need to purchase a robot, resulting in the possibility of offering schedules on a larger scale and at a lower cost. Intervention sessions were conducted for five children with high-functioning autism ranging in age from 6 to 8 years old during 20 weeks which includes a baseline session, a pre-test, training sessions, a post-test, and a follow-up test. Each music education sessions involved teaching different notes and pieces of music according to the child’s cooperation, accuracy, and skill level utilizing virtual reality robots and virtual musical instruments. Actually, by analysis of psychological tests, and questionnaires conducted by a psychologist, we observe slight improvements in cognitive skills because of the ceiling effect. Nevertheless, the effectiveness of the proposed method was proved by conducting statistical analysis on the child’s performance data during the music education sessions which were obtained by using both video coding and the proposed automatic assessment system. Consequently, a general upward trend in the musical ability of participants was shown to occur in these sessions, which warrants future studies in this field

DETC2005-84822 NONLINEAR DYNAMIC ANALYSIS AND CHAOTIC BEHAVIOR IN ATOMIC FORCE MICROSCOPY

ABSTRACT The atomic force microscope (AFM) system has evolved into a useful tool for direct measurements of intermolecular forces with atomic-resolution characterization that can be employed in a broad spectrum of applications. In this paper, the nonlinear dynamical behavior of the AFM is studied. This is achieved by modeling the microcantilever as a single mode approximation (lumped-parameters model) and considering the interaction between the sample and cantilever in the form of van der Waals potential. The resultant nonlinear system is then analyzed using Melnikov method, which predicts the regions in which only periodic and quasi-periodic motions exist, and also predicts the regions that chaotic motion is possible. Numerical simulations are used to verify the presence of such chaotic invariant sets determined by Melnikov theory. Finally, the amplitude of vibration in which chaos is appeared is investigated and such irregular motion is proven by several methods including Poincare maps, Fourier transform, autocorrelation function and Lyapunov exponents

New Jacobian Matrix and Equations of Motion for a 6 DOF Cable-driven Robot

In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cabledriven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead of the conventional one, significantly reduces the computation time required to determine workspace of the robot as well as the time required to solve the equations of motion

Cognitive-Social Robotics: Mysteries and Needs

In recent years robotic technology has extended its applications beyond the factory and is now used for more general-purpose practices in society, such as in clinical affairs and rehabilitation, child and elderly care, search and rescue operations, and many other areas. However for robotic technology to be successful in such fields, it is necessary to reach new levels of ability, robustness, physical skills, cognitive ability and intelligence. When designing and constructing social-cognitive robots one faces many challenges, the most significant of which is to build robots which live up to the needs and expectations of the human mind. How we communicate with machines with a higher quality physical appearance and machines which look alive differs from the way we interact with a computer, cell phone, or other smart devices. It is necessary, therefore, to be aware of such differences and know how to take advantage of them. In this paper, we discuss the emerging and interdisciplinary field of cognitive and social robotics, in particular robot assisted treatments, and the effect of modern technology on education(in other words, the application of engineering in education). Moreover, through the introduction of key features and some research topics, several different opportunities to join this scientific field have been suggested

Forgotten ethical virtues in science and engineering: spreading science

Our time is an era of growth, ability and power, and unparalleled advancements in the fields of science, technology, industry, commerce, capital, economy, arms, and politics. But, sadly we also witness the loss of cultural values and the destruction of ethical virtues in our day to day lives. In this time, the research and investigation of ethics in science, engineering and technology is similar to shooting in the dark. Therefore, in this paper we have tried to highlight some of the forgotten ethical virtues for the new generation, by reviewing the former guidelines and teaching principles found in the Iranian-Islamic culture and history. With deep study of verses of the holly Quran and sayings of the Prophets and/or Imams (Hadiths). We can observe the high status that science held in ancient Iranian’s lives. In addition, we see that early Iranian/Islamic scientists and researchers, in general, felt a strong sense of responsibility toward human societies. Many of their ethical principles could readily be adapted to modern science and engineering. One of these principles is to avoid being narrow-minded and insular but rather be magnanimous in spreading science, helping the advancement of science, and the perfection of inventions and discoveries. This is the topic being studied here. It is interesting to note that although these ethical values were common practice in our ancestor’s ancient times, the western world has been able to put these principles in a modern framework and teach them back to us in the form of presentation of our research discoveries in international conferences, patents disclosure, and indexed journals (i.e. ISI). Islamic-Iranian ethics contain many treasures in culture and literature that can act as models for a potential Code-of-Ethics for the whole world. But to attempt to achieve this scientific, spiritual, and ethical maturity, one must dive in to this great ocean and explore its illustrious knowledge bas

IDETC2009-86188 SIMULATIONS OF SURFACE DEFECTS CHARACTERIZATION USING FORCE MODULATION ATOMIC FORCE MICROSCOPY

ABSTRACT This paper is devoted to the characterization of the surface defects using a recently developed AFM technique named as frequency and force modulation AFM (FFM-AFM). The simulated system includes a recently developed gold coated AFM probe which interacts with a sample including single-atom vacancy and impurities. In order to examine the behavior of the above system including different transition metals, molecular dynamics (MD) simulation with Sutton-Chen (SC) interatomic potential is used. Along this line, an imaging simulation of the probe and sample is performed, and the effects of the horizontal scan speed, the effective frequency set-point, the cantilever stiffness, the tip-sample rest position and the cantilever quality factor on the resulting images are investigated. Using a proposed optimum controlling scheme for the excitation force amplitude, the cantilever horizontal speed can be maximized

Isn’t Friendship Possible between Engineering and Humanities at Iranian Technological Universities?

As we enter the third millennium, technological development, advancement of science, and meaningful intellectual and educational competition take place at the national and international level, without an in-depth understanding and knowledge of the relationship between engineering sciences and societal needs (from the humanities, cultural, economic, and management points-of-views¬). It is like shooting in the dark. A historical review of famous Iranian and world scientist’s lives clearly shows that their expertise in the areas of humanities such as art, poetry, painting, philosophy, and Gnosticism has provided a close relationship with the societies and greatly increased their impact and influence on those societies [1]. University education in the world in its present form started from the study of theology, medicine, literature, law, mathematics, astronomy, and politics, a Many universities were established before engineering was really understood or anyone could really engineer anything. However, it is rather surprising that Iranian technological universities from the beginning have been ignorant of the role of humanities in engineering education. In fact, many highly ranked Technological Universities in the world pay special attention to this role and have very strong art and humanities departments. Hence, in this paper we explore the role and importance of art and humanities in engineering education at Iranian technological universities, and its effect on the success of their students and graduates in the current century

Stability Enhancement of Mobile Manipulators via Soft Computing

Nowadays the size and dimension of mobile manipulators have been decreased for being usable in various regions. This leads several problems such as danger of instability. Therefore, many researches have been done to overcome the problem of overturning of a mobile manipulator. In this paper, an algorithm for increasing the stability of a mobile manipulator is presented based on the optimization of a performance index. The path of vehicle and the desired task of the end-effector are predefined. In order to apply the optimal stability criterion, it is more convenient that the manipulator be of a redundant. Considering the interaction between the vehicle and the manipulator and using the genetic algorithm to minimize the stability criterion cooperating with a neural network, the proposed method is a swift algorithm to determine the optimum configuration of the manipulator for real time overturning control of the vehicle. An example for illustrating the significance of the proposed method is presented in a two dimensional configuration

Stability Enhancement of Mobile Manipulators via Soft Computing

Nowadays the size and dimension of mobile manipulators have been decreased for being usable in various regions. This leads several problems such as danger of instability. Therefore, many researches have been done to overcome the problem of overturning of a mobile manipulator. In this paper, an algorithm for increasing the stability of a mobile manipulator is presented based on the optimization of a performance index. The path of vehicle and the desired task of the end-effector are predefined. In order to apply the optimal stability criterion, it is more convenient that the manipulator be of a redundant. Considering the interaction between the vehicle and the manipulator and using the genetic algorithm to minimize the stability criterion cooperating with a neural network, the proposed method is a swift algorithm to determine the optimum configuration of the manipulator for real time overturning control of the vehicle. An example for illustrating the significance of the proposed method is presented in a two dimensional configuration