Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the robot to safely make larger movements. In this paper, we present a method for predicting the trajectory of a human who follows a haptic robotic guide without using sight, which is valuable for assistive robots that aid the visually impaired. We apply a deep learning method based on recurrent neural networks using multimodal data: (1) human trajectory, (2) movement of the robotic guide, (3) haptic input data measured from the physical interaction between the human and the robot, (4) human depth data. We collected actual human trajectory and multimodal response data through indoor experiments. Our model outperformed the baseline result while using only the robot data with the observed human trajectory, and it shows even better results when using additional haptic and depth data.Comment: 6 pages, Submitted to IEEE World Haptics Conference 201

All-Sky Measurements of the Mesospheric Frontal Events From Bear Lake Observatory, Utah

Studies of internal gravity waves in the earth\u27s upper atmosphere are of considerable interest. These waves play a very important role in the dynamics of the mesosphere and lower thermosphere (ML T) region where they can transfer large amounts of energy and momentum from the lower atmosphere via wave saturation and dissipation. In particular, small-scale short-period (50ms 1) . Another unusual characteristic of frontal events is an apparent reversal in contrast of the wave structures as imaged in the hydroxyl (OH) emission (peak altitude- 87 km) when compared with the oxygen (OJ) green line (557.7 nm) emission (peak altitude -96 km) that can sometimes occur. In one isolated case, observed from Haleakala, Hawaii, the bright wave crests in the OH emission appeared to propagated through a dark structureless sky, whereas in the OI emission the same waves appeared to propagate into a bright sky, leaving an apparently depleted emission in its wake. Recent theoretical studies based on noble measurements have shown that frontal events may be due to a bore-like intrusion that raises the OJ (557. 7 nm) layer by a few km and at the same time depresses the OH layer by a similar amount. However, studies of fronts and bores in the ML T region are exceptionally rare. I have discovered and analyzed 16 frontal events from image data recorded at Bear Lake Observatory, Utah ( 41.6°N, 111.6°W), over the past four years. I have investigated some of their properties such as their horizontal wavelengths, horizontal phase speeds, observed periods, and their directions of motion. In addition, I have made comparative measurements of their relative intensities in the OH and OI emissions. These studies provide the first extensive data set on such events detailing their morphology and dynamics and should provide important information necessary for a deeper understanding of their occurrence frequency and properties