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

The Peer-to-Peer Human-Robot Interaction Project

this paper, we present an overview of P2P-HRI, describe our development approach and discuss our evaluation methodolog

New Contrast Measures for Pixel Supersampling

Ray tracing is a straightforward and powerful image synthesis technique but usually requires many rays per pixel to eliminate the aliasing or noise in the nal image. However, not all the pixels in the image require the same quantity of rays. In this paper we introduce new measures for supersampling re nement criteria, based on colour and geometry. These measures use the entropy, one of the most relevant Information Theory concepts. All the new measures are compared with other classic contrast measures

A Randomized Controlled Trial of the Effects of Febuxostat Therapy on Adipokines and Markers of Kidney Fibrosis in Asymptomatic Hyperuricemic Patients With Diabetic Nephropathy

Background: In observational studies, higher uric acid levels are associated with metabolic syndrome, diabetes, and kidney disease. Objective: The objective of this study is to examine whether reduction of plasma uric acid with febuxostat, a xanthine oxido reductase inhibitor, impacts adipose tissue oxidative stress, adipokines, and markers of systemic inflammation or kidney fibrosis. Design: This was a double-blinded randomized controlled trial. Setting: Academic university setting was used. Patients: Overweight or obese adults with hyperuricemia and type 2 diabetic nephropathy were included. Measurements: Adipose tissue thiobarbituric acid reducing substances (TBARS) and adiponectin concentrations and urinary transforming growth factor–β (TGF-β) were primary endpoints. Plasma C-reactive protein, high molecular weight–adiponectin, interleukin–6, tumor necrosis factor–α, and TBARS and albuminuria were among predefined secondary endpoints. Methods: Participants were randomly assigned to febuxostat (n = 40) or matching placebo (n = 40) and followed for 24 weeks. Results: Baseline plasma uric acid levels were 426 ± 83 µmol/L; 95% completed the study. Estimated glomerular filtration rate (eGFR) declined from 54 ± 17 mL/min/1.73 m 2 at baseline to 51 ± 17 mL/min/1.73 m 2 at 24 weeks ( P = .05). In separate mixed-effects models, compared with placebo, febuxostat reduced uric acid by 50% ( P < .001) but had no significant effects on subcutaneous adipose tissue TBARS (−7.4%, 95% confidence interval [CI], 57.4%-101.4%) or adiponectin (6.7%, 95% CI, 26.0%-53.8%) levels or urinary TGF-β/creatinine ratio (18.0%, 95% CI, 10.0%-54.8%) or secondary endpoints. Limitations: Relatively modest sample size and short duration of follow-up. Conclusions: In this population with progressive diabetic nephropathy, febuxostat effectively reduced plasma uric acid. However, no detectable effects were observed for the prespecified primary or secondary endpoints. Trial Registration: The study was registered in clinicaltrials.gov (NCT01350388)

A large marine ecosystem governance framework

A large marine ecosystem (LME) governance framework, developed from a need to effectively address the sustainable management of the shared living marine resources of the Caribbean, is proposed. The framework is based on four propositions and focuses on a linked examination of two well-known components of LME-level governance: the policy cycle process by which decisions are made and the multi-level nature of LMEs. It accommodates the diversity of policy cycles at multiple levels and the linkages among them required for effective governance of LMEs. The framework takes into account of factors such as context, purpose, jurisdictional scale, capacity and complexity and provides a means to identify critical areas for intervention.Governance Policy cycle Multiple levels Scale Network Linkages

The Peer-to-Peer Human-Robot Interaction Project

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 hypothesis is that peer-to-peer interaction can enable robots to collaborate in a competent, non-disruptive (i.e., natural) manner with users who have limited training, experience, or knowledge of robotics. Specifically, we believe that failures and limitations of autonomy (in planning, in execution, etc.) can be compensated for using human-robot interaction. In this paper, we present an overview of P2P-HRI, describe our development approach and discuss our evaluation methodology.</p

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.</p