3,334 research outputs found
Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration
Turn-taking is essential to the structure of human teamwork. Humans are
typically aware of team members' intention to keep or relinquish their turn
before a turn switch, where the responsibility of working on a shared task is
shifted. Future co-robots are also expected to provide such competence. To that
end, this paper proposes the Cognitive Turn-taking Model (CTTM), which
leverages cognitive models (i.e., Spiking Neural Network) to achieve early
turn-taking prediction. The CTTM framework can process multimodal human
communication cues (both implicit and explicit) and predict human turn-taking
intentions in an early stage. The proposed framework is tested on a simulated
surgical procedure, where a robotic scrub nurse predicts the surgeon's
turn-taking intention. It was found that the proposed CTTM framework
outperforms the state-of-the-art turn-taking prediction algorithms by a large
margin. It also outperforms humans when presented with partial observations of
communication cues (i.e., less than 40% of full actions). This early prediction
capability enables robots to initiate turn-taking actions at an early stage,
which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Effects of Vanadium doping on BaFe2As2
We report an investigation of the structural, magnetic and electronic
properties of Ba(Fe(1-x)V(x))2As2 using x-ray, transport, magnetic
susceptibility and neutron scattering measurements. The vanadium substitutions
in Fe sites are possible up to 40\%. Hall effect measurements indicate strong
hole-doping effect through V doping, while no superconductivity is observed in
all samples down to 2K. The antiferromagnetic and structural transition
temperature of BaFe2As2 is gradually suppressed to finite temperature then
vanishes at x=0.245 with the emergence of spin glass behavior, suggesting an
avoided quantum critical point (QCP). Our results demonstrate that the avoided
QCP and spin glass state which were previously reported in the superconducting
phase of Co/Ni-doped BaFe2As2 can also be realized in non-superconducting
Ba(Fe(1-x)V(x))2As2.Comment: 5 pages, 6 figure
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