Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task

Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey emotions. A task priority formulation has been implemented in a Pepper robot which allows the specification of a primary task (waving gesture, transportation of an object, etc.) and exploits the kinematic redundancy of the robot to convey emotions to humans as a lower priority task. The emotions, defined by Mehrabian as points in the pleasure–arousal–dominance space, generate intermediate motion features (jerkiness, activity and gaze) that carry the emotional information. A map from this features to the joints of the robot is presented. A user study has been conducted in which emotional motions have been shown to 30 participants. The results show that happiness and sadness are very well conveyed to the user, calm is moderately well conveyed, and fear is not well conveyed. An analysis on the dependencies between the motion features and the emotions perceived by the participants shows that activity correlates positively with arousal, jerkiness is not perceived by the user, and gaze conveys dominance when activity is low. The results indicate a strong influence of the most energetic motions of the emotional task and point out new directions for further research. Overall, the results show that the null space approach can be regarded as a promising mean to convey emotions as a lower priority task.Postprint (author's final draft

Vibration characteristics of a cylinder partially filled with liquid with an attached elastic drain pipe

Liquid and ullage gas effects of partially filled cylinder with attached elastic drain pip

Brief for Governor's Advisory Board on the Underwater Cable Transmission Project

Contains maps of Puna

Estimating offsets for avian displacement effects of anthropogenic impacts

Biodiversity offsetting, or compensatory mitigation, is increasingly being used in temperate grassland ecosystems to compensate for unavoidable environmental damage from anthropogenic developments such as transportation infrastructure, urbanization, and energy development. Pursuit of energy independence in the United States will expand domestic energy production. Concurrent with this increased growth is increased disruption to wildlife habitats, including avian displacement from suitable breeding habitat. Recent studies at energy-extraction and energy-generation facilities have provided evidence for behavioral avoidance and thus reduced use of habitat by breeding waterfowl and grassland birds in the vicinity of energy infrastructure. To quantify and compensate for this loss in value of avian breeding habitat, it is necessary to determine a biologically based currency so that the sufficiency of offsets in terms of biological equivalent value can be obtained. We describe a method for quantifying the amount of habitat needed to provide equivalent biological value for avifauna displaced by energy and transportation infrastructure, based on the ability to define five metrics: impact distance, impact area, pre-impact density, percent displacement, and offset density. We calculate percent displacement values for breeding waterfowl and grassland birds and demonstrate the applicability of our avian-impact offset method using examples for wind and oil infrastructure. We also apply our method to an example in which the biological value of the offset habitat is similar to the impacted habitat, based on similarity in habitat type (e.g., native prairie), geographical location, land use, and landscape composition, as well as to an example in which the biological value of the offset habitat is dissimilar to the impacted habitat. We provide a worksheet that informs potential users how to apply our method to their specific developments and a framework for developing decision-support tools aimed at achieving landscape-level conservation goals

Modeling and identification of passenger car dynamics using robotics formalism

International audienceThis paper deals with the problem of dynamicmodeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of tree-structured multibody systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carried out using a weighted least squares method. The identification is tested using vehicle dynamics simulation software used by the car manufacturer PSA Peugeot-Citroën in order to define a set of trajectories with good excitation properties and to determine the number of degrees of freedom of the model. The method has then been used to estimate the dynamic parameters of an experimental Peugeot 406, which is equipped with different position, velocity, and force sensors