How Can a Robot Signal Its Incapability to Perform a Certain Task to Humans in an Acceptable Manner?

In this paper, a robot that is using politeness to overcome its incapability to serve is presented. The mobile robot “Alex” is interacting with human office colleagues in their environment and delivers messages, phone calls, and companionship. The robot's battery capacity is not sufficient to survive a full working day. Thus, the robot needs to recharge during the day. By doing so it is unavailable for tasks that involve movement. The study presented in this paper supports the idea that an incapability of fullfiling an appointed task can be overcome by politeness and showing appropriate behaviour. The results, reveal that, even the simple adjustment of spoken utterances towards a more polite phrasing can change the human's perception of the robot companion. This change in the perception can be made visible by analysing the human's behaviour towards the robot

Learning grasp affordance reasoning through semantic relations

Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis. We present an approach for detection and extraction of multiple grasp affordances on an object via visual input. We define semantics as a combination of multiple attributes, which yields benefits in terms of generalisation for grasp affordance prediction. We use Markov Logic Networks to build a knowledge base graph representation to obtain a probability distribution of grasp affordances for an object. To harvest the knowledge base, we collect and make available a novel dataset that relates different semantic attributes. We achieve reliable mappings of the predicted grasp affordances on the object by learning prototypical grasping patches from several examples. We show our method's generalisation capabilities on grasp affordance prediction for novel instances and compare with similar methods in the literature. Moreover, using a robotic platform, on simulated and real scenarios, we evaluate the success of the grasping task when conditioned on the grasp affordance prediction.Comment: Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 201

Affordance-Aware Handovers With Human Arm Mobility Constraints

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness of handovers, their findings are limited to users without arm mobility impairments and to specific objects. Therefore, current state-of-the-art approaches are unable to hand over novel objects to receivers with different arm mobility capacities. We propose a method that generalises handover behaviours to previously unseen objects, subject to the constraint of a user's arm mobility levels and the task context. We propose a heuristic-guided hierarchically optimised cost whose optimisation adapts object configurations for receivers with low arm mobility. This also ensures that the robot grasps consider the context of the user's upcoming task, i.e., the usage of the object. To understand preferences over handover configurations, we report on the findings of an online study, wherein we presented different handover methods, including ours, to $259$ users with different levels of arm mobility. We find that people's preferences over handover methods are correlated to their arm mobility capacities. We encapsulate these preferences in a statistical relational model (SRL) that is able to reason about the most suitable handover configuration given a receiver's arm mobility and upcoming task. Using our SRL model, we obtained an average handover accuracy of $90.8\%$ when generalising handovers to novel objects.Comment: Accepted for RA-L 202

The GEOTRACES Intermediate Data Product 2014

The GEOTRACES Intermediate Data Product 2014 (IDP2014) is the first publicly available data product of the international GEOTRACES programme, and contains data measured and quality controlled before the end of 2013. It consists of two parts: (1) a compilation of digital data for more than 200 trace elements and isotopes (TEIs) as well as classical hydrographic parameters, and (2) the eGEOTRACES Electronic Atlas providing a strongly inter-linked on-line atlas including more than 300 section plots and 90 animated 3D scenes. The IDP2014 covers the Atlantic, Arctic, and Indian oceans, exhibiting highest data density in the Atlantic. The TEI data in the IDP2014 are quality controlled by careful assessment of intercalibration results and multi-laboratory data comparisons at cross-over stations. The digital data are provided in several formats, including ASCII spreadsheet, Excel spreadsheet, netCDF, and Ocean Data View collection. In addition to the actual data values the IDP2014 also contains data quality flags and 1-? data error values where available. Quality flags and error values are useful for data filtering. Metadata about data originators, analytical methods and original publications related to the data are linked to the data in an easily accessible way. The eGEOTRACES Electronic Atlas is the visual representation of the IDP2014 data providing section plots and a new kind of animated 3D scenes. The basin-wide 3D scenes allow for viewing of data from many cruises at the same time, thereby providing quick overviews of large-scale tracer distributions. In addition, the 3D scenes provide geographical and bathymetric context that is crucial for the interpretation and assessment of observed tracer plumes, as well as for making inferences about controlling processes