Designing Sound for Social Robots: Advancing Professional Practice through Design Principles

Sound is one of the core modalities social robots can use to communicate with the humans around them in rich, engaging, and effective ways. While a robot's auditory communication happens predominantly through speech, a growing body of work demonstrates the various ways non-verbal robot sound can affect humans, and researchers have begun to formulate design recommendations that encourage using the medium to its full potential. However, formal strategies for successful robot sound design have so far not emerged, current frameworks and principles are largely untested and no effort has been made to survey creative robot sound design practice. In this dissertation, I combine creative practice, expert interviews, and human-robot interaction studies to advance our understanding of how designers can best ideate, create, and implement robot sound. In a first step, I map out a design space that combines established sound design frameworks with insights from interviews with robot sound design experts. I then systematically traverse this space across three robot sound design explorations, investigating (i) the effect of artificial movement sound on how robots are perceived, (ii) the benefits of applying compositional theory to robot sound design, and (iii) the role and potential of spatially distributed robot sound. Finally, I implement the designs from prior chapters into humanoid robot Diamandini, and deploy it as a case study. Based on a synthesis of the data collection and design practice conducted across the thesis, I argue that the creation of robot sound is best guided by four design perspectives: fiction (sound as a means to convey a narrative), composition (sound as its own separate listening experience), plasticity (sound as something that can vary and adapt over time), and space (spatial distribution of sound as a separate communication channel). The conclusion of the thesis presents these four perspectives and proposes eleven design principles across them which are supported by detailed examples. This work contributes an extensive body of design principles, process models, and techniques providing researchers and designers with new tools to enrich the way robots communicate with humans

Generating Homology Relationships by Alignment of Anatomical Ontologies

The anatomy of model species is described in ontologies, which are used to standardize the annotations of experimental data, such as gene expression patterns. To compare such data between species, we aim to establish homology relations between ontologies describing different species. We present a new algorithm, and its implementation in the software Homolonto, to create new relationships between anatomical ontologies, based on the homology concept. These relationships and the Homolonto software are available at "http://bgee.unil.ch/.":http://bgee.unil.ch

Homolonto: generating homology relationships by pairwise alignment of ontologies and application to vertebrate anatomy

Motivation: The anatomy of model species is described in ontologies, which are used to standardize the annotations of experimental data, such as gene expression patterns. To compare such data between species, we need to establish relations between ontologies describing different species. Results: We present a new algorithm, and its implementation in the software Homolonto, to create new relationships between anatomical ontologies, based on the homology concept. Homolonto uses a supervised ontology alignment approach. Several alignments can be merged, forming homology groups. We also present an algorithm to generate relationships between these homology groups. This has been used to build a multi-species ontology, for the database of gene expression evolution Bgee. Availability: download section of the Bgee website http://bgee.unil.ch/ Contact: [email protected] Supplementary information: Supplementary data are available at Bioinformatics onlin

vHOG, a multispecies vertebrate ontology of homologous organs groups

Motivation: Most anatomical ontologies are species-specific, whereas a framework for comparative studies is needed. We describe the vertebrate Homologous Organs Groups ontology, vHOG, used to compare expression patterns between species. Results: vHOG is a multispecies anatomical ontology for the vertebrate lineage. It is based on the HOGs used in the Bgee database of gene expression evolution. vHOG version 1.4 includes 1184 terms, follows OBO principles and is based on the Common Anatomy Reference Ontology (CARO). vHOG only describes structures with historical homology relations between model vertebrate species. The mapping to species-specific anatomical ontologies is provided as a separate file, so that no homology hypothesis is stated within the ontology itself. Each mapping has been manually reviewed, and we provide support codes and references when available. Availability and implementation: vHOG is available from the Bgee download site (http://bgee.unil.ch/), as well as from the OBO Foundry and the NCBO Bioportal websites. Contact: [email protected]; [email protected]

Normative Values for Electrochemical Skin Conductances and Impact of Ethnicity on Quantitative Assessment of Sudomotor Function

Background: Sudomotor dysfunction is one of the earliest pathophysiologic abnormalities in diabetes. Sudoscan? (Impeto Medical, Paris, France) was developed as a noninvasive, rapid, and quantitative assessment of sudomotor function and has been shown to be sensitive in the detection of neuropathy. This global collaborative analysis aimed to establish reference values in healthy subjects of different ethnic groups, age, and gender, to define factors potentially affecting results, and to provide standardization of the methodology. Materials and Methods: Data from 1,350 generally healthy study participants who underwent sudomotor function testing were collected and analyzed. The relationship between age, height, weight, gender, glycemic and lipid profiles, ethnicity, and hand and foot electrochemical skin conductance (ESC) was assessed among subgroups of participants. Results: Lower mean hands and feet ESC values were observed in African American, Indian, and Chinese subjects (P?Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/140359/1/dia.2015.0396.pd

Monte-Carlo Simulations of Globular Cluster Evolution - I. Method and Test Calculations

We present a new parallel supercomputer implementation of the Monte-Carlo method for simulating the dynamical evolution of globular star clusters. Our method is based on a modified version of Henon's Monte-Carlo algorithm for solving the Fokker-Planck equation. Our code allows us to follow the evolution of a cluster containing up to 5x10^5 stars to core collapse in < 40 hours of computing time. In this paper we present the results of test calculations for clusters with equal-mass stars, starting from both Plummer and King model initial conditions. We consider isolated as well as tidally truncated clusters. Our results are compared to those obtained from approximate, self-similar analytic solutions, from direct numerical integrations of the Fokker-Planck equation, and from direct N-body integrations performed on a GRAPE-4 special-purpose computer with N=16384. In all cases we find excellent agreement with other methods, establishing our new code as a robust tool for the numerical study of globular cluster dynamics using a realistic number of stars.Comment: 35 pages, including 8 figures, submitted to ApJ. Revised versio

Scoping studies to establish the capability and utility of a real-time bioaerosol sensor to characterise emissions from environmental sources

A novel dual excitation wavelength based bioaerosol sensor with multiple fluorescence bands called Spectral Intensity Bioaerosol Sensor (SIBS) has been assessed across five contrasting outdoor environments. The mean concentrations of total and fluorescent particles across the sites were highly variable being the highest at the agricultural farm (2.6 cm−3 and 0.48 cm−3, respectively) and the composting site (2.32 cm−3 and 0.46 cm−3, respectively) and the lowest at the dairy farm (1.03 cm−3 and 0.24 cm−3, respectively) and the sewage treatment works (1.03 cm−3 and 0.25 cm−3, respectively). In contrast, the number-weighted fluorescent fraction was lowest at the agricultural site (0.18) in comparison to the other sites indicating high variability in nature and magnitude of emissions from environmental sources. The fluorescence emissions data demonstrated that the spectra at different sites were multimodal with intensity differences largely at wavelengths located in secondary emission peaks for λex 280 and λex 370. This finding suggests differences in the molecular composition of emissions at these sites which can help to identify distinct fluorescence signature of different environmental sources. Overall this study demonstrated that SIBS provides additional spectral information compared to existing instruments and capability to resolve spectrally integrated signals from relevant biological fluorophores could improve selectivity and thus enhance discrimination and classification strategies for real-time characterisation of bioaerosols from environmental sources. However, detailed lab-based measurements in conjunction with real-world studies and improved numerical methods are required to optimise and validate these highly resolved spectral signatures with respect to the diverse atmospherically relevant biological fluorophores