Application of the Naive Bayes Classifier for Representation and Use of Heterogeneous and Incomplete Knowledge in Social Robotics

Directory of Open Access Journals (Sweden)

Gabriele Trovato

2016-02-01

Full Text Available As societies move towards integration of robots, it is important to study how robots can use their cognition in order to choose effectively their actions in a human environment, and possibly adapt to new contexts. When modelling these contextual data, it is common in social robotics to work with data extracted from human sciences such as sociology, anatomy, or anthropology. These heterogeneous data need to be efficiently used in order to make the robot adapt quickly its actions. In this paper we describe a methodology for the use of heterogeneous and incomplete knowledge, through an algorithm based on naive Bayes classifier. The model was successfully applied to two different experiments of human-robot interaction.

Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

Energy Technology Data Exchange (ETDEWEB)

Parker, L.E.

1995-02-01

This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

Energy Technology Data Exchange (ETDEWEB)

Parker, L.E.

1995-11-01

In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic control parameters provides a number of distinct advantages: it alleviates the need for human tuning of control parameters, it facilitates the use of custom-designed multi-robot teams for any given application, it improves the efficiency of the mission performance, and It allows robots to continually adapt their performance over time due to changes in the robot team and/or the environment. We describe the L-ALLIANCE mechanism, present the results of various alternative update strategies we investigated, present the formal model of the L-ALLIANCE mechanism, and present the results of a simple proof of concept implementation on a small team of heterogeneous mobile robots.

Heterogeneous Multi-Robot Cooperation

Science.gov (United States)

1994-02-01

express my heartfelt thanks to my thesis advisor . Rod Brooks. who supported and encouraged me throughout my time at MIT. He provided a good mixture of...group than is possible with individual robots alone. 25 26 CHAPTER 3. ALLIANCE: THE COOPERATIVE ROBO ,ARCHITECTURE’ discuss the implications of these...available, robot teams should take advantage of it; however, I do not want the team to experience total breakdown when communication becomes unavailable

System model the processing of heterogeneous sensory information in robotized complex

Science.gov (United States)

Nikolaev, V.; Titov, V.; Syryamkin, V.

2018-05-01

Analyzed the scope and the types of robotic systems consisting of subsystems of the form "a heterogeneous sensors data processing subsystem". On the basis of the Queuing theory model is developed taking into account the unevenness of the intensity of information flow from the sensors to the subsystem of information processing. Analytical solution to assess the relationship of subsystem performance and uneven flows. The research of the obtained solution in the range of parameter values of practical interest.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

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Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Passive mapping and intermittent exploration for mobile robots

Science.gov (United States)

Engleson, Sean P.

1994-01-01

An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

Multi-robot caravanning

KAUST Repository

Denny, Jory

2013-11-01

We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

The Creation of a Multi-Human, Multi-Robot Interactive Jam Session

OpenAIRE

Weinberg, Gil; Blosser, Brian; Mallikarjuna, Trishul; Raman, Aparna

2009-01-01

This paper presents an interactive and improvisational jam session, including human players and two robotic musicians. The project was developed in an effort to create novel and inspiring music through human-robot collaboration. The jam session incorporates Shimon, a newly-developed socially-interactive robotic marimba player, and Haile, a perceptual robotic percussionist developed in previous work. The paper gives an overview of the musical perception modules, adaptive improvisation modes an...

How Developmental Psychology and Robotics Complement Each Other

National Research Council Canada - National Science Library

Scassellati, Brian

2000-01-01

.... First, the use of developmental models will be a critical requirement in the construction of robotic systems that can acquire a large repertoire of motor, perceptual, and cognitive capabilities...

Improving therapeutic outcomes in autism spectrum disorders: Enhancing social communication and sensory processing through the use of interactive robots.

Science.gov (United States)

Sartorato, Felippe; Przybylowski, Leon; Sarko, Diana K

2017-07-01

For children with autism spectrum disorders (ASDs), social robots are increasingly utilized as therapeutic tools in order to enhance social skills and communication. Robots have been shown to generate a number of social and behavioral benefits in children with ASD including heightened engagement, increased attention, and decreased social anxiety. Although social robots appear to be effective social reinforcement tools in assistive therapies, the perceptual mechanism underlying these benefits remains unknown. To date, social robot studies have primarily relied on expertise in fields such as engineering and clinical psychology, with measures of social robot efficacy principally limited to qualitative observational assessments of children's interactions with robots. In this review, we examine a range of socially interactive robots that currently have the most widespread use as well as the utility of these robots and their therapeutic effects. In addition, given that social interactions rely on audiovisual communication, we discuss how enhanced sensory processing and integration of robotic social cues may underlie the perceptual and behavioral benefits that social robots confer. Although overall multisensory processing (including audiovisual integration) is impaired in individuals with ASD, social robot interactions may provide therapeutic benefits by allowing audiovisual social cues to be experienced through a simplified version of a human interaction. By applying systems neuroscience tools to identify, analyze, and extend the multisensory perceptual substrates that may underlie the therapeutic benefits of social robots, future studies have the potential to strengthen the clinical utility of social robots for individuals with ASD. Copyright © 2017 Elsevier Ltd. All rights reserved.

Using a virtual world for robot planning

Science.gov (United States)

Benjamin, D. Paul; Monaco, John V.; Lin, Yixia; Funk, Christopher; Lyons, Damian

2012-06-01

We are building a robot cognitive architecture that constructs a real-time virtual copy of itself and its environment, including people, and uses the model to process perceptual information and to plan its movements. This paper describes the structure of this architecture. The software components of this architecture include PhysX for the virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture that controls the perceptual processing and task planning. The RS (Robot Schemas) language is implemented in Soar, providing the ability to reason about concurrency and time. This Soar/RS component controls visual processing, deciding which objects and dynamics to render into PhysX, and the degree of detail required for the task. As the robot runs, its virtual model diverges from physical reality, and errors grow. The Match-Mediated Difference component monitors these errors by comparing the visual data with corresponding data from virtual cameras, and notifies Soar/RS of significant differences, e.g. a new object that appears, or an object that changes direction unexpectedly. Soar/RS can then run PhysX much faster than real-time and search among possible future world paths to plan the robot's actions. We report experimental results in indoor environments.

Tensor Voting A Perceptual Organization Approach to Computer Vision and Machine Learning

CERN Document Server

Mordohai, Philippos

2006-01-01

This lecture presents research on a general framework for perceptual organization that was conducted mainly at the Institute for Robotics and Intelligent Systems of the University of Southern California. It is not written as a historical recount of the work, since the sequence of the presentation is not in chronological order. It aims at presenting an approach to a wide range of problems in computer vision and machine learning that is data-driven, local and requires a minimal number of assumptions. The tensor voting framework combines these properties and provides a unified perceptual organiza

Mapping planetary caves with an autonomous, heterogeneous robot team

Science.gov (United States)

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

From Virtual Creatures to Feasible Robots

DEFF Research Database (Denmark)

Faina, Andres; Souto, Daniel; Orjales, Félix

with the main objective of obtaining feasible and manufacturable robots. To this end, a modular architecture has been defined and implemented [2], which faces real hardware issues and promotes the evolvability of the robotic structures by considering heterogeneous modules with a large number of connection faces......This paper provides a brief description of the robots obtained using the evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that are displayed in the corresponding video [1]. This system is based on the coevolution of morphology and control...... per module. These modules constitute the building blocks the EDHMoR system uses to design the robots. Moreover, an evaluation methodology is proposed as a key element of EDMHoR, which is based on modifications in the environment that can produce more useful and realistic robots without limiting...

Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm

Directory of Open Access Journals (Sweden)

Lavrenov Roman

2017-01-01

Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

Robotics: A New Challenge For Industrial Arts.

Science.gov (United States)

Lovedahl, Gerald G.

1983-01-01

The author argues that jobs in the future will depend less on manual skill and more on perceptual aptitude, formal knowledge, and precision. Industrial arts classes must include robotics in their curriculum if they intend to reflect accurately American industry. (Author/SSH)

Perceptual load corresponds with factors known to influence visual search.

Science.gov (United States)

Roper, Zachary J J; Cosman, Joshua D; Vecera, Shaun P

2013-10-01

One account of the early versus late selection debate in attention proposes that perceptual load determines the locus of selection. Attention selects stimuli at a late processing level under low-load conditions but selects stimuli at an early level under high-load conditions. Despite the successes of perceptual load theory, a noncircular definition of perceptual load remains elusive. We investigated the factors that influence perceptual load by using manipulations that have been studied extensively in visual search, namely target-distractor similarity and distractor-distractor similarity. Consistent with previous work, search was most efficient when targets and distractors were dissimilar and the displays contained homogeneous distractors; search became less efficient when target-distractor similarity increased irrespective of display heterogeneity. Importantly, we used these same stimuli in a typical perceptual load task that measured attentional spillover to a task-irrelevant flanker. We found a strong correspondence between search efficiency and perceptual load; stimuli that generated efficient searches produced flanker interference effects, suggesting that such displays involved low perceptual load. Flanker interference effects were reduced in displays that produced less efficient searches. Furthermore, our results demonstrate that search difficulty, as measured by search intercept, has little bearing on perceptual load. We conclude that rather than be arbitrarily defined, perceptual load might be defined by well-characterized, continuous factors that influence visual search. PsycINFO Database Record (c) 2013 APA, all rights reserved.

The embodiment of cockroach aggregation behavior in a group of micro-robots.

Science.gov (United States)

Garnier, Simon; Jost, Christian; Gautrais, Jacques; Asadpour, Masoud; Caprari, Gilles; Jeanson, Raphaël; Grimal, Anne; Theraulaz, Guy

2008-01-01

We report the faithful reproduction of the self-organized aggregation behavior of the German cockroach Blattella germanica with a group of robots. We describe the implementation of the biological model provided by Jeanson et al. in Alice robots, and we compare the behaviors of the cockroaches and the robots using the same experimental and analytical methodology. We show that the aggregation behavior of the German cockroach was successfully transferred to the Alice robot despite strong differences between robots and animals at the perceptual, actuatorial, and computational levels. This article highlights some of the major constraints one may encounter during such a work and proposes general principles to ensure that the behavioral model is accurately transferred to the artificial agents.

Heterogeneity in Perceptual Category Learning by High Functioning Children with Autism Spectrum Disorder

Directory of Open Access Journals (Sweden)

Eduardo eMercado

2015-06-01

Full Text Available Previous research suggests that high functioning children with Autism Spectrum Disorder (ASD sometimes have problems learning categories, but often appear to perform normally in categorization tasks. The deficits that individuals with ASD show when learning categories have been attributed to executive dysfunction, general deficits in implicit learning, atypical cognitive strategies, or abnormal perceptual biases and abilities. Several of these psychological explanations for category learning deficits have been associated with neural abnormalities such as cortical underconnectivity. The present study evaluated how well existing neurally-based theories account for atypical perceptual category learning shown by high functioning children with ASD across multiple category learning tasks involving novel, abstract shapes. Consistent with earlier results, children’s performances revealed two distinct patterns of learning and generalization associated with ASD: one was indistinguishable from performance in typically developing children; the other revealed dramatic impairments. These two patterns were evident regardless of training regimen or stimulus set. Surprisingly, some children with ASD showed both patterns. Simulations of perceptual category learning could account for the two observed patterns in terms of differences in neural plasticity. However, no current psychological or neural theory adequately explains why a child with ASD might show such large fluctuations in category learning ability across training conditions or stimulus sets.

Heterogeneity in perceptual category learning by high functioning children with autism spectrum disorder.

Science.gov (United States)

Mercado, Eduardo; Church, Barbara A; Coutinho, Mariana V C; Dovgopoly, Alexander; Lopata, Christopher J; Toomey, Jennifer A; Thomeer, Marcus L

2015-01-01

Previous research suggests that high functioning (HF) children with autism spectrum disorder (ASD) sometimes have problems learning categories, but often appear to perform normally in categorization tasks. The deficits that individuals with ASD show when learning categories have been attributed to executive dysfunction, general deficits in implicit learning, atypical cognitive strategies, or abnormal perceptual biases and abilities. Several of these psychological explanations for category learning deficits have been associated with neural abnormalities such as cortical underconnectivity. The present study evaluated how well existing neurally based theories account for atypical perceptual category learning shown by HF children with ASD across multiple category learning tasks involving novel, abstract shapes. Consistent with earlier results, children's performances revealed two distinct patterns of learning and generalization associated with ASD: one was indistinguishable from performance in typically developing children; the other revealed dramatic impairments. These two patterns were evident regardless of training regimen or stimulus set. Surprisingly, some children with ASD showed both patterns. Simulations of perceptual category learning could account for the two observed patterns in terms of differences in neural plasticity. However, no current psychological or neural theory adequately explains why a child with ASD might show such large fluctuations in category learning ability across training conditions or stimulus sets.

Perceptual learning.

Science.gov (United States)

Seitz, Aaron R

2017-07-10

Perceptual learning refers to how experience can change the way we perceive sights, sounds, smells, tastes, and touch. Examples abound: music training improves our ability to discern tones; experience with food and wines can refine our pallet (and unfortunately more quickly empty our wallet), and with years of training radiologists learn to save lives by discerning subtle details of images that escape the notice of untrained viewers. We often take perceptual learning for granted, but it has a profound impact on how we perceive the world. In this Primer, I will explain how perceptual learning is transformative in guiding our perceptual processes, how research into perceptual learning provides insight into fundamental mechanisms of learning and brain processes, and how knowledge of perceptual learning can be used to develop more effective training approaches for those requiring expert perceptual skills or those in need of perceptual rehabilitation (such as individuals with poor vision). I will make a case that perceptual learning is ubiquitous, scientifically interesting, and has substantial practical utility to us all. Copyright © 2017. Published by Elsevier Ltd.

A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

Science.gov (United States)

Hanford, Scott D.

Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the

Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

DEFF Research Database (Denmark)

Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

Natural Tasking of Robots Based on Human Interaction Cues (CD-ROM)

National Research Council Canada - National Science Library

Brooks, Rodney A

2005-01-01

...: 1 CD-ROM; 4 3/4 in.; 207 MB. ABSTRACT: We proposed developing the perceptual and intellectual abilities of robots so that in the field, war-fighters can interact with them in the same natural ways as they do with their human cohorts...

ROSAPL: towards a heterogeneous multi‐robot system and Human interaction framework

OpenAIRE

Boronat Roselló, Emili

2014-01-01

The appearance of numerous robotic frameworks and middleware has provided researchers with reliable hardware and software units avoiding the need of developing ad-hoc platforms and focus their work on how improve the robots' high-level capabilities and behaviours. Despite this none of these are facilitating frameworks considering social capabilities as a factor in robots design. In a world that everyday seems more and more connected, with the slow but steady advance of th...

Efficient Modelling Methodology for Reconfigurable Underwater Robots

DEFF Research Database (Denmark)

Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

2016-01-01

This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). Th...

Robust Sound Localization: An Application of an Auditory Perception System for a Humanoid Robot

National Research Council Canada - National Science Library

Irie, Robert E

1995-01-01

Localizing sounds with different frequency and time domain characteristics in a dynamic listening environment is a challenging task that has not been explored in the field of robotics as much as other perceptual tasks...

Fable: Design of a Modular Robotic Playware Platform

DEFF Research Database (Denmark)

Pacheco, Moises; Moghadam, Mikael; Magnússon, Arnþór

2013-01-01

-based system composed of reconfigurable heterogeneous modules with a reliable and scalable connector. Furthermore, this paper describes tests where the connector design is tested with children, and presents examples of a moving snake and a quadruped robot, as well as an interactive upper humanoid torso.......We are developing the Fable modular robotic system as a playware platform that will enable non-expert users to develop robots ranging from advanced robotic toys to robotic solutions to problems encountered in their daily lives. This paper presents the mechanical design of Fable: a chain...

From Autonomous Robots to Artificial Ecosystems

Science.gov (United States)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

Science.gov (United States)

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-03-14

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

Directory of Open Access Journals (Sweden)

Michael Mortimer

2017-03-01

Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

Attentional sets influence perceptual load effects, but not dilution effects.

Science.gov (United States)

Benoni, Hanna; Zivony, Alon; Tsal, Yehoshua

2014-01-01

Perceptual load theory [Lavie, N. (1995). Perceptual load as a necessary condition for selective attention. Journal of Experimental Psychology: Human Perception and Performance, 21, 451-468.; Lavie, N., & Tsal, Y. (1994) Perceptual load as a major determinant of the locus of selection in visual attention. Perception & Psychophysics, 56, 183-197.] proposes that interference from distractors can only be avoided in situations of high perceptual load. This theory has been supported by blocked design manipulations separating low load (when the target appears alone) and high load (when the target is embedded among neutral letters). Tsal and Benoni [(2010a). Diluting the burden of load: Perceptual load effects are simply dilution effects. Journal of Experimental Psychology: Human Perception and Performance, 36, 1645-1656.; Benoni, H., & Tsal, Y. (2010). Where have we gone wrong? Perceptual load does not affect selective attention. Vision Research, 50, 1292-1298.] have recently shown that these manipulations confound perceptual load with "dilution" (the mere presence of additional heterogeneous items in high-load situations). Theeuwes, Kramer, and Belopolsky [(2004). Attentional set interacts with perceptual load in visual search. Psychonomic Bulletin & Review, 11, 697-702.] independently questioned load theory by suggesting that attentional sets might also affect distractor interference. When high load and low load were intermixed, and participants could not prepare for the presentation that followed, both the low-load and high-load trials showed distractor interference. This result may also challenge the dilution account, which proposes a stimulus-driven mechanism. In the current study, we presented subjects with both fixed and mixed blocks, including a mix of dilution trials with low-load trials and with high-load trials. We thus separated the effect of dilution from load and tested the influence of attentional sets on each component. The results revealed that whereas

Differential Deterrence: Studying Heterogeneity and Changes in Perceptual Deterrence among Serious Youthful Offenders

Science.gov (United States)

Loughran, Thomas A.; Piquero, Alex R.; Fagan, Jeffrey; Mulvey, Edward P.

2012-01-01

Perceptual deterrence has been an enduring focus of interest in criminology. Although recent research has generated important new insights about how risks, costs, and rewards of offending are perceived and internalized, there remain two specific limitations to advancing theories of deterrence: (a) the lack of panel data to show whether issues of…

Perceptual load in sport and the heuristic value of the perceptual load paradigm in examining expertise-related perceptual-cognitive adaptations.

Science.gov (United States)

Furley, Philip; Memmert, Daniel; Schmid, Simone

2013-03-01

In two experiments, we transferred perceptual load theory to the dynamic field of team sports and tested the predictions derived from the theory using a novel task and stimuli. We tested a group of college students (N = 33) and a group of expert team sport players (N = 32) on a general perceptual load task and a complex, soccer-specific perceptual load task in order to extend the understanding of the applicability of perceptual load theory and further investigate whether distractor interference may differ between the groups, as the sport-specific processing task may not exhaust the processing capacity of the expert participants. In both, the general and the specific task, the pattern of results supported perceptual load theory and demonstrates that the predictions of the theory also transfer to more complex, unstructured situations. Further, perceptual load was the only determinant of distractor processing, as we neither found expertise effects in the general perceptual load task nor the sport-specific task. We discuss the heuristic utility of using response-competition paradigms for studying both general and domain-specific perceptual-cognitive adaptations.

Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

Directory of Open Access Journals (Sweden)

Hualong Xie

2015-04-01

Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.

Human Factors Principles in Design of Computer-Mediated Visualization for Robot Missions

Energy Technology Data Exchange (ETDEWEB)

David I Gertman; David J Bruemmer

2008-12-01

With increased use of robots as a resource in missions supporting countermine, improvised explosive devices (IEDs), and chemical, biological, radiological nuclear and conventional explosives (CBRNE), fully understanding the best means by which to complement the human operator’s underlying perceptual and cognitive processes could not be more important. Consistent with control and display integration practices in many other high technology computer-supported applications, current robotic design practices rely highly upon static guidelines and design heuristics that reflect the expertise and experience of the individual designer. In order to use what we know about human factors (HF) to drive human robot interaction (HRI) design, this paper reviews underlying human perception and cognition principles and shows how they were applied to a threat detection domain.

A natural-language interface to a mobile robot

Science.gov (United States)

Michalowski, S.; Crangle, C.; Liang, L.

1987-01-01

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Sociable Robots Through Self-Maintained Energy

Directory of Open Access Journals (Sweden)

Trung Dung Ngo

2006-12-01

Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

Sociable Robots through Self-maintained Energy

Directory of Open Access Journals (Sweden)

Henrik Schioler

2008-11-01

Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

IMPERA: Integrated Mission Planning for Multi-Robot Systems

Directory of Open Access Journals (Sweden)

Daniel Saur

2015-10-01

Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

Science.gov (United States)

Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

2017-01-01

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. PMID:28287468

Strategies for human-driven robot comprehension of spatial descriptions by older adults in a robot fetch task.

Science.gov (United States)

Carlson, Laura; Skubic, Marjorie; Miller, Jared; Huo, Zhiyu; Alexenko, Tatiana

2014-07-01

This contribution presents a corpus of spatial descriptions and describes the development of a human-driven spatial language robot system for their comprehension. The domain of application is an eldercare setting in which an assistive robot is asked to "fetch" an object for an elderly resident based on a natural language spatial description given by the resident. In Part One, we describe a corpus of naturally occurring descriptions elicited from a group of older adults within a virtual 3D home that simulates the eldercare setting. We contrast descriptions elicited when participants offered descriptions to a human versus robot avatar, and under instructions to tell the addressee how to find the target versus where the target is. We summarize the key features of the spatial descriptions, including their dynamic versus static nature and the perspective adopted by the speaker. In Part Two, we discuss critical cognitive and perceptual processing capabilities necessary for the robot to establish a common ground with the human user and perform the "fetch" task. Based on the collected corpus, we focus here on resolving the perspective ambiguity and recognizing furniture items used as landmarks in the descriptions. Taken together, the work presented here offers the key building blocks of a robust system that takes as input natural spatial language descriptions and produces commands that drive the robot to successfully fetch objects within our eldercare scenario. Copyright © 2014 Cognitive Science Society, Inc.

Generative Programming for Functional Safety in Mobile Robots

DEFF Research Database (Denmark)

Adam, Marian Sorin

2018-01-01

execution environment. The effective usage of DeRoS to specify safetyrelated properties of mobile robots and generation of a runtime verification infrastructure for the different controllers has been experimentally demonstrated on ROS-based systems, safety PLCs and microcontrollers. The key issue of making......Safety is a major challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but the existing approaches for addressing safety do not provide a clearly defined and isolated programmatic safety...... layer, with an easily understandable specification for facilitating safety certification. Moreover, mobile robots are advanced systems often implemented using a distributed architecture where software components are deployed on heterogeneous hardware modules. Many components are key to the overall...

Perceptual Robust Design

DEFF Research Database (Denmark)

Pedersen, Søren Nygaard

The research presented in this PhD thesis has focused on a perceptual approach to robust design. The results of the research and the original contribution to knowledge is a preliminary framework for understanding, positioning, and applying perceptual robust design. Product quality is a topic...... been presented. Therefore, this study set out to contribute to the understanding and application of perceptual robust design. To achieve this, a state-of-the-art and current practice review was performed. From the review two main research problems were identified. Firstly, a lack of tools...... for perceptual robustness was found to overlap with the optimum for functional robustness and at most approximately 2.2% out of the 14.74% could be ascribed solely to the perceptual robustness optimisation. In conclusion, the thesis have offered a new perspective on robust design by merging robust design...

Allothetic and idiothetic sensor fusion in rat-inspired robot localization

Science.gov (United States)

Weitzenfeld, Alfredo; Fellous, Jean-Marc; Barrera, Alejandra; Tejera, Gonzalo

2012-06-01

We describe a spatial cognition model based on the rat's brain neurophysiology as a basis for new robotic navigation architectures. The model integrates allothetic (external visual landmarks) and idiothetic (internal kinesthetic information) cues to train either rat or robot to learn a path enabling it to reach a goal from multiple starting positions. It stands in contrast to most robotic architectures based on SLAM, where a map of the environment is built to provide probabilistic localization information computed from robot odometry and landmark perception. Allothetic cues suffer in general from perceptual ambiguity when trying to distinguish between places with equivalent visual patterns, while idiothetic cues suffer from imprecise motions and limited memory recalls. We experiment with both types of cues in different maze configurations by training rats and robots to find the goal starting from a fixed location, and then testing them to reach the same target from new starting locations. We show that the robot, after having pre-explored a maze, can find a goal with improved efficiency, and is able to (1) learn the correct route to reach the goal, (2) recognize places already visited, and (3) exploit allothetic and idiothetic cues to improve on its performance. We finally contrast our biologically-inspired approach to more traditional robotic approaches and discuss current work in progress.

CLARAty: Challenges and Steps Toward Reusable Robotic Software

Directory of Open Access Journals (Sweden)

Richard Madison

2008-11-01

Full Text Available We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and execution. CLARAty was adapted to a number of heterogeneous robots with different mechanisms and hardware control architectures. In this paper, we also describe how we addressed some of these challenges in the development of the CLARAty software.

CLARAty: Challenges and Steps toward Reusable Robotic Software

Directory of Open Access Journals (Sweden)

Issa A.D. Nesnas

2006-03-01

Full Text Available We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and execution. CLARAty was adapted to a number of heterogeneous robots with different mechanisms and hardware control architectures. In this paper, we also describe how we addressed some of these challenges in the development of the CLARAty software.

A Social Cognitive Neuroscience Stance on Human-Robot Interactions

Directory of Open Access Journals (Sweden)

Chaminade Thierry

2011-12-01

Full Text Available Robotic devices, thanks to the controlled variations in their appearance and behaviors, provide useful tools to test hypotheses pertaining to social interactions. These agents were used to investigate one theoretical framework, resonance, which is defined, at the behavioral and neural levels, as an overlap between first- and third- person representations of mental states such as motor intentions or emotions. Behaviorally, we found a reduced, but significant, resonance towards a humanoid robot displaying biological motion, compared to a human. Using neuroimaging, we've reported that while perceptual processes in the human occipital and temporal lobe are more strongly engaged when perceiving a humanoid robot than a human action, activity in areas involved in motor resonance depends on attentional modulation for artificial agent more strongly than for human agents. Altogether, these studies using artificial agents offer valuable insights into the interaction of bottom-up and top-down processes in the perception of artificial agents.

Perceptually-Inspired Computing

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Ming Lin

2015-08-01

Full Text Available Human sensory systems allow individuals to see, hear, touch, and interact with the surrounding physical environment. Understanding human perception and its limit enables us to better exploit the psychophysics of human perceptual systems to design more efficient, adaptive algorithms and develop perceptually-inspired computational models. In this talk, I will survey some of recent efforts on perceptually-inspired computing with applications to crowd simulation and multimodal interaction. In particular, I will present data-driven personality modeling based on the results of user studies, example-guided physics-based sound synthesis using auditory perception, as well as perceptually-inspired simplification for multimodal interaction. These perceptually guided principles can be used to accelerating multi-modal interaction and visual computing, thereby creating more natural human-computer interaction and providing more immersive experiences. I will also present their use in interactive applications for entertainment, such as video games, computer animation, and shared social experience. I will conclude by discussing possible future research directions.

Visual Perceptual Learning and Models.

Science.gov (United States)

Dosher, Barbara; Lu, Zhong-Lin

2017-09-15

Visual perceptual learning through practice or training can significantly improve performance on visual tasks. Originally seen as a manifestation of plasticity in the primary visual cortex, perceptual learning is more readily understood as improvements in the function of brain networks that integrate processes, including sensory representations, decision, attention, and reward, and balance plasticity with system stability. This review considers the primary phenomena of perceptual learning, theories of perceptual learning, and perceptual learning's effect on signal and noise in visual processing and decision. Models, especially computational models, play a key role in behavioral and physiological investigations of the mechanisms of perceptual learning and for understanding, predicting, and optimizing human perceptual processes, learning, and performance. Performance improvements resulting from reweighting or readout of sensory inputs to decision provide a strong theoretical framework for interpreting perceptual learning and transfer that may prove useful in optimizing learning in real-world applications.

The blockchain: a new framework for robotic swarm systems

OpenAIRE

Ferrer, Eduardo Castelló

2016-01-01

Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. However, several of the heterogeneous characteristics that make them ideal for certain future applications --- robot autonomy, decentralized control, collective emergent behavior, etc. --- hinder the evolution of the technology from academic institutions to real-world problems. Blockchain, an emerging technology originated in the Bitcoin field, demonstrates that by combining...

Nested Reconfigurable Robots: Theory, Design, and Realization

Directory of Open Access Journals (Sweden)

Ning Tan

2015-07-01

Full Text Available Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability. The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigur ability of the proposed module.

SMARBot: a modular miniature mobile robot platform

Science.gov (United States)

Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

2008-04-01

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Representation and shape estimation of Odin, a parallel under-actuated modular robot

DEFF Research Database (Denmark)

Lyder, Andreas; Petersen, Henrik Gordon; Støy, Kasper

2009-01-01

To understand the capabilities and behavior of a robot it is important to have knowledge about its physical structure and how its actuators control its shape. In this paper we analyze the kinematics and develop a general representation of a configuration of the heterogeneous modular robot Odin...... can be used to find the physical constraints of the Odin robot and estimate the shape of a configuration....

Perceptual learning and human expertise.

Science.gov (United States)

Kellman, Philip J; Garrigan, Patrick

2009-06-01

We consider perceptual learning: experience-induced changes in the way perceivers extract information. Often neglected in scientific accounts of learning and in instruction, perceptual learning is a fundamental contributor to human expertise and is crucial in domains where humans show remarkable levels of attainment, such as language, chess, music, and mathematics. In Section 2, we give a brief history and discuss the relation of perceptual learning to other forms of learning. We consider in Section 3 several specific phenomena, illustrating the scope and characteristics of perceptual learning, including both discovery and fluency effects. We describe abstract perceptual learning, in which structural relationships are discovered and recognized in novel instances that do not share constituent elements or basic features. In Section 4, we consider primary concepts that have been used to explain and model perceptual learning, including receptive field change, selection, and relational recoding. In Section 5, we consider the scope of perceptual learning, contrasting recent research, focused on simple sensory discriminations, with earlier work that emphasized extraction of invariance from varied instances in more complex tasks. Contrary to some recent views, we argue that perceptual learning should not be confined to changes in early sensory analyzers. Phenomena at various levels, we suggest, can be unified by models that emphasize discovery and selection of relevant information. In a final section, we consider the potential role of perceptual learning in educational settings. Most instruction emphasizes facts and procedures that can be verbalized, whereas expertise depends heavily on implicit pattern recognition and selective extraction skills acquired through perceptual learning. We consider reasons why perceptual learning has not been systematically addressed in traditional instruction, and we describe recent successful efforts to create a technology of perceptual

Perceptual learning and human expertise

Science.gov (United States)

Kellman, Philip J.; Garrigan, Patrick

2009-06-01

We consider perceptual learning: experience-induced changes in the way perceivers extract information. Often neglected in scientific accounts of learning and in instruction, perceptual learning is a fundamental contributor to human expertise and is crucial in domains where humans show remarkable levels of attainment, such as language, chess, music, and mathematics. In Section 2, we give a brief history and discuss the relation of perceptual learning to other forms of learning. We consider in Section 3 several specific phenomena, illustrating the scope and characteristics of perceptual learning, including both discovery and fluency effects. We describe abstract perceptual learning, in which structural relationships are discovered and recognized in novel instances that do not share constituent elements or basic features. In Section 4, we consider primary concepts that have been used to explain and model perceptual learning, including receptive field change, selection, and relational recoding. In Section 5, we consider the scope of perceptual learning, contrasting recent research, focused on simple sensory discriminations, with earlier work that emphasized extraction of invariance from varied instances in more complex tasks. Contrary to some recent views, we argue that perceptual learning should not be confined to changes in early sensory analyzers. Phenomena at various levels, we suggest, can be unified by models that emphasize discovery and selection of relevant information. In a final section, we consider the potential role of perceptual learning in educational settings. Most instruction emphasizes facts and procedures that can be verbalized, whereas expertise depends heavily on implicit pattern recognition and selective extraction skills acquired through perceptual learning. We consider reasons why perceptual learning has not been systematically addressed in traditional instruction, and we describe recent successful efforts to create a technology of perceptual

Applications of AI, machine vision and robotics

CERN Document Server

Boyer, Kim; Bunke, H

1995-01-01

This text features a broad array of research efforts in computer vision including low level processing, perceptual organization, object recognition and active vision. The volume's nine papers specifically report on topics such as sensor confidence, low level feature extraction schemes, non-parametric multi-scale curve smoothing, integration of geometric and non-geometric attributes for object recognition, design criteria for a four degree-of-freedom robot head, a real-time vision system based on control of visual attention and a behavior-based active eye vision system. The scope of the book pr

A Memory-based Robot Architecture based on Contextual Information

OpenAIRE

Pratama, Ferdian; Mastrogiovanni, Fulvio; Chong, Nak Young

2014-01-01

In this paper, we present a preliminary conceptual design for a robot long-term memory architecture based on the notion of context. Contextual information is used to organize the data flow between Working Memory (including Perceptual Memory) and Long-Term Memory components. We discuss the major influence of the notion of context within Episodic Memory on Semantic and Procedural Memory, respectively. We address how the occurrence of specific object-related events in time impacts on the semanti...

RGB–D terrain perception and dense mapping for legged robots

Directory of Open Access Journals (Sweden)

Belter Dominik

2016-03-01

Full Text Available This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.

ALLIANCE: An architecture for fault tolerant multi-robot cooperation

Energy Technology Data Exchange (ETDEWEB)

Parker, L.E.

1995-02-01

ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

Robotic colorectal surgery: hype or new hope? A systematic review of robotics in colorectal surgery.

Science.gov (United States)

Mirnezami, A H; Mirnezami, R; Venkatasubramaniam, A K; Chandrakumaran, K; Cecil, T D; Moran, B J

2010-11-01

Robotic colorectal surgery is an emerging field and may offer a solution to some of the difficulties inherent to conventional laparoscopic surgery. The aim of this review is to provide a comprehensive and critical analysis of the available literature on the use of robotic technology in colorectal surgery. Studies reporting outcomes of robotic colorectal surgery were identified by systematic searches of electronic databases. Outcomes examined included operating time, length of stay, blood loss, complications, cost, oncological outcome, and conversion rates. Seventeen Studies (nine case series, seven comparative studies, one randomized controlled trial) describing 288 procedures were identified and reviewed. Study heterogeneity precluded a meta-analysis of the data. Robotic procedures tend to take longer and cost more, but may reduce the length of stay, blood loss, and conversion rates. Complication profiles and short-term oncological outcomes are similar to laparoscopic surgery. Robotic colorectal surgery is a promising field and may provide a powerful additional tool for optimal management of more challenging pathology, including rectal cancer. Further studies are required to better define its role. © 2010 The Authors. Colorectal Disease © 2010 The Association of Coloproctology of Great Britain and Ireland.

Additive Manufacturing Cloud via Peer-Robot Collaboration

Directory of Open Access Journals (Sweden)

Yuan Yao

2016-05-01

Full Text Available When building a 3D printing cloud manufacturing platform, self-sensing and collaboration on manufacturing resources present challenging problems. This paper proposes a peer-robot collaboration framework to deal with these issues. Each robot combines heterogeneous additive manufacturing hardware and software, acting as an intelligent agent. Through collaboration with other robots, it forms a dynamic and scalable integration manufacturing system. The entire distributed system is managed by rules that employ an internal rule engine, which supports rule conversion and conflict resolution. Two additive manufacturing service scenarios are designed to analyse the efficiency and scalability of the framework. Experiments show that the presented method performs well in tasks requiring large-scale access to resources and collaboration.

Reusable Electronics and Adaptable Communication as Implemented in the Odin Modular Robot

DEFF Research Database (Denmark)

Garcia, Ricardo Franco Mendoza; Lyder, Andreas; Christensen, David Johan

2009-01-01

This paper describes the electronics and communication system of Odin, a novel heterogeneous modular robot made of links and joints. The electronics is divided into two printed circuit boards: a General board with reusable components and a Specific board with non-reusable components. While...... electrical signals. The implementations of actuator and power links show that splitting the electronics into General and Specific boards allows rapid development of different types of modules, and an analysis of performance indicates that the communication system is simple, fast and flexible....... As the electronic design reuses approx. 50% of components between two different types of modules, we find it convenient for heterogeneous modular robots where production costs demand a small set of parts. In addition, as the features of the communication system are desirable in modular robots, we think...

Ubiquitous Robotic Technology for Smart Manufacturing System.

Science.gov (United States)

Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

2016-01-01

As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

ALLIANCE: An architecture for fault tolerant multi-robot cooperation

International Nuclear Information System (INIS)

Parker, L.E.

1995-02-01

ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup

Representation and shape estimation of Odin, a parallel under-actuated modular robot

DEFF Research Database (Denmark)

Lyder, Andreas; Petersen, Henrik Gordon; Støy, Kasper

2009-01-01

To understand the capabilities and behavior of a robot it is important to have knowledge about its physical structure and how its actuators control its shape. In this paper we analyze the kinematics and develop a general representation of a configuration of the heterogeneous modular robot Odin....... The basics of estimating the shape of the Odin robot is presented, which leads the way for further research on the Odin robot and similar robots. We present an example of how to represent and estimate the shape of a tetrahedron configuration with various types of modules. We conclude that this representation...... can be used to find the physical constraints of the Odin robot and estimate the shape of a configuration....

A metaanalysis of perceptual organization in schizophrenia, schizotypy, and other high-risk groups based on variants of the Embedded Figures Task.

Directory of Open Access Journals (Sweden)

Kirsten Rebecca Panton

2016-02-01

Full Text Available Current research on perceptual organization in schizophrenia frequently employs shapes with regularly sampled contours (fragmented stimuli, in noise fields composed of similar elements, to elicit visual abnormalities. However, perceptual organization is multi-factorial and, in earlier studies, continuous contours have also been employed in tasks assessing the ability to extract shapes from a background. We conducted a systematic review and meta-analysis of studies using closed-contour stimuli, including the Embedded Figures Test (EFT and related tasks, both in people with schizophrenia and in healthy schizotypes and relatives, considered at increased risk for psychosis. Eleven studies met the selection criteria for inclusion in the meta-analysis, including six that used a between-groups study design (i.e. perceptual organization abilities of schizophrenia/high-risk groups were compared to healthy or clinical controls, and five that treated schizophrenia symptoms or schizotypy traits and indices of perceptual organization as continuous variables. Effect sizes and heterogeneity statistics were calculated, and the risk of publication bias was explored. A significant, moderate effect for EFT performance was found with studies that compared performance of schizophrenia/high-risk groups to a healthy or patient comparison group (d = -.523, p<.001. However, significant heterogeneity was also found amongst the schizotypy, but not schizophrenia studies, as well as studies using accuracy, but not reaction time as a measure of performance. A non-significant correlation was found for the studies that examined schizophrenia symptoms or schizotypy traits as continuous variables (r = .012, p = .825. These results suggest that deficits in perceptual organization of non-fragmented stimuli are found when differences between schizophrenia/high-risk groups and comparison groups are maximized. These findings should motivate further investigation of perceptual

Cerebellar tDCS dissociates the timing of perceptual decisions from perceptual change in speech

NARCIS (Netherlands)

Lametti, D.R.; Oostwoud Wijdenes, L.; Bonaiuto, J.; Bestmann, S.; Rothwell, J.C.

2016-01-01

Neuroimaging studies suggest that the cerebellum might play a role in both speech perception and speech perceptual learning. However, it remains unclear what this role is: does the cerebellum directly contribute to the perceptual decision? Or does it contribute to the timing of perceptual decisions?

Perceptual organization and visual attention.

Science.gov (United States)

Kimchi, Ruth

2009-01-01

Perceptual organization--the processes structuring visual information into coherent units--and visual attention--the processes by which some visual information in a scene is selected--are crucial for the perception of our visual environment and to visuomotor behavior. Recent research points to important relations between attentional and organizational processes. Several studies demonstrated that perceptual organization constrains attentional selectivity, and other studies suggest that attention can also constrain perceptual organization. In this chapter I focus on two aspects of the relationship between perceptual organization and attention. The first addresses the question of whether or not perceptual organization can take place without attention. I present findings demonstrating that some forms of grouping and figure-ground segmentation can occur without attention, whereas others require controlled attentional processing, depending on the processes involved and the conditions prevailing for each process. These findings challenge the traditional view, which assumes that perceptual organization is a unitary entity that operates preattentively. The second issue addresses the question of whether perceptual organization can affect the automatic deployment of attention. I present findings showing that the mere organization of some elements in the visual field by Gestalt factors into a coherent perceptual unit (an "object"), with no abrupt onset or any other unique transient, can capture attention automatically in a stimulus-driven manner. Taken together, the findings discussed in this chapter demonstrate the multifaceted, interactive relations between perceptual organization and visual attention.

Development of a robotic evaluation system for the ability of proprioceptive sensation in slow hand motion.

Science.gov (United States)

Tanaka, Yoshiyuki; Mizoe, Genki; Kawaguchi, Tomohiro

2015-01-01

This paper proposes a simple diagnostic methodology for checking the ability of proprioceptive/kinesthetic sensation by using a robotic device. The perception ability of virtual frictional forces is examined in operations of the robotic device by the hand at a uniform slow velocity along the virtual straight/circular path. Experimental results by healthy subjects demonstrate that percentage of correct answers for the designed perceptual tests changes in the motion direction as well as the arm configuration and the HFM (human force manipulability) measure. It can be supposed that the proposed methodology can be applied into the early detection of neuromuscular/neurological disorders.

Unaffected perceptual thresholds for biological and non-biological form-from-motion perception in autism spectrum conditions.

Directory of Open Access Journals (Sweden)

Ayse Pinar Saygin

2010-10-01

Full Text Available Perception of biological motion is linked to the action perception system in the human brain, abnormalities within which have been suggested to underlie impairments in social domains observed in autism spectrum conditions (ASC. However, the literature on biological motion perception in ASC is heterogeneous and it is unclear whether deficits are specific to biological motion, or might generalize to form-from-motion perception.We compared psychophysical thresholds for both biological and non-biological form-from-motion perception in adults with ASC and controls. Participants viewed point-light displays depicting a walking person (Biological Motion, a translating rectangle (Structured Object or a translating unfamiliar shape (Unstructured Object. The figures were embedded in noise dots that moved similarly and the task was to determine direction of movement. The number of noise dots varied on each trial and perceptual thresholds were estimated adaptively. We found no evidence for an impairment in biological or non-biological object motion perception in individuals with ASC. Perceptual thresholds in the three conditions were almost identical between the ASC and control groups.Impairments in biological motion and non-biological form-from-motion perception are not across the board in ASC, and are only found for some stimuli and tasks. We discuss our results in relation to other findings in the literature, the heterogeneity of which likely relates to the different tasks performed. It appears that individuals with ASC are unaffected in perceptual processing of form-from-motion, but may exhibit impairments in higher order judgments such as emotion processing. It is important to identify more specifically which processes of motion perception are impacted in ASC before a link can be made between perceptual deficits and the higher-level features of the disorder.

Hybrid System Design for the Coordination of Multi-Modal Aerial Robots

DEFF Research Database (Denmark)

Koo, T. John; Quottrup, Michael Melholt; Clifton, C. A.

2006-01-01

In this paper we provide a framework for the coordination of a network of heterogeneous aerial robots by using temporal logic to formulate mission speci¯cations for the network of robots. The full dynamics of the aerial robots are considered, and multiple controllers that can cope with various......¯ed. These robots are coordinated by communicating through a single occupancy table. By using the model checker Uppaal, a discrete plan that satis¯es a given temporal logic formula, speci¯ed in CTL, is generated for the robot to execute. Finally, the discrete plan for each robot is re¯ned into a discrete control...... constraints are designed to ensure that desired reachability properties can be preserved by properly switching among the controllers. A timed automaton is then constructed for preserving the temporal properties of a given robot. For di®erent types of robots, unique temporal properties can be speci...

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

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Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

2013-04-01

In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

Perceptual Processing Affects Conceptual Processing

Science.gov (United States)

van Dantzig, Saskia; Pecher, Diane; Zeelenberg, Rene; Barsalou, Lawrence W.

2008-01-01

According to the Perceptual Symbols Theory of cognition (Barsalou, 1999), modality-specific simulations underlie the representation of concepts. A strong prediction of this view is that perceptual processing affects conceptual processing. In this study, participants performed a perceptual detection task and a conceptual property-verification task…

3D Printer Instrumentation to Create Varied Geometries of Robotic Limbs and Heterogeneous Granular Media

Science.gov (United States)

2015-05-20

Transfer Robo Ant The 3D printer was used to rapidly prototype a robot ant . The robot ant was used to model the behavior of the fire ant and to model...computer models and 3D printed ant robots are shown below. Snake Bot We used the 3D printed to rapidly design a modular, easily-modified snake...living organism (modern mudskippers, a terrestrial fish) and extinct early tetrapods (e.g. Ichthyostega, Acanthostega) while allowing us to explore

Referral of sensation to an advanced humanoid robotic hand prosthesis.

Science.gov (United States)

Rosén, Birgitta; Ehrsson, H Henrik; Antfolk, Christian; Cipriani, Christian; Sebelius, Fredrik; Lundborg, Göran

2009-01-01

Hand prostheses that are currently available on the market are used by amputees to only a limited extent, partly because of lack of sensory feedback from the artificial hand. We report a pilot study that showed how amputees can experience a robot-like advanced hand prosthesis as part of their own body. We induced a perceptual illusion by which touch applied to the stump of the arm was experienced from the artificial hand. This illusion was elicited by applying synchronous tactile stimulation to the hidden amputation stump and the robotic hand prosthesis in full view. In five people who had had upper limb amputations this stimulation caused referral touch sensation from the stump to the artificial hand, and the prosthesis was experienced more like a real hand. We also showed that this illusion can work when the amputee controls the movements of the artificial hand by recordings of the arm muscle activity with electromyograms. These observations indicate that the previously described "rubber hand illusion" is also valid for an advanced hand prosthesis, even when it has a robotic-like appearance.

Mobile Mixed-Reality Interfaces That Enhance Human–Robot Interaction in Shared Spaces

Directory of Open Access Journals (Sweden)

Jared A. Frank

2017-06-01

Full Text Available Although user interfaces with gesture-based input and augmented graphics have promoted intuitive human–robot interactions (HRI, they are often implemented in remote applications on research-grade platforms requiring significant training and limiting operator mobility. This paper proposes a mobile mixed-reality interface approach to enhance HRI in shared spaces. As a user points a mobile device at the robot’s workspace, a mixed-reality environment is rendered providing a common frame of reference for the user and robot to effectively communicate spatial information for performing object manipulation tasks, improving the user’s situational awareness while interacting with augmented graphics to intuitively command the robot. An evaluation with participants is conducted to examine task performance and user experience associated with the proposed interface strategy in comparison to conventional approaches that utilize egocentric or exocentric views from cameras mounted on the robot or in the environment, respectively. Results indicate that, despite the suitability of the conventional approaches in remote applications, the proposed interface approach provides comparable task performance and user experiences in shared spaces without the need to install operator stations or vision systems on or around the robot. Moreover, the proposed interface approach provides users the flexibility to direct robots from their own visual perspective (at the expense of some physical workload and leverages the sensing capabilities of the tablet to expand the robot’s perceptual range.

Heterogeneous Associations of Second-Graders' Learning in Robotics Class

Science.gov (United States)

Cho, Eunji; Lee, Kyunghwa; Cherniak, Shara; Jung, Sung Eun

2017-01-01

Drawing on Latour's (Reassembling the social: an introduction to actor--network-theory, Oxford University Press, New York, 2005), this manuscript discusses a study of a robotics class in a public, Title I elementary school. Compared with theoretical frameworks (e.g., constructivism and constructionism) dominant in the field of early childhood…

Acetylcholine and Olfactory Perceptual Learning

Science.gov (United States)

Wilson, Donald A.; Fletcher, Max L.; Sullivan, Regina M.

2004-01-01

Olfactory perceptual learning is a relatively long-term, learned increase in perceptual acuity, and has been described in both humans and animals. Data from recent electrophysiological studies have indicated that olfactory perceptual learning may be correlated with changes in odorant receptive fields of neurons in the olfactory bulb and piriform…

Perceptual dimensions differentiate emotions.

Science.gov (United States)

Cavanaugh, Lisa A; MacInnis, Deborah J; Weiss, Allen M

2015-08-26

Individuals often describe objects in their world in terms of perceptual dimensions that span a variety of modalities; the visual (e.g., brightness: dark-bright), the auditory (e.g., loudness: quiet-loud), the gustatory (e.g., taste: sour-sweet), the tactile (e.g., hardness: soft vs. hard) and the kinaesthetic (e.g., speed: slow-fast). We ask whether individuals use perceptual dimensions to differentiate emotions from one another. Participants in two studies (one where respondents reported on abstract emotion concepts and a second where they reported on specific emotion episodes) rated the extent to which features anchoring 29 perceptual dimensions (e.g., temperature, texture and taste) are associated with 8 emotions (anger, fear, sadness, guilt, contentment, gratitude, pride and excitement). Results revealed that in both studies perceptual dimensions differentiate positive from negative emotions and high arousal from low arousal emotions. They also differentiate among emotions that are similar in arousal and valence (e.g., high arousal negative emotions such as anger and fear). Specific features that anchor particular perceptual dimensions (e.g., hot vs. cold) are also differentially associated with emotions.

A Modular Architecture for Developing Robots for Industrial Applications

DEFF Research Database (Denmark)

Faina, Andres; Orjales, Felix; Souto, Daniel

2015-01-01

addresses the problem the other way around. In this line, we start by defining the industrial settings the architecture is aimed at and then extract the main features that would be required from a modular robotic architecture to operate successfully in this context. Finally, a particular heterogeneous......This chapter is concerned with proposing ways to make feasible the use of robots in many sectors characterized by dynamic and unstructured environments. In particular, we are interested in addressing the problem through a new approach, based on modular robotics, to allow the fast deployment...... modular robotic architecture is designed from these requirements and a laboratory implementation of it is built in order to test its capabilities and show its versatility using a set of different configurations including manipulators, climbers and walkers....

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

Science.gov (United States)

Leonardis, Daniele; Barsotti, Michele; Loconsole, Claudio; Solazzi, Massimiliano; Troncossi, Marco; Mazzotti, Claudio; Castelli, Vincenzo Parenti; Procopio, Caterina; Lamola, Giuseppe; Chisari, Carmelo; Bergamasco, Massimo; Frisoli, Antonio

2015-01-01

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

Manipulación autónoma multipropósito en el robot de servicios jaume-2

Directory of Open Access Journals (Sweden)

Mario Prats

2008-04-01

Full Text Available Resumen: Este artículo presenta una arquitectura de control modular que permite realizar tareas de manipulación en entornos cotidianos a un robot diseñado para ello. Dicho robot integra una plataforma móvil, un brazo redundante articulado, y diferentes tipos de sensores incluyendo visión. Un control de impedancia velocidad/fuerza, que permite la ejecución de una gran variedad de tareas mediante el formalismo denominado TFF (i.e. Task Frame Formalism ha sido implementado de modo satisfactorio. Las distintas tareas son representadas como una red de habilidades básicas que son ejecutadas por el robot usando el control de impedancia. Diferentes mecanismos para la transición entre habilidades de acuerdo al estado perceptual del robot han sido definidos. La validez experimental de nuestro enfoque es demostrada mediante el Robot de Servicios de la UJI, Jaume-2, realizando una tarea cotidiana como es abrir una puerta. Finalmente, este nuevo marco es aplicado para progresar en la nueva versión del Robot Bibliotecario de la UJI, demostrando una gran habilidad en el modo en que el robot manipula libros. Palabras Clave: manipulación, arquitecturas de control, robótica de servicios

Robotic single port cholecystectomy: current data and future perspectives.

Science.gov (United States)

Angelou, Anastasios; Skarmoutsos, Athanasios; Margonis, Georgios A; Moris, Demetrios; Tsigris, Christos; Pikoulis, Emmanouil

2017-04-01

Minimally invasive techniques are used more and more frequently. Since conventional laparoscopic approach has been the gold standard, surgeons in their effort to further reduce the invasiveness of conventional laparoscopic cholecystectomy have adopted Single Incision approach. The widespread adoption of robotics has led to the inevitable hybridization of robotic technology with laparoendoscopic single-site surgery (LESS). As a result, employment of the da Vinci surgical system may allow greater surgical maneuverability, improving ergonomics. A review of the English literature was conducted to evaluate all robotic single port cholecystectomy performed till today. Demographic data, operative parameters, postoperative outcomes and materials used for the operation were collected and assessed. A total of 12 studies, including 501 patients were analyzed. Demographics and clinical characteristics of the patients was heterogeneous, but in most studies a mean BMI port cholecystectomy is a safe and feasible alternative to conventional multiport laparoscopic or manual robotic approach. However, current data do not suggest a superiority of robotic SILC over other established methods.

Evaluation of modular robot system for maintenance tasks in hot cell

Energy Technology Data Exchange (ETDEWEB)

Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

2014-10-15

Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

Integrated approaches to perceptual learning.

Science.gov (United States)

Jacobs, Robert A

2010-04-01

New technologies and new ways of thinking have recently led to rapid expansions in the study of perceptual learning. We describe three themes shared by many of the nine articles included in this topic on Integrated Approaches to Perceptual Learning. First, perceptual learning cannot be studied on its own because it is closely linked to other aspects of cognition, such as attention, working memory, decision making, and conceptual knowledge. Second, perceptual learning is sensitive to both the stimulus properties of the environment in which an observer exists and to the properties of the tasks that the observer needs to perform. Moreover, the environmental and task properties can be characterized through their statistical regularities. Finally, the study of perceptual learning has important implications for society, including implications for science education and medical rehabilitation. Contributed articles relevant to each theme are summarized. Copyright © 2010 Cognitive Science Society, Inc.

Multi-robot Task Allocation for Search and Rescue Missions

International Nuclear Information System (INIS)

Hussein, Ahmed; Adel, Mohamed; Bakr, Mohamed; Shehata, Omar M; Khamis, Alaa

2014-01-01

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions

Visual EKF-SLAM from Heterogeneous Landmarks.

Science.gov (United States)

Esparza-Jiménez, Jorge Othón; Devy, Michel; Gordillo, José L

2016-04-07

Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks); from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology.

Studying Real-World Perceptual Expertise

Directory of Open Access Journals (Sweden)

Jianhong eShen

2014-08-01

Full Text Available Significant insights into visual cognition have come from studying real-world perceptual expertise. Many have previously reviewed empirical findings and theoretical developments from this work. Here we instead provide a brief perspective on approaches, considerations, and challenges to studying real-world perceptual expertise. We discuss factors like choosing to use real-world versus artificial object domains of expertise, selecting a target domain of real-world perceptual expertise, recruiting experts, evaluating their level of expertise, and experimentally testing experts in the lab and online. Throughout our perspective, we highlight expert birding (also called birdwatching as an example, as it has been used as a target domain for over two decades in the perceptual expertise literature.

Iterative tensor voting for perceptual grouping of ill-defined curvilinear structures.

Science.gov (United States)

Loss, Leandro A; Bebis, George; Parvin, Bahram

2011-08-01

In this paper, a novel approach is proposed for perceptual grouping and localization of ill-defined curvilinear structures. Our approach builds upon the tensor voting and the iterative voting frameworks. Its efficacy lies on iterative refinements of curvilinear structures by gradually shifting from an exploratory to an exploitative mode. Such a mode shifting is achieved by reducing the aperture of the tensor voting fields, which is shown to improve curve grouping and inference by enhancing the concentration of the votes over promising, salient structures. The proposed technique is validated on delineating adherens junctions that are imaged through fluorescence microscopy. However, the method is also applicable for screening other organisms based on characteristics of their cell wall structures. Adherens junctions maintain tissue structural integrity and cell-cell interactions. Visually, they exhibit fibrous patterns that may be diffused, heterogeneous in fluorescence intensity, or punctate and frequently perceptual. Besides the application to real data, the proposed method is compared to prior methods on synthetic and annotated real data, showing high precision rates.

Evaluative pressure overcomes perceptual load effects.

Science.gov (United States)

Normand, Alice; Autin, Frédérique; Croizet, Jean-Claude

2015-06-01

Perceptual load has been found to be a powerful bottom-up determinant of distractibility, with high perceptual load preventing distraction by any irrelevant information. However, when under evaluative pressure, individuals exert top-down attentional control by giving greater weight to task-relevant features, making them more distractible from task-relevant distractors. One study tested whether the top-down modulation of attention under evaluative pressure overcomes the beneficial bottom-up effect of high perceptual load on distraction. Using a response-competition task, we replicated previous findings that high levels of perceptual load suppress task-relevant distractor response interference, but only for participants in a control condition. Participants under evaluative pressure (i.e., who believed their intelligence was assessed) showed interference from task-relevant distractor at all levels of perceptual load. This research challenges the assumptions of the perceptual load theory and sheds light on a neglected determinant of distractibility: the self-relevance of the performance situation in which attentional control is solicited.

Perceptual learning modifies untrained pursuit eye movements.

Science.gov (United States)

Szpiro, Sarit F A; Spering, Miriam; Carrasco, Marisa

2014-07-07

Perceptual learning improves detection and discrimination of relevant visual information in mature humans, revealing sensory plasticity. Whether visual perceptual learning affects motor responses is unknown. Here we implemented a protocol that enabled us to address this question. We tested a perceptual response (motion direction estimation, in which observers overestimate motion direction away from a reference) and a motor response (voluntary smooth pursuit eye movements). Perceptual training led to greater overestimation and, remarkably, it modified untrained smooth pursuit. In contrast, pursuit training did not affect overestimation in either pursuit or perception, even though observers in both training groups were exposed to the same stimuli for the same time period. A second experiment revealed that estimation training also improved discrimination, indicating that overestimation may optimize perceptual sensitivity. Hence, active perceptual training is necessary to alter perceptual responses, and an acquired change in perception suffices to modify pursuit, a motor response. © 2014 ARVO.

Possible benefits of robot-assisted rectal cancer surgery regarding urological and sexual dysfunction

DEFF Research Database (Denmark)

Broholm Andersen, Malene; Pommergaard, H-C; Gögenür, I

2015-01-01

AIM: Robot-assisted surgery for rectal cancer may result in lower rates of urogenital dysfunction compared with laparoscopic surgery. A systematic review was conducted of studies reporting urogenital dysfunction after robot-assisted rectal cancer surgery. METHOD: PubMed, Embase and the Cochrane...... Library were systematically searched in February 2014. All studies investigating urogenital function after robot-assisted rectal cancer surgery were identified. The inclusion criteria for meta-analysis studies required comparison of robot-assisted with laparoscopic surgery and the evaluation of urological...... to four including 152 patients in the robotic group and 161 in the laparoscopic group, without heterogeneity. The IPSS score at 3 and 12 months favoured robot-assisted surgery [mean difference (MD) -1.58; 95% CI (-3.1, -0.0), [P = 0.04; and MD -0.90 (-1.81, -0.02), P = 0.05]. IIEF scores at 3 months...

Dynamic electronic institutions in agent oriented cloud robotic systems.

Science.gov (United States)

Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

2015-01-01

The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology.

Attentional capture under high perceptual load.

Science.gov (United States)

Cosman, Joshua D; Vecera, Shaun P

2010-12-01

Attentional capture by abrupt onsets can be modulated by several factors, including the complexity, or perceptual load, of a scene. We have recently demonstrated that observers are less likely to be captured by abruptly appearing, task-irrelevant stimuli when they perform a search that is high, as opposed to low, in perceptual load (Cosman & Vecera, 2009), consistent with perceptual load theory. However, recent results indicate that onset frequency can influence stimulus-driven capture, with infrequent onsets capturing attention more often than did frequent onsets. Importantly, in our previous task, an abrupt onset was present on every trial, and consequently, attentional capture might have been affected by both onset frequency and perceptual load. In the present experiment, we examined whether onset frequency influences attentional capture under conditions of high perceptual load. When onsets were presented frequently, we replicated our earlier results; attentional capture by onsets was modulated under conditions of high perceptual load. Importantly, however, when onsets were presented infrequently, we observed robust capture effects. These results conflict with a strong form of load theory and, instead, suggest that exposure to the elements of a task (e.g., abrupt onsets) combines with high perceptual load to modulate attentional capture by task-irrelevant information.

Perceptual learning modifies untrained pursuit eye movements

OpenAIRE

Szpiro, Sarit F. A.; Spering, Miriam; Carrasco, Marisa

2014-01-01

Perceptual learning improves detection and discrimination of relevant visual information in mature humans, revealing sensory plasticity. Whether visual perceptual learning affects motor responses is unknown. Here we implemented a protocol that enabled us to address this question. We tested a perceptual response (motion direction estimation, in which observers overestimate motion direction away from a reference) and a motor response (voluntary smooth pursuit eye movements). Perceptual training...

Why Are There Developmental Stages in Language Learning? A Developmental Robotics Model of Language Development.

Science.gov (United States)

Morse, Anthony F; Cangelosi, Angelo

2017-02-01

Most theories of learning would predict a gradual acquisition and refinement of skills as learning progresses, and while some highlight exponential growth, this fails to explain why natural cognitive development typically progresses in stages. Models that do span multiple developmental stages typically have parameters to "switch" between stages. We argue that by taking an embodied view, the interaction between learning mechanisms, the resulting behavior of the agent, and the opportunities for learning that the environment provides can account for the stage-wise development of cognitive abilities. We summarize work relevant to this hypothesis and suggest two simple mechanisms that account for some developmental transitions: neural readiness focuses on changes in the neural substrate resulting from ongoing learning, and perceptual readiness focuses on the perceptual requirements for learning new tasks. Previous work has demonstrated these mechanisms in replications of a wide variety of infant language experiments, spanning multiple developmental stages. Here we piece this work together as a single model of ongoing learning with no parameter changes at all. The model, an instance of the Epigenetic Robotics Architecture (Morse et al 2010) embodied on the iCub humanoid robot, exhibits ongoing multi-stage development while learning pre-linguistic and then basic language skills. Copyright © 2016 Cognitive Science Society, Inc.

Validation of multi-body modelling methodology for reconfigurable underwater robots

DEFF Research Database (Denmark)

Nielsen, M.C.; Eidsvik, O. A.; Blanke, Mogens

2016-01-01

This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types...... of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules...

Visual EKF-SLAM from Heterogeneous Landmarks †

Science.gov (United States)

Esparza-Jiménez, Jorge Othón; Devy, Michel; Gordillo, José L.

2016-01-01

Many applications require the localization of a moving object, e.g., a robot, using sensory data acquired from embedded devices. Simultaneous localization and mapping from vision performs both the spatial and temporal fusion of these data on a map when a camera moves in an unknown environment. Such a SLAM process executes two interleaved functions: the front-end detects and tracks features from images, while the back-end interprets features as landmark observations and estimates both the landmarks and the robot positions with respect to a selected reference frame. This paper describes a complete visual SLAM solution, combining both point and line landmarks on a single map. The proposed method has an impact on both the back-end and the front-end. The contributions comprehend the use of heterogeneous landmark-based EKF-SLAM (the management of a map composed of both point and line landmarks); from this perspective, the comparison between landmark parametrizations and the evaluation of how the heterogeneity improves the accuracy on the camera localization, the development of a front-end active-search process for linear landmarks integrated into SLAM and the experimentation methodology. PMID:27070602

Application of the Naive Bayes Classifier for Representation and Use of Heterogeneous and Incomplete Knowledge in Social Robotics

NARCIS (Netherlands)

Trovato, Gabriele; Chrupala, Grzegorz; Takanishi, Atsuo

2016-01-01

As societies move towards integration of robots, it is important to study how robots can use their cognition in order to choose effectively their actions in a human environment, and possibly adapt to new contexts. When modelling these contextual data, it is common in social robotics to work with

The role of textured material in supporting perceptual-motor functions.

Directory of Open Access Journals (Sweden)

Dominic Orth

Full Text Available Simple deformation of the skin surface with textured materials can improve human perceptual-motor performance. The implications of these findings are inexpensive, adaptable and easily integrated clothing, equipment and tools for improving perceptual-motor functionality. However, some clarification is needed because mixed results have been reported in the literature, highlighting positive, absent and/or negative effects of added texture on measures of perceptual-motor performance. Therefore the aim of this study was to evaluate the efficacy of textured materials for enhancing perceptual-motor functionality. The systematic review uncovered two variables suitable for sub-group analysis within and between studies: participant age (groupings were 18-51 years and 64.7-79.4 years and experimental task (upright balance and walking. Evaluation of studies that observed texture effects during upright balance tasks, uncovered two additional candidate sub-groups for future work: vision (eyes open and eyes closed and stability (stable and unstable. Meta-analysis (random effects revealed that young participants improve performance by a small to moderate amount in upright balance tasks with added texture (SMD = 0.28, 95%CI = 0.46-0.09, Z = 2.99, P = 0.001; Tau(2 = 0.02; Chi(2 = 9.87, df = 6, P = 0.13; I(2 = 39.22. Significant heterogeneity was found in, the overall effect of texture: Tau(2 = 0.13; Chi(2 = 130.71, df = 26, P<0.0001; I(2 = 85.98%, pooled samples in upright balance tasks: Tau(2 = 0.09; Chi(2 = 101.57, df = 13, P<0.001; I(2 = 72.67%, and in elderly in upright balance tasks: Tau(2 = 0.16; Chi(2 = 39.42, df = 5, P<0.001; I(2 = 83.05%. No effect was shown for walking tasks: Tau(2 = 0.00; Chi(2 = 3.45, df = 4, P = 0.27, I(2 = 22.99%. Data provides unequivocal support for utilizing textured materials in young healthy populations for improving

Semantic Representations in 3D Perceptual Space

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Suncica Zdravkovic

2011-05-01

Full Text Available Barsalou's (1999 perceptual theory of knowledge echoes the pre-20th century tradition of conceptualizing all knowledge as inherently perceptual. Hence conceptual space has an infinite number of dimensions and heavily relies on perceptual experience. Osgood's (1952 semantic differential technique was developed as a bridge between perception and semantics. We updated Osgood's methodology in order to investigate current issues in visual cognition by: (1 using a 2D rather than a 1D space to place the concepts, (2 having dimensions that were perceptual while the targets were conceptual, (3 coupling visual experience with another two perceptual domains (audition and touch, (4 analyzing the data using MDS (not factor analysis. In three experiments, subjects (N = 57 judged five concrete and five abstract words on seven bipolar scales in three perceptual modalities. The 2D space led to different patterns of response compared to the classic 1D space. MDS revealed that perceptual modalities are not equally informative for mapping word-meaning distances (Mantel min = −.23; Mantel max = .88. There was no reliable differences due to test administration modality (paper vs. computer, nor scale orientation. The present findings are consistent with multidimensionality of conceptual space, a perceptual basis for knowledge, and dynamic characteristics of concepts discussed in contemporary theories.

Perceptual discrimination difficulty and familiarity in the Uncanny Valley: more like a "Happy Valley".

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Cheetham, Marcus; Suter, Pascal; Jancke, Lutz

2014-01-01

The Uncanny Valley Hypothesis (UVH) predicts that greater difficulty perceptually discriminating between categorically ambiguous human and humanlike characters (e.g., highly realistic robot) evokes negatively valenced (i.e., uncanny) affect. An ABX perceptual discrimination task and signal detection analysis was used to examine the profile of perceptual discrimination (PD) difficulty along the UVH' dimension of human likeness (DHL). This was represented using avatar-to-human morph continua. Rejecting the implicitly assumed profile of PD difficulty underlying the UVH' prediction, Experiment 1 showed that PD difficulty was reduced for categorically ambiguous faces but, notably, enhanced for human faces. Rejecting the UVH' predicted relationship between PD difficulty and negative affect (assessed in terms of the UVH' familiarity dimension), Experiment 2 demonstrated that greater PD difficulty correlates with more positively valenced affect. Critically, this effect was strongest for the ambiguous faces, suggesting a correlative relationship between PD difficulty and feelings of familiarity more consistent with the metaphor happy valley. This relationship is also consistent with a fluency amplification instead of the hitherto proposed hedonic fluency account of affect along the DHL. Experiment 3 found no evidence that the asymmetry in the profile of PD along the DHL is attributable to a differential processing bias (cf. other-race effect), i.e., processing avatars at a category level but human faces at an individual level. In conclusion, the present data for static faces show clear effects that, however, strongly challenge the UVH' implicitly assumed profile of PD difficulty along the DHL and the predicted relationship between this and feelings of familiarity.

Middleware Interoperability for Robotics: A ROS-YARP Framework

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Plinio Moreno

2016-10-01

Full Text Available Middlewares are fundamental tools for progress in research and applications in robotics. They enable the integration of multiple heterogeneous sensing and actuation devices, as well as providing general purpose modules for key robotics functions (kinematics, navigation, planning. However, no existing middleware yet provides a complete set of functionalities for all robotics applications, and many robots may need to rely on more than one framework. This paper focuses on the interoperability between two of the most prevalent middleware in robotics: YARP and ROS. Interoperability between middlewares should ideally allow users to execute existing software without the necessity of: (i changing the existing code, and (ii writing hand-coded ``bridges'' for each use-case. We propose a framework enabling the communication between existing YARP modules and ROS nodes for robotics applications in an automated way. Our approach generates the ``bridging gap'' code from a configuration file, connecting YARP ports and ROS topics through code-generated YARP Bottles. %%The configuration file must describe: (i the sender entities, (ii the way to group and convert the information read from the sender, (iii the structure of the output message and (iv the receiving entity. Our choice for the many inputs to one output is the most common use-case in robotics applications, where examples include filtering, decision making and visualization. %We support YARP/ROS and ROS/YARP sender/receiver configurations, which are demonstrated in a humanoid on wheels robot that uses YARP for upper body motor control and visual perception, and ROS for mobile base control and navigation algorithms.

Referenceless Prediction of Perceptual Fog Density and Perceptual Image Defogging.

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Choi, Lark Kwon; You, Jaehee; Bovik, Alan Conrad

2015-11-01

We propose a referenceless perceptual fog density prediction model based on natural scene statistics (NSS) and fog aware statistical features. The proposed model, called Fog Aware Density Evaluator (FADE), predicts the visibility of a foggy scene from a single image without reference to a corresponding fog-free image, without dependence on salient objects in a scene, without side geographical camera information, without estimating a depth-dependent transmission map, and without training on human-rated judgments. FADE only makes use of measurable deviations from statistical regularities observed in natural foggy and fog-free images. Fog aware statistical features that define the perceptual fog density index derive from a space domain NSS model and the observed characteristics of foggy images. FADE not only predicts perceptual fog density for the entire image, but also provides a local fog density index for each patch. The predicted fog density using FADE correlates well with human judgments of fog density taken in a subjective study on a large foggy image database. As applications, FADE not only accurately assesses the performance of defogging algorithms designed to enhance the visibility of foggy images, but also is well suited for image defogging. A new FADE-based referenceless perceptual image defogging, dubbed DEnsity of Fog Assessment-based DEfogger (DEFADE) achieves better results for darker, denser foggy images as well as on standard foggy images than the state of the art defogging methods. A software release of FADE and DEFADE is available online for public use: http://live.ece.utexas.edu/research/fog/index.html.

Generation and Perceptual Implicit Memory: Different Generation Tasks Produce Different Effects on Perceptual Priming

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Mulligan, Neil W.; Dew, Ilana T. Z.

2009-01-01

The generation manipulation has been critical in delineating differences between implicit and explicit memory. In contrast to past research, the present experiments indicate that generating from a rhyme cue produces as much perceptual priming as does reading. This is demonstrated for 3 visual priming tasks: perceptual identification, word-fragment…

Distributed control of multi-robot teams: Cooperative baton passing task

Energy Technology Data Exchange (ETDEWEB)

Parker, L.E.

1998-11-01

This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

The neural correlates of perceptual load induced attentional selection: an fMRI study.

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Wei, P; Szameitat, A J; Müller, H J; Schubert, T; Zhou, X

2013-10-10

The neural correlates of perceptual load induced attentional selection were investigated in an functional magnetic resonance imaging (fMRI) experiment in which attentional selection was manipulated through the variation of perceptual load in target search. Participants searched for a vertically or horizontally oriented bar among heterogeneously (the high load condition) or homogeneously (the low load condition) oriented distractor bars in the central display, which was flanked by a vertical or horizontal bar presented at the left or the right periphery. The search reaction times were longer when the central display was of high load than of low load, and were longer when the flanker was incongruent than congruent with the target. Importantly, the flanker congruency effect was manifested only in the low load condition, not in the high load condition, indicating that the perceptual load in target search determined whether the task-irrelevant flanker was processed. Imaging analyses revealed a set of fronto-parietal regions having higher activations in the high than in the low load condition. Anterior cingulate cortex (ACC) was more activated for the incongruent than for the congruent trials. Moreover, ACC and bilateral anterior insula were sensitive to the interaction between perceptual load and flanker congruency such that the activation differences between the incongruent and congruent conditions were significant in the low, but not in the high load condition. These results are consistent with the claim that ACC and bilateral anterior insula may exert executive control by selectively biasing processing in favor of task-relevant information and this biasing depends on the resources currently available to the control system. Copyright © 2013 IBRO. Published by Elsevier Ltd. All rights reserved.

Reactive agents and perceptual ambiguity

NARCIS (Netherlands)

Dartel, M. van; Sprinkhuizen-Kuyper, I.G.; Postma, E.O.; Herik, H.J. van den

2005-01-01

Reactive agents are generally believed to be incapable of coping with perceptual ambiguity (i.e., identical sensory states that require different responses). However, a recent finding suggests that reactive agents can cope with perceptual ambiguity in a simple model (Nolfi, 2002). This paper

Perceptual integration without conscious access.

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Fahrenfort, Johannes J; van Leeuwen, Jonathan; Olivers, Christian N L; Hogendoorn, Hinze

2017-04-04

The visual system has the remarkable ability to integrate fragmentary visual input into a perceptually organized collection of surfaces and objects, a process we refer to as perceptual integration. Despite a long tradition of perception research, it is not known whether access to consciousness is required to complete perceptual integration. To investigate this question, we manipulated access to consciousness using the attentional blink. We show that, behaviorally, the attentional blink impairs conscious decisions about the presence of integrated surface structure from fragmented input. However, despite conscious access being impaired, the ability to decode the presence of integrated percepts remains intact, as shown through multivariate classification analyses of electroencephalogram (EEG) data. In contrast, when disrupting perception through masking, decisions about integrated percepts and decoding of integrated percepts are impaired in tandem, while leaving feedforward representations intact. Together, these data show that access consciousness and perceptual integration can be dissociated.

Attentional selection within and across hemispheres: implications for the perceptual load theory.

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Wei, Ping; Kang, Guanlan; Zhou, Xiaolin

2013-03-01

The perceptual load of a given task affects attentional selection, with the selection occurring earlier when the load is high and later when the load is low. Recent evidence suggests that local competitive interaction may underlie the perceptual load effect and determine to what extent a task-irrelevant distractor is processed. Here, we asked participants to search for a target bar among homogeneously oriented bars (the low load conditions) or heterogeneously oriented bars (the high load conditions) in the central display, while ignoring a congruent or incongruent flanker bar presented to the left or right side of the central display, or a bar presented at one of the six positions outer to the central display. Importantly, we differentiated conditions in which the target in the central display and the peripheral flanker was presented within the same hemifield or across different hemifields. Results showed a significant flanker effect for the low load condition, but not for the high load condition, when the target and the flanker were across hemifields. However, when the target and the flanker were presented within the same hemifield, there was no flanker effect for either low or high load conditions. These findings demonstrate that the ability to ignore the task-irrelevant distractor is affected by local competition within hemisphere and that the perceptual load theory needs to be supplemented with detailed analysis of cognitive processes and mechanisms underlying the consumption of attentional resources.

Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

NARCIS (Netherlands)

Leenes, R.E.; Lucivero, F.

2015-01-01

Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

Perceptual integration without conscious access

NARCIS (Netherlands)

Fahrenfort, Johannes J.; Van Leeuwen, Jonathan; Olivers, Christian N.L.; Hogendoorn, Hinze

2017-01-01

The visual system has the remarkable ability to integrate fragmentary visual input into a perceptually organized collection of surfaces and objects, a process we refer to as perceptual integration. Despite a long tradition of perception research, it is not known whether access to consciousness is

Perceptual learning: top to bottom.

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Amitay, Sygal; Zhang, Yu-Xuan; Jones, Pete R; Moore, David R

2014-06-01

Perceptual learning has traditionally been portrayed as a bottom-up phenomenon that improves encoding or decoding of the trained stimulus. Cognitive skills such as attention and memory are thought to drive, guide and modulate learning but are, with notable exceptions, not generally considered to undergo changes themselves as a result of training with simple perceptual tasks. Moreover, shifts in threshold are interpreted as shifts in perceptual sensitivity, with no consideration for non-sensory factors (such as response bias) that may contribute to these changes. Accumulating evidence from our own research and others shows that perceptual learning is a conglomeration of effects, with training-induced changes ranging from the lowest (noise reduction in the phase locking of auditory signals) to the highest (working memory capacity) level of processing, and includes contributions from non-sensory factors that affect decision making even on a "simple" auditory task such as frequency discrimination. We discuss our emerging view of learning as a process that increases the signal-to-noise ratio associated with perceptual tasks by tackling noise sources and inefficiencies that cause performance bottlenecks, and present some implications for training populations other than young, smart, attentive and highly-motivated college students. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Functional heterogeneity within the default network during semantic processing and speech production.

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Mohamed L Seghier

2012-08-01

Full Text Available This fMRI study investigated the functional heterogeneity of the core nodes of the default mode network (DMN during language processing. The core nodes of the DMN were defined as task-induced deactivations over multiple tasks in 94 healthy subjects. We used a factorial design that manipulated different tasks (semantic matching or speech production and stimuli (familiar words and objects or unfamiliar stimuli, alternating with periods of fixation/rest. Our findings revealed several consistent effects in the DMN, namely less deactivations in the left inferior parietal lobule during semantic than perceptual matching in parallel with greater deactivations during semantic matching in anterior subdivisions of the posterior cingulate cortex and the ventromedial prefrontal cortex. This suggests that, when the brain is engaged in effortful semantic tasks, a part of the DMN in the left angular gyrus was less deactivated as five other nodes of the DMN were more deactivated. These five DMN areas, where deactivation was greater for semantic than perceptual matching, were further differentiated because deactivation was greater in (i posterior ventromedial prefrontal cortex for speech production relative to semantic matching, (ii posterior precuneus and posterior cingulate cortex for perceptual processing relative to speech production and (iii right inferior parietal cortex for pictures of objects relative to written words during both naming and semantic decisions. Our results thus highlight that task difficulty alone cannot fully explain the functional variability in task-induced deactivations. Together these results emphasize that core nodes within the DMN are functionally heterogeneous and differentially sensitive to the type of language processing.

Perceptual learning and adult cortical plasticity.

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Gilbert, Charles D; Li, Wu; Piech, Valentin

2009-06-15

The visual cortex retains the capacity for experience-dependent changes, or plasticity, of cortical function and cortical circuitry, throughout life. These changes constitute the mechanism of perceptual learning in normal visual experience and in recovery of function after CNS damage. Such plasticity can be seen at multiple stages in the visual pathway, including primary visual cortex. The manifestation of the functional changes associated with perceptual learning involve both long term modification of cortical circuits during the course of learning, and short term dynamics in the functional properties of cortical neurons. These dynamics are subject to top-down influences of attention, expectation and perceptual task. As a consequence, each cortical area is an adaptive processor, altering its function in accordance to immediate perceptual demands.

Perceptual inference.

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Aggelopoulos, Nikolaos C

2015-08-01

Perceptual inference refers to the ability to infer sensory stimuli from predictions that result from internal neural representations built through prior experience. Methods of Bayesian statistical inference and decision theory model cognition adequately by using error sensing either in guiding action or in "generative" models that predict the sensory information. In this framework, perception can be seen as a process qualitatively distinct from sensation, a process of information evaluation using previously acquired and stored representations (memories) that is guided by sensory feedback. The stored representations can be utilised as internal models of sensory stimuli enabling long term associations, for example in operant conditioning. Evidence for perceptual inference is contributed by such phenomena as the cortical co-localisation of object perception with object memory, the response invariance in the responses of some neurons to variations in the stimulus, as well as from situations in which perception can be dissociated from sensation. In the context of perceptual inference, sensory areas of the cerebral cortex that have been facilitated by a priming signal may be regarded as comparators in a closed feedback loop, similar to the better known motor reflexes in the sensorimotor system. The adult cerebral cortex can be regarded as similar to a servomechanism, in using sensory feedback to correct internal models, producing predictions of the outside world on the basis of past experience. Copyright © 2015 Elsevier Ltd. All rights reserved.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

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Hooman Samani

2013-12-01

Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

Adaptation and perceptual norms

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Webster, Michael A.; Yasuda, Maiko; Haber, Sara; Leonard, Deanne; Ballardini, Nicole

2007-02-01

We used adaptation to examine the relationship between perceptual norms--the stimuli observers describe as psychologically neutral, and response norms--the stimulus levels that leave visual sensitivity in a neutral or balanced state. Adapting to stimuli on opposite sides of a neutral point (e.g. redder or greener than white) biases appearance in opposite ways. Thus the adapting stimulus can be titrated to find the unique adapting level that does not bias appearance. We compared these response norms to subjectively defined neutral points both within the same observer (at different retinal eccentricities) and between observers. These comparisons were made for visual judgments of color, image focus, and human faces, stimuli that are very different and may depend on very different levels of processing, yet which share the property that for each there is a well defined and perceptually salient norm. In each case the adaptation aftereffects were consistent with an underlying sensitivity basis for the perceptual norm. Specifically, response norms were similar to and thus covaried with the perceptual norm, and under common adaptation differences between subjectively defined norms were reduced. These results are consistent with models of norm-based codes and suggest that these codes underlie an important link between visual coding and visual experience.

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

Beauty in abstract paintings: Perceptual contrast and statistical properties

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Birgit eMallon

2014-03-01

Full Text Available In this study, we combined the behavioral and objective approach in the field of empirical aesthetics. First, we studied the perception of beauty by investigating shifts in evaluation on perceived beauty of abstract artworks (Experiment 1. Because the participants showed heterogeneous individual preferences for the paintings, we divided them into seven clusters for the test. The experiment revealed a clear pattern of perceptual contrast. The perceived beauty of abstract paintings increased after exposure to paintings that were rated as less beautiful, and it decreased after exposure to paintings that were rated as more beautiful. Next, we searched for correlations of beauty ratings and perceptual contrast with statistical properties of abstract artworks (Experiment 2. The participants showed significant preferences for certain image properties. These preferences differed between the clusters of participants. Strikingly, next to color measures like hue, saturation, value and lightness, the recently described PHOG self-similarity value seems to be a predictor for aesthetic appreciation of abstract artworks. We speculate that the shift in evaluation in Experiment 1 was, at least in part, based on low-level adaptation to some of the statistical image properties analyzed in Experiment 2. In conclusion, our findings demonstrate that the perception of beauty in abstract artworks is altered after exposure to beautiful or non-beautiful images and correlates with particular image properties, especially color measures and self-similarity.

Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review.

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Werner, Christian; Ullrich, Phoebe; Geravand, Milad; Peer, Angelika; Hauer, Klaus

2016-01-01

Robotic rollators enhance the basic functions of established devices by technically advanced physical, cognitive, or sensory support to increase autonomy in persons with severe impairment. In the evaluation of such ambient assisted living solutions, both the technical and user perspectives are important to prove usability, effectiveness and safety, and to ensure adequate device application. The aim of this systematic review is to summarize the methodology of studies evaluating robotic rollators with focus on the user perspective and to give recommendations for future evaluation studies. A systematic literature search up to December 31, 2014, was conducted based on the Cochrane Review methodology using the electronic databases PubMed and IEEE Xplore. Articles were selected according to the following inclusion criteria: evaluation studies of robotic rollators documenting human-robot interaction, no case reports, published in English language. Twenty-eight studies were identified that met the predefined inclusion criteria. Large heterogeneity in the definitions of the target user group, study populations, study designs and assessment methods was found across the included studies. No generic methodology to evaluate robotic rollators could be identified. We found major methodological shortcomings related to insufficient sample descriptions and sample sizes, and lack of appropriate, standardized and validated assessment methods. Long-term use in habitual environment was also not evaluated. Apart from the heterogeneity, methodological deficits in most of the identified studies became apparent. Recommendations for future evaluation studies include: clear definition of target user group, adequate selection of subjects, inclusion of other assistive mobility devices for comparison, evaluation of the habitual use of advanced prototypes, adequate assessment strategy with established, standardized and validated methods, and statistical analysis of study results. Assessment

Robot vision for nuclear advanced robot

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

1991-01-01

This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

Perceptual Training Strongly Improves Visual Motion Perception in Schizophrenia

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Norton, Daniel J.; McBain, Ryan K.; Ongur, Dost; Chen, Yue

2011-01-01

Schizophrenia patients exhibit perceptual and cognitive deficits, including in visual motion processing. Given that cognitive systems depend upon perceptual inputs, improving patients' perceptual abilities may be an effective means of cognitive intervention. In healthy people, motion perception can be enhanced through perceptual learning, but it…

A Neural Signature Encoding Decisions under Perceptual Ambiguity.

Science.gov (United States)

Sun, Sai; Yu, Rongjun; Wang, Shuo

2017-01-01

People often make perceptual decisions with ambiguous information, but it remains unclear whether the brain has a common neural substrate that encodes various forms of perceptual ambiguity. Here, we used three types of perceptually ambiguous stimuli as well as task instructions to examine the neural basis for both stimulus-driven and task-driven perceptual ambiguity. We identified a neural signature, the late positive potential (LPP), that encoded a general form of stimulus-driven perceptual ambiguity. In addition to stimulus-driven ambiguity, the LPP was also modulated by ambiguity in task instructions. To further specify the functional role of the LPP and elucidate the relationship between stimulus ambiguity, behavioral response, and the LPP, we employed regression models and found that the LPP was specifically associated with response latency and confidence rating, suggesting that the LPP encoded decisions under perceptual ambiguity. Finally, direct behavioral ratings of stimulus and task ambiguity confirmed our neurophysiological findings, which could not be attributed to differences in eye movements either. Together, our findings argue for a common neural signature that encodes decisions under perceptual ambiguity but is subject to the modulation of task ambiguity. Our results represent an essential first step toward a complete neural understanding of human perceptual decision making.

Is sequence awareness mandatory for perceptual sequence learning: An assessment using a pure perceptual sequence learning design.

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Deroost, Natacha; Coomans, Daphné

2018-02-01

We examined the role of sequence awareness in a pure perceptual sequence learning design. Participants had to react to the target's colour that changed according to a perceptual sequence. By varying the mapping of the target's colour onto the response keys, motor responses changed randomly. The effect of sequence awareness on perceptual sequence learning was determined by manipulating the learning instructions (explicit versus implicit) and assessing the amount of sequence awareness after the experiment. In the explicit instruction condition (n = 15), participants were instructed to intentionally search for the colour sequence, whereas in the implicit instruction condition (n = 15), they were left uninformed about the sequenced nature of the task. Sequence awareness after the sequence learning task was tested by means of a questionnaire and the process-dissociation-procedure. The results showed that the instruction manipulation had no effect on the amount of perceptual sequence learning. Based on their report to have actively applied their sequence knowledge during the experiment, participants were subsequently regrouped in a sequence strategy group (n = 14, of which 4 participants from the implicit instruction condition and 10 participants from the explicit instruction condition) and a no-sequence strategy group (n = 16, of which 11 participants from the implicit instruction condition and 5 participants from the explicit instruction condition). Only participants of the sequence strategy group showed reliable perceptual sequence learning and sequence awareness. These results indicate that perceptual sequence learning depends upon the continuous employment of strategic cognitive control processes on sequence knowledge. Sequence awareness is suggested to be a necessary but not sufficient condition for perceptual learning to take place. Copyright © 2018 Elsevier B.V. All rights reserved.

Visual Detection and Tracking System for a Spherical Amphibious Robot.

Science.gov (United States)

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-04-15

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

Visual Detection and Tracking System for a Spherical Amphibious Robot

Science.gov (United States)

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-01-01

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

Prediction of kindergarteners' behavior on Metropolitan Readiness Tests from preschool perceptual and perceptual-motor performances: a validation study.

Science.gov (United States)

Belka, D E

1981-06-01

Multiple regression equations were generated to predict cognitive achievement for 40 children (ages 57 to 68 mo.) 1 yr. after administration of a battery of 6 perceptual and perceptual-motor tests to determine if previous results from Toledo could be replicated. Regression equations generated from maximum R2 improvement techniques indicated that performance at prekindergarten is useful for prediction of cognitive performance (total score and total score without the copying subtest on the Metropolitan Readiness Tests) 1 yr. later at the end of kindergarten. The optimal battery included scores on auditory perception, fine perceptual-motor, and gross perceptual-motor tasks. The moderate predictive power of the equations obtained was compared with high predictive power generated in the Toledo study.

Animacy, perceptual load, and inattentional blindness.

Science.gov (United States)

Calvillo, Dustin P; Jackson, Russell E

2014-06-01

Inattentional blindness is the failure to notice unexpected objects in a visual scene while engaging in an attention-demanding task. We examined the effects of animacy and perceptual load on inattentional blindness. Participants searched for a category exemplar under low or high perceptual load. On the last trial, the participants were exposed to an unexpected object that was either animate or inanimate. Unexpected objects were detected more frequently when they were animate rather than inanimate, and more frequently with low than with high perceptual loads. We also measured working memory capacity and found that it predicted the detection of unexpected objects, but only with high perceptual loads. The results are consistent with the animate-monitoring hypothesis, which suggests that animate objects capture attention because of the importance of the detection of animate objects in ancestral hunter-gatherer environments.

Robotics

Science.gov (United States)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

Grey scale, the 'crispening effect', and perceptual linearization

NARCIS (Netherlands)

Belaïd, N.; Martens, J.B.

1998-01-01

One way of optimizing a display is to maximize the number of distinguishable grey levels, which in turn is equivalent to perceptually linearizing the display. Perceptual linearization implies that equal steps in grey value evoke equal steps in brightness sensation. The key to perceptual

Perceptual Fusion in Humans and Machines

NARCIS (Netherlands)

A.A. Salah (Albert Ali); O. Tanrı dağ

2008-01-01

htmlabstractHumans perceive the world through different perceptual modalities, which are processed in the brain by modality-specific areas and structures. However, there also exist multimodal neurons and areas, specialized in integrating perceptual information to enhance or suppress brain response.

A Novel Perceptual Hash Algorithm for Multispectral Image Authentication

Directory of Open Access Journals (Sweden)

Kaimeng Ding

2018-01-01

Full Text Available The perceptual hash algorithm is a technique to authenticate the integrity of images. While a few scholars have worked on mono-spectral image perceptual hashing, there is limited research on multispectral image perceptual hashing. In this paper, we propose a perceptual hash algorithm for the content authentication of a multispectral remote sensing image based on the synthetic characteristics of each band: firstly, the multispectral remote sensing image is preprocessed with band clustering and grid partition; secondly, the edge feature of the band subsets is extracted by band fusion-based edge feature extraction; thirdly, the perceptual feature of the same region of the band subsets is compressed and normalized to generate the perceptual hash value. The authentication procedure is achieved via the normalized Hamming distance between the perceptual hash value of the recomputed perceptual hash value and the original hash value. The experiments indicated that our proposed algorithm is robust compared to content-preserved operations and it efficiently authenticates the integrity of multispectral remote sensing images.

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

2016-01-01

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

Natural texture retrieval based on perceptual similarity measurement

Science.gov (United States)

Gao, Ying; Dong, Junyu; Lou, Jianwen; Qi, Lin; Liu, Jun

2018-04-01

A typical texture retrieval system performs feature comparison and might not be able to make human-like judgments of image similarity. Meanwhile, it is commonly known that perceptual texture similarity is difficult to be described by traditional image features. In this paper, we propose a new texture retrieval scheme based on texture perceptual similarity. The key of the proposed scheme is that prediction of perceptual similarity is performed by learning a non-linear mapping from image features space to perceptual texture space by using Random Forest. We test the method on natural texture dataset and apply it on a new wallpapers dataset. Experimental results demonstrate that the proposed texture retrieval scheme with perceptual similarity improves the retrieval performance over traditional image features.

Perceptually specific and perceptually non-specific influences on rereading benefits for spatially transformed text: evidence from eye movements.

Science.gov (United States)

Sheridan, Heather; Reingold, Eyal M

2012-12-01

The present study used eye tracking methodology to examine rereading benefits for spatially transformed text. Eye movements were monitored while participants read the same target word twice, in two different low-constraint sentence frames. The congruency of perceptual processing was manipulated by either applying the same type of transformation to the word during the first and second presentations (i.e., the congruent condition), or employing two different types of transformations across the two presentations of the word (i.e., the incongruent condition). Perceptual specificity effects were demonstrated such that fixation times for the second presentation of the target word were shorter for the congruent condition compared to the incongruent condition. Moreover, we demonstrated an additional perceptually non-specific effect such that second reading fixation times were shorter for the incongruent condition relative to a baseline condition that employed a normal typography (i.e., non-transformed) during the first presentation and a transformation during the second presentation. Both of these effects (i.e., perceptually specific and perceptually non-specific) were similar in magnitude for high and low frequency words, and both effects persisted across a 1 week lag between the first and second readings. We discuss the present findings in the context of the distinction between conscious and unconscious memory, and the distinction between perceptually versus conceptually driven processing. Copyright © 2012 Elsevier Inc. All rights reserved.

Reproducibility of somatosensory spatial perceptual maps.

Science.gov (United States)

Steenbergen, Peter; Buitenweg, Jan R; Trojan, Jörg; Veltink, Peter H

2013-02-01

Various studies have shown subjects to mislocalize cutaneous stimuli in an idiosyncratic manner. Spatial properties of individual localization behavior can be represented in the form of perceptual maps. Individual differences in these maps may reflect properties of internal body representations, and perceptual maps may therefore be a useful method for studying these representations. For this to be the case, individual perceptual maps need to be reproducible, which has not yet been demonstrated. We assessed the reproducibility of localizations measured twice on subsequent days. Ten subjects participated in the experiments. Non-painful electrocutaneous stimuli were applied at seven sites on the lower arm. Subjects localized the stimuli on a photograph of their own arm, which was presented on a tablet screen overlaying the real arm. Reproducibility was assessed by calculating intraclass correlation coefficients (ICC) for the mean localizations of each electrode site and the slope and offset of regression models of the localizations, which represent scaling and displacement of perceptual maps relative to the stimulated sites. The ICCs of the mean localizations ranged from 0.68 to 0.93; the ICCs of the regression parameters were 0.88 for the intercept and 0.92 for the slope. These results indicate a high degree of reproducibility. We conclude that localization patterns of non-painful electrocutaneous stimuli on the arm are reproducible on subsequent days. Reproducibility is a necessary property of perceptual maps for these to reflect properties of a subject's internal body representations. Perceptual maps are therefore a promising method for studying body representations.

Topographic generalization of tactile perceptual learning.

Science.gov (United States)

Harrar, Vanessa; Spence, Charles; Makin, Tamar R

2014-02-01

Perceptual learning can improve our sensory abilities. Understanding its underlying mechanisms, in particular, when perceptual learning generalizes, has become a focus of research and controversy. Specifically, there is little consensus regarding the extent to which tactile perceptual learning generalizes across fingers. We measured tactile orientation discrimination abilities on 4 fingers (index and middle fingers of both hands), using psychophysical measures, before and after 4 training sessions on 1 finger. Given the somatotopic organization of the hand representation in the somatosensory cortex, the topography of the cortical areas underlying tactile perceptual learning can be inferred from the pattern of generalization across fingers; only fingers sharing cortical representation with the trained finger ought to improve with it. Following training, performance improved not only for the trained finger but also for its adjacent and homologous fingers. Although these fingers were not exposed to training, they nevertheless demonstrated similar levels of learning as the trained finger. Conversely, the performance of the finger that was neither adjacent nor homologous to the trained finger was unaffected by training, despite the fact that our procedure was designed to enhance generalization, as described in recent visual perceptual learning research. This pattern of improved performance is compatible with previous reports of neuronal receptive fields (RFs) in the primary somatosensory cortex (SI) spanning adjacent and homologous digits. We conclude that perceptual learning rooted in low-level cortex can still generalize, and suggest potential applications for the neurorehabilitation of syndromes associated with maladaptive plasticity in SI. PsycINFO Database Record (c) 2014 APA, all rights reserved.

Scalable Content Authentication in H.264/SVC Videos Using Perceptual Hashing based on Dempster-Shafer theory

Directory of Open Access Journals (Sweden)

Ye Dengpan

2012-09-01

Full Text Available The content authenticity of the multimedia delivery is important issue with rapid development and widely used of multimedia technology. Till now many authentication solutions had been proposed, such as cryptology and watermarking based methods. However, in latest heterogeneous network the video stream transmission has been coded in scalable way such as H.264/SVC, there is still no good authentication solution. In this paper, we firstly summarized related works and proposed a scalable content authentication scheme using a ratio of different energy (RDE based perceptual hashing in Q/S dimension, which is used Dempster-Shafer theory and combined with the latest scalable video coding (H.264/SVC construction. The idea of aldquo;sign once and verify in scalable wayardquo; can be realized. Comparing with previous methods, the proposed scheme based on perceptual hashing outperforms previous works in uncertainty (robustness and efficiencies in the H.264/SVC video streams. At last, the experiment results verified the performance of our scheme.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

OpenAIRE

Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

2013-01-01

In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

ViA: a perceptual visualization assistant

Science.gov (United States)

Healey, Chris G.; St. Amant, Robert; Elhaddad, Mahmoud S.

2000-05-01

This paper describes an automated visualized assistant called ViA. ViA is designed to help users construct perceptually optical visualizations to represent, explore, and analyze large, complex, multidimensional datasets. We have approached this problem by studying what is known about the control of human visual attention. By harnessing the low-level human visual system, we can support our dual goals of rapid and accurate visualization. Perceptual guidelines that we have built using psychophysical experiments form the basis for ViA. ViA uses modified mixed-initiative planning algorithms from artificial intelligence to search of perceptually optical data attribute to visual feature mappings. Our perceptual guidelines are integrated into evaluation engines that provide evaluation weights for a given data-feature mapping, and hints on how that mapping might be improved. ViA begins by asking users a set of simple questions about their dataset and the analysis tasks they want to perform. Answers to these questions are used in combination with the evaluation engines to identify and intelligently pursue promising data-feature mappings. The result is an automatically-generated set of mappings that are perceptually salient, but that also respect the context of the dataset and users' preferences about how they want to visualize their data.

Comparing perceptual and preferential decision making.

Science.gov (United States)

Dutilh, Gilles; Rieskamp, Jörg

2016-06-01

Perceptual and preferential decision making have been studied largely in isolation. Perceptual decisions are considered to be at a non-deliberative cognitive level and have an outside criterion that defines the quality of decisions. Preferential decisions are considered to be at a higher cognitive level and the quality of decisions depend on the decision maker's subjective goals. Besides these crucial differences, both types of decisions also have in common that uncertain information about the choice situation has to be processed before a decision can be made. The present work aims to acknowledge the commonalities of both types of decision making to lay bare the crucial differences. For this aim we examine perceptual and preferential decisions with a novel choice paradigm that uses the identical stimulus material for both types of decisions. This paradigm allows us to model the decisions and response times of both types of decisions with the same sequential sampling model, the drift diffusion model. The results illustrate that the different incentive structure in both types of tasks changes people's behavior so that they process information more efficiently and respond more cautiously in the perceptual as compared to the preferential task. These findings set out a perspective for further integration of perceptual and preferential decision making in a single ramework.

Pupil size tracks perceptual content and surprise.

Science.gov (United States)

Kloosterman, Niels A; Meindertsma, Thomas; van Loon, Anouk M; Lamme, Victor A F; Bonneh, Yoram S; Donner, Tobias H

2015-04-01

Changes in pupil size at constant light levels reflect the activity of neuromodulatory brainstem centers that control global brain state. These endogenously driven pupil dynamics can be synchronized with cognitive acts. For example, the pupil dilates during the spontaneous switches of perception of a constant sensory input in bistable perceptual illusions. It is unknown whether this pupil dilation only indicates the occurrence of perceptual switches, or also their content. Here, we measured pupil diameter in human subjects reporting the subjective disappearance and re-appearance of a physically constant visual target surrounded by a moving pattern ('motion-induced blindness' illusion). We show that the pupil dilates during the perceptual switches in the illusion and a stimulus-evoked 'replay' of that illusion. Critically, the switch-related pupil dilation encodes perceptual content, with larger amplitude for disappearance than re-appearance. This difference in pupil response amplitude enables prediction of the type of report (disappearance vs. re-appearance) on individual switches (receiver-operating characteristic: 61%). The amplitude difference is independent of the relative durations of target-visible and target-invisible intervals and subjects' overt behavioral report of the perceptual switches. Further, we show that pupil dilation during the replay also scales with the level of surprise about the timing of switches, but there is no evidence for an interaction between the effects of surprise and perceptual content on the pupil response. Taken together, our results suggest that pupil-linked brain systems track both the content of, and surprise about, perceptual events. © 2015 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Frequent video game players resist perceptual interference.

Directory of Open Access Journals (Sweden)

Aaron V Berard

Full Text Available Playing certain types of video games for a long time can improve a wide range of mental processes, from visual acuity to cognitive control. Frequent gamers have also displayed generalized improvements in perceptual learning. In the Texture Discrimination Task (TDT, a widely used perceptual learning paradigm, participants report the orientation of a target embedded in a field of lines and demonstrate robust over-night improvement. However, changing the orientation of the background lines midway through TDT training interferes with overnight improvements in overall performance on TDT. Interestingly, prior research has suggested that this effect will not occur if a one-hour break is allowed in between the changes. These results have suggested that after training is over, it may take some time for learning to become stabilized and resilient against interference. Here, we tested whether frequent gamers have faster stabilization of perceptual learning compared to non-gamers and examined the effect of daily video game playing on interference of training of TDT with one background orientation on perceptual learning of TDT with a different background orientation. As a result, we found that non-gamers showed overnight performance improvement only on one background orientation, replicating previous results with the interference in TDT. In contrast, frequent gamers demonstrated overnight improvements in performance with both background orientations, suggesting that they are better able to overcome interference in perceptual learning. This resistance to interference suggests that video game playing not only enhances the amplitude and speed of perceptual learning but also leads to faster and/or more robust stabilization of perceptual learning.

Frequent video game players resist perceptual interference.

Science.gov (United States)

Berard, Aaron V; Cain, Matthew S; Watanabe, Takeo; Sasaki, Yuka

2015-01-01

Playing certain types of video games for a long time can improve a wide range of mental processes, from visual acuity to cognitive control. Frequent gamers have also displayed generalized improvements in perceptual learning. In the Texture Discrimination Task (TDT), a widely used perceptual learning paradigm, participants report the orientation of a target embedded in a field of lines and demonstrate robust over-night improvement. However, changing the orientation of the background lines midway through TDT training interferes with overnight improvements in overall performance on TDT. Interestingly, prior research has suggested that this effect will not occur if a one-hour break is allowed in between the changes. These results have suggested that after training is over, it may take some time for learning to become stabilized and resilient against interference. Here, we tested whether frequent gamers have faster stabilization of perceptual learning compared to non-gamers and examined the effect of daily video game playing on interference of training of TDT with one background orientation on perceptual learning of TDT with a different background orientation. As a result, we found that non-gamers showed overnight performance improvement only on one background orientation, replicating previous results with the interference in TDT. In contrast, frequent gamers demonstrated overnight improvements in performance with both background orientations, suggesting that they are better able to overcome interference in perceptual learning. This resistance to interference suggests that video game playing not only enhances the amplitude and speed of perceptual learning but also leads to faster and/or more robust stabilization of perceptual learning.

Robot Actors, Robot Dramaturgies

DEFF Research Database (Denmark)

Jochum, Elizabeth

This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

Beauty in abstract paintings: perceptual contrast and statistical properties

Science.gov (United States)

Mallon, Birgit; Redies, Christoph; Hayn-Leichsenring, Gregor U.

2014-01-01

In this study, we combined the behavioral and objective approach in the field of empirical aesthetics. First, we studied the perception of beauty by investigating shifts in evaluation on perceived beauty of abstract artworks (Experiment 1). Because the participants showed heterogeneous individual preferences for the paintings, we divided them into seven clusters for the test. The experiment revealed a clear pattern of perceptual contrast. The perceived beauty of abstract paintings increased after exposure to paintings that were rated as less beautiful, and it decreased after exposure to paintings that were rated as more beautiful. Next, we searched for correlations of beauty ratings and perceptual contrast with statistical properties of abstract artworks (Experiment 2). The participants showed significant preferences for particular image properties. These preferences differed between the clusters of participants. Strikingly, next to color measures like hue, saturation, value and lightness, the recently described Pyramid of Histograms of Orientation Gradients (PHOG) self-similarity value seems to be a predictor for aesthetic appreciation of abstract artworks. We speculate that the shift in evaluation in Experiment 1 was, at least in part, based on low-level adaptation to some of the statistical image properties analyzed in Experiment 2. In conclusion, our findings demonstrate that the perception of beauty in abstract artworks is altered after exposure to beautiful or non-beautiful images and correlates with particular image properties, especially color measures and self-similarity. PMID:24711791

Current status of robotic bariatric surgery: a systematic review

Science.gov (United States)

2013-01-01

Background Bariatric surgery is an effective treatment to obtain weight loss in severely obese patients. The feasibility and safety of bariatric robotic surgery is the topic of this review. Methods A search was performed on PubMed, Cochrane Central Register of Controlled Trials, BioMed Central, and Web of Science. Results Twenty-two studies were included. Anastomotic leak rate was 8.51% in biliopancreatic diversion. 30-day reoperation rate was 1.14% in Roux-en-Y gastric bypass and 1.16% in sleeve gastrectomy. Major complication rate in Roux-en-Y gastric bypass resulted higher than in sleeve gastrectomy ( 4,26% vs. 1,2%). The mean hospital stay was longer in Roux-en-Y gastric bypass (range 2.6-7.4 days). Conclusions The major limitation of our analysis is due to the small number and the low quality of the studies, the small sample size, heterogeneity of the enrolled patients and the lack of data from metabolic and bariatric outcomes. Despite the use of the robot, the majority of these cases are completed with stapled anastomosis. The assumption that robotic surgery is superior in complex cases is not supported by the available present evidence. The major strength of the robotic surgery is strongly facilitating some of the surgical steps (gastro-jejunostomy and jejunojejunostomy anastomosis in the robotic Roux-en-Y gastric bypass or the vertical gastric resection in the robotic sleeve gastrectomy). PMID:24199869

Greater perceptual sensitivity to happy facial expression.

Science.gov (United States)

Maher, Stephen; Ekstrom, Tor; Chen, Yue

2014-01-01

Perception of subtle facial expressions is essential for social functioning; yet it is unclear if human perceptual sensitivities differ in detecting varying types of facial emotions. Evidence diverges as to whether salient negative versus positive emotions (such as sadness versus happiness) are preferentially processed. Here, we measured perceptual thresholds for the detection of four types of emotion in faces--happiness, fear, anger, and sadness--using psychophysical methods. We also evaluated the association of the perceptual performances with facial morphological changes between neutral and respective emotion types. Human observers were highly sensitive to happiness compared with the other emotional expressions. Further, this heightened perceptual sensitivity to happy expressions can be attributed largely to the emotion-induced morphological change of a particular facial feature (end-lip raise).

Perceptual tools for quality-aware video networks

Science.gov (United States)

Bovik, A. C.

2014-01-01

Monitoring and controlling the quality of the viewing experience of videos transmitted over increasingly congested networks (especially wireless networks) is a pressing problem owing to rapid advances in video-centric mobile communication and display devices that are straining the capacity of the network infrastructure. New developments in automatic perceptual video quality models offer tools that have the potential to be used to perceptually optimize wireless video, leading to more efficient video data delivery and better received quality. In this talk I will review key perceptual principles that are, or could be used to create effective video quality prediction models, and leading quality prediction models that utilize these principles. The goal is to be able to monitor and perceptually optimize video networks by making them "quality-aware."

Audiovisual speech perception development at varying levels of perceptual processing.

Science.gov (United States)

Lalonde, Kaylah; Holt, Rachael Frush

2016-04-01

This study used the auditory evaluation framework [Erber (1982). Auditory Training (Alexander Graham Bell Association, Washington, DC)] to characterize the influence of visual speech on audiovisual (AV) speech perception in adults and children at multiple levels of perceptual processing. Six- to eight-year-old children and adults completed auditory and AV speech perception tasks at three levels of perceptual processing (detection, discrimination, and recognition). The tasks differed in the level of perceptual processing required to complete them. Adults and children demonstrated visual speech influence at all levels of perceptual processing. Whereas children demonstrated the same visual speech influence at each level of perceptual processing, adults demonstrated greater visual speech influence on tasks requiring higher levels of perceptual processing. These results support previous research demonstrating multiple mechanisms of AV speech processing (general perceptual and speech-specific mechanisms) with independent maturational time courses. The results suggest that adults rely on both general perceptual mechanisms that apply to all levels of perceptual processing and speech-specific mechanisms that apply when making phonetic decisions and/or accessing the lexicon. Six- to eight-year-old children seem to rely only on general perceptual mechanisms across levels. As expected, developmental differences in AV benefit on this and other recognition tasks likely reflect immature speech-specific mechanisms and phonetic processing in children.

The perceptual effects of learning object categories that predict perceptual goals

Science.gov (United States)

Van Gulick, Ana E.; Gauthier, Isabel

2014-01-01

In classic category learning studies, subjects typically learn to assign items to one of two categories, with no further distinction between how items on each side of the category boundary should be treated. In real life, however, we often learn categories that dictate further processing goals, for instance with objects in only one category requiring further individuation. Using methods from category learning and perceptual expertise, we studied the perceptual consequences of experience with objects in tasks that rely on attention to different dimensions in different parts of the space. In two experiments, subjects first learned to categorize complex objects from a single morphspace into two categories based on one morph dimension, and then learned to perform a different task, either naming or a local feature judgment, for each of the two categories. A same-different discrimination test before and after each training measured sensitivity to feature dimensions of the space. After initial categorization, sensitivity increased along the category-diagnostic dimension. After task association, sensitivity increased more for the category that was named, especially along the non-diagnostic dimension. The results demonstrate that local attentional weights, associated with individual exemplars as a function of task requirements, can have lasting effects on perceptual representations. PMID:24820671

Low level perceptual, not attentional, processes modulate distractor interference in high perceptual load displays: evidence from neglect/extinction.

Science.gov (United States)

Mevorach, Carmel; Tsal, Yehoshua; Humphreys, Glyn W

2014-01-10

According to perceptual load theory (Lavie, 2005) distractor interference is determined by the availability of attentional resources. If target processing does not exhaust resources (with low perceptual load) distractor processing will take place resulting in interference with a primary task; however, when target processing uses-up attentional capacity (with high perceptual load) interference can be avoided. An alternative account (Tsal and Benoni, 2010a) suggests that perceptual load effects can be based on distractor dilution by the mere presence of additional neutral items in high-load displays so that the effect is not driven by the amount of attention resources required for target processing. Here we tested whether patients with unilateral neglect or extinction would show dilution effects from neutral items in their contralesional (neglected/extinguished) field, even though these items do not impose increased perceptual load on the target and at the same time attract reduced attentional resources compared to stimuli in the ipsilesional field. Thus, such items do not affect the amount of attention resources available for distractor processing. We found that contralesional neutral elements can eliminate distractor interference as strongly as centrally presented ones in neglect/extinction patients, despite contralesional items being less well attended. The data are consistent with an account in terms of perceptual dilution of distracters rather than available resources for distractor processing. We conclude that distractor dilution can underlie the elimination of distractor interference in visual displays.

Low level perceptual, not attentional, processes modulate distractor interference in high perceptual Load displays: evidence from neglect/extinction

Directory of Open Access Journals (Sweden)

Carmel eMevorach

2014-01-01

Full Text Available According to perceptual load theory (Lavie, 2005 distractor interference is determined by the availability of attentional resources. If target processing does not exhaust resources (with low perceptual load distractor processing will take place resulting in interference with a primary task; however when target processing uses-up attentional capacity (with high perceptual load interference can be avoided. An alternative account (Tsal & Benoni, 2010 suggests that perceptual load effects can be based on distractor dilution by the mere presence of additional neutral items in high load displays so that the effect is not driven by the amount of attention resources required for target processing. Here we tested whether patients with unilateral neglect or extinction would show dilution effects from neutral items in their contralesional (neglected/extinguished field, even though these items do not impose increased perceptual load on the target and at the same time attract reduced attentional resources compared to stimuli in the ipsilesional field. Thus, such items do not affect the amount of attention resources available for distractor processing. We found that contralesional neutral elements can eliminate distractor interference as strongly as centrally presented ones in neglect/extinction patients, despite contralesional items being less well attended. The data are consistent with an account in terms of perceptual dilution of distracters rather than available resources for distractor processing. We conclude that distractor dilution can underlie the elimination of distractor interference in visual displays.

Neural plasticity underlying visual perceptual learning in aging.

Science.gov (United States)

Mishra, Jyoti; Rolle, Camarin; Gazzaley, Adam

2015-07-01

Healthy aging is associated with a decline in basic perceptual abilities, as well as higher-level cognitive functions such as working memory. In a recent perceptual training study using moving sweeps of Gabor stimuli, Berry et al. (2010) observed that older adults significantly improved discrimination abilities on the most challenging perceptual tasks that presented paired sweeps at rapid rates of 5 and 10 Hz. Berry et al. further showed that this perceptual training engendered transfer-of-benefit to an untrained working memory task. Here, we investigated the neural underpinnings of the improvements in these perceptual tasks, as assessed by event-related potential (ERP) recordings. Early visual ERP components time-locked to stimulus onset were compared pre- and post-training, as well as relative to a no-contact control group. The visual N1 and N2 components were significantly enhanced after training, and the N1 change correlated with improvements in perceptual discrimination on the task. Further, the change observed for the N1 and N2 was associated with the rapidity of the perceptual challenge; the visual N1 (120-150 ms) was enhanced post-training for 10 Hz sweep pairs, while the N2 (240-280 ms) was enhanced for the 5 Hz sweep pairs. We speculate that these observed post-training neural enhancements reflect improvements by older adults in the allocation of attention that is required to accurately dissociate perceptually overlapping stimuli when presented in rapid sequence. This article is part of a Special Issue entitled SI: Memory Å. Copyright © 2014 Elsevier B.V. All rights reserved.

Competition explains limited attention and perceptual resources: implications for perceptual load and dilution theories.

Science.gov (United States)

Scalf, Paige E; Torralbo, Ana; Tapia, Evelina; Beck, Diane M

2013-01-01

Both perceptual load theory and dilution theory purport to explain when and why task-irrelevant information, or so-called distractors are processed. Central to both explanations is the notion of limited resources, although the theories differ in the precise way in which those limitations affect distractor processing. We have recently proposed a neurally plausible explanation of limited resources in which neural competition among stimuli hinders their representation in the brain. This view of limited capacity can also explain distractor processing, whereby the competitive interactions and bias imposed to resolve the competition determine the extent to which a distractor is processed. This idea is compatible with aspects of both perceptual load and dilution models of distractor processing, but also serves to highlight their differences. Here we review the evidence in favor of a biased competition view of limited resources and relate these ideas to both classic perceptual load theory and dilution theory.

Shared mechanisms of perceptual learning and decision making.

Science.gov (United States)

Law, Chi-Tat; Gold, Joshua I

2010-04-01

Perceptual decisions require the brain to weigh noisy evidence from sensory neurons to form categorical judgments that guide behavior. Here we review behavioral and neurophysiological findings suggesting that at least some forms of perceptual learning do not appear to affect the response properties of neurons that represent the sensory evidence. Instead, improved perceptual performance results from changes in how the sensory evidence is selected and weighed to form the decision. We discuss the implications of this idea for possible sites and mechanisms of training-induced improvements in perceptual processing in the brain. Copyright © 2009 Cognitive Science Society, Inc.

Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

Competition explains limited attention and perceptual resources: implications for perceptual load and dilution theories

Directory of Open Access Journals (Sweden)

Paige E. Scalf

2013-05-01

Full Text Available Both perceptual load theory and dilution theory purport to explain when and why task-irrelevant information, or so-called distractors are processed. Central to both explanations is the notion of limited resources, although the theories differ in the precise way in which those limitations affect distractor processing. We have recently proposed a neurally plausible explanation of limited resources in which neural competition among stimuli hinders their representation in the brain. This view of limited capacity can also explain distractor processing, whereby the competitive interactions and bias imposed to resolve the competition determine the extent to which a distractor is processed. This idea is compatible with aspects of both perceptual load and dilution models of distractor processing, but also serves to highlight their differences. Here we review the evidence in favor of a biased competition view of limited resources and relate these ideas to both classic perceptual load theory and dilution theory.

The effects of attention on perceptual implicit memory.

Science.gov (United States)

Rajaram, S; Srinivas, K; Travers, S

2001-10-01

Reports on the effects of dividing attention at study on subsequent perceptual priming suggest that perceptual priming is generally unaffected by attentional manipulations as long as word identity is processed. We tested this hypothesis in three experiments by using the implicit word fragment completion and word stem completion tasks. Division of attention was instantiated with the Stroop task in order to ensure the processing of word identity even when the participant's attention was directed to a stimulus attribute other than the word itself. Under these conditions, we found that even though perceptual priming was significant, it was significantly reduced in magnitude. A stem cued recall test in Experiment 2 confirmed a more deleterious effect of divided attention on explicit memory. Taken together, our findings delineate the relative contributions of perceptual analysis and attentional processes in mediating perceptual priming on two ubiquitously used tasks of word fragment completion and word stem completion.

Perceptual Space of Superimposed Dual-Frequency Vibrations in the Hands.

Science.gov (United States)

Hwang, Inwook; Seo, Jeongil; Choi, Seungmoon

2017-01-01

The use of distinguishable complex vibrations that have multiple spectral components can improve the transfer of information by vibrotactile interfaces. We investigated the qualitative characteristics of dual-frequency vibrations as the simplest complex vibrations compared to single-frequency vibrations. Two psychophysical experiments were conducted to elucidate the perceptual characteristics of these vibrations by measuring the perceptual distances among single-frequency and dual-frequency vibrations. The perceptual distances of dual-frequency vibrations between their two frequency components along their relative intensity ratio were measured in Experiment I. The estimated perceptual spaces for three frequency conditions showed non-linear perceptual differences between the dual-frequency and single-frequency vibrations. A perceptual space was estimated from the measured perceptual distances among ten dual-frequency compositions and five single-frequency vibrations in Experiment II. The effect of the component frequency and the frequency ratio was revealed in the perceptual space. In a percept of dual-frequency vibration, the lower frequency component showed a dominant effect. Additionally, the perceptual difference among single-frequency and dual-frequency vibrations were increased with a low relative difference between two frequencies of a dual-frequency vibration. These results are expected to provide a fundamental understanding about the perception of complex vibrations to enrich the transfer of information using vibrotactile stimuli.

Iterative perceptual learning for social behavior synthesis

NARCIS (Netherlands)

de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

We introduce Iterative Perceptual Learning (IPL), a novel approach to learn computational models for social behavior synthesis from corpora of human–human interactions. IPL combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of synthesized

Perceptual load interacts with stimulus processing across sensory modalities.

Science.gov (United States)

Klemen, J; Büchel, C; Rose, M

2009-06-01

According to perceptual load theory, processing of task-irrelevant stimuli is limited by the perceptual load of a parallel attended task if both the task and the irrelevant stimuli are presented to the same sensory modality. However, it remains a matter of debate whether the same principles apply to cross-sensory perceptual load and, more generally, what form cross-sensory attentional modulation in early perceptual areas takes in humans. Here we addressed these questions using functional magnetic resonance imaging. Participants undertook an auditory one-back working memory task of low or high perceptual load, while concurrently viewing task-irrelevant images at one of three object visibility levels. The processing of the visual and auditory stimuli was measured in the lateral occipital cortex (LOC) and auditory cortex (AC), respectively. Cross-sensory interference with sensory processing was observed in both the LOC and AC, in accordance with previous results of unisensory perceptual load studies. The present neuroimaging results therefore warrant the extension of perceptual load theory from a unisensory to a cross-sensory context: a validation of this cross-sensory interference effect through behavioural measures would consolidate the findings.

Robotics

International Nuclear Information System (INIS)

Scheide, A.W.

1983-01-01

This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

Accurate expectancies diminish perceptual distraction during visual search

Science.gov (United States)

Sy, Jocelyn L.; Guerin, Scott A.; Stegman, Anna; Giesbrecht, Barry

2014-01-01

The load theory of visual attention proposes that efficient selective perceptual processing of task-relevant information during search is determined automatically by the perceptual demands of the display. If the perceptual demands required to process task-relevant information are not enough to consume all available capacity, then the remaining capacity automatically and exhaustively “spills-over” to task-irrelevant information. The spill-over of perceptual processing capacity increases the likelihood that task-irrelevant information will impair performance. In two visual search experiments, we tested the automaticity of the allocation of perceptual processing resources by measuring the extent to which the processing of task-irrelevant distracting stimuli was modulated by both perceptual load and top-down expectations using behavior, functional magnetic resonance imaging, and electrophysiology. Expectations were generated using a trial-by-trial cue that provided information about the likely load of the upcoming visual search task. When the cues were valid, behavioral interference was eliminated and the influence of load on frontoparietal and visual cortical responses was attenuated relative to when the cues were invalid. In conditions in which task-irrelevant information interfered with performance and modulated visual activity, individual differences in mean blood oxygenation level dependent responses measured from the left intraparietal sulcus were negatively correlated with individual differences in the severity of distraction. These results are consistent with the interpretation that a top-down biasing mechanism interacts with perceptual load to support filtering of task-irrelevant information. PMID:24904374

Accurate expectancies diminish perceptual distraction during visual search

Directory of Open Access Journals (Sweden)

Jocelyn L Sy

2014-05-01

Full Text Available The load theory of visual attention proposes that efficient selective perceptual processing of task-relevant information during search is determined automatically by the perceptual demands of the display. If the perceptual demands required to process task-relevant information are not enough to consume all available capacity, then the remaining capacity automatically and exhaustively spills-over to task-irrelevant information. The spill-over of perceptual processing capacity increases the likelihood that task-irrelevant information will impair performance. In two visual search experiments, we tested the automaticity of the allocation of perceptual processing resources by measuring the extent to which the processing of task-irrelevant distracting stimuli was modulated by both perceptual load and top-down expectations using behavior, fMRI, and electrophysiology. Expectations were generated by a trial-by-trial cue that provided information about the likely load of the upcoming visual search task. When the cues were valid, behavioral interference was eliminated and the influence of load on frontoparietal and visual cortical responses was attenuated relative to when the cues were invalid. In conditions in which task-irrelevant information interfered with performance and modulated visual activity, individual differences in mean BOLD responses measured from the left intraparietal sulcus were negatively correlated with individual differences in the severity of distraction. These results are consistent with the interpretation that a top-down biasing mechanism interacts with perceptual load to support filtering of task-irrelevant information.

Perceptual incongruence influences bistability and cortical activation

NARCIS (Netherlands)

Brouwer, G.J.; Tong, F.; Hagoort, P.; van Ee, R.

2009-01-01

We employed a parametric psychophysical design in combination with functional imaging to examine the influence of metric changes in perceptual incongruence on perceptual alternation rates and cortical responses. Subjects viewed a bistable stimulus defined by incongruent depth cues; bistability

Iterative Perceptual Learning for Social Behavior Synthesis

NARCIS (Netherlands)

de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

We introduce Iterative Perceptual Learning (IPL), a novel approach for learning computational models for social behavior synthesis from corpora of human-human interactions. The IPL approach combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of

Perceptual load-dependent neural correlates of distractor interference inhibition.

Directory of Open Access Journals (Sweden)

Jiansong Xu

2011-01-01

Full Text Available The load theory of selective attention hypothesizes that distractor interference is suppressed after perceptual processing (i.e., in the later stage of central processing at low perceptual load of the central task, but in the early stage of perceptual processing at high perceptual load. Consistently, studies on the neural correlates of attention have found a smaller distractor-related activation in the sensory cortex at high relative to low perceptual load. However, it is not clear whether the distractor-related activation in brain regions linked to later stages of central processing (e.g., in the frontostriatal circuits is also smaller at high rather than low perceptual load, as might be predicted based on the load theory.We studied 24 healthy participants using functional magnetic resonance imaging (fMRI during a visual target identification task with two perceptual loads (low vs. high. Participants showed distractor-related increases in activation in the midbrain, striatum, occipital and medial and lateral prefrontal cortices at low load, but distractor-related decreases in activation in the midbrain ventral tegmental area and substantia nigra (VTA/SN, striatum, thalamus, and extensive sensory cortices at high load.Multiple levels of central processing involving midbrain and frontostriatal circuits participate in suppressing distractor interference at either low or high perceptual load. For suppressing distractor interference, the processing of sensory inputs in both early and late stages of central processing are enhanced at low load but inhibited at high load.

Perceptual load-dependent neural correlates of distractor interference inhibition.

Science.gov (United States)

Xu, Jiansong; Monterosso, John; Kober, Hedy; Balodis, Iris M; Potenza, Marc N

2011-01-18

The load theory of selective attention hypothesizes that distractor interference is suppressed after perceptual processing (i.e., in the later stage of central processing) at low perceptual load of the central task, but in the early stage of perceptual processing at high perceptual load. Consistently, studies on the neural correlates of attention have found a smaller distractor-related activation in the sensory cortex at high relative to low perceptual load. However, it is not clear whether the distractor-related activation in brain regions linked to later stages of central processing (e.g., in the frontostriatal circuits) is also smaller at high rather than low perceptual load, as might be predicted based on the load theory. We studied 24 healthy participants using functional magnetic resonance imaging (fMRI) during a visual target identification task with two perceptual loads (low vs. high). Participants showed distractor-related increases in activation in the midbrain, striatum, occipital and medial and lateral prefrontal cortices at low load, but distractor-related decreases in activation in the midbrain ventral tegmental area and substantia nigra (VTA/SN), striatum, thalamus, and extensive sensory cortices at high load. Multiple levels of central processing involving midbrain and frontostriatal circuits participate in suppressing distractor interference at either low or high perceptual load. For suppressing distractor interference, the processing of sensory inputs in both early and late stages of central processing are enhanced at low load but inhibited at high load.

Chromatic Perceptual Learning but No Category Effects without Linguistic Input.

Science.gov (United States)

Grandison, Alexandra; Sowden, Paul T; Drivonikou, Vicky G; Notman, Leslie A; Alexander, Iona; Davies, Ian R L

2016-01-01

Perceptual learning involves an improvement in perceptual judgment with practice, which is often specific to stimulus or task factors. Perceptual learning has been shown on a range of visual tasks but very little research has explored chromatic perceptual learning. Here, we use two low level perceptual threshold tasks and a supra-threshold target detection task to assess chromatic perceptual learning and category effects. Experiment 1 investigates whether chromatic thresholds reduce as a result of training and at what level of analysis learning effects occur. Experiment 2 explores the effect of category training on chromatic thresholds, whether training of this nature is category specific and whether it can induce categorical responding. Experiment 3 investigates the effect of category training on a higher level, lateralized target detection task, previously found to be sensitive to category effects. The findings indicate that performance on a perceptual threshold task improves following training but improvements do not transfer across retinal location or hue. Therefore, chromatic perceptual learning is category specific and can occur at relatively early stages of visual analysis. Additionally, category training does not induce category effects on a low level perceptual threshold task, as indicated by comparable discrimination thresholds at the newly learned hue boundary and adjacent test points. However, category training does induce emerging category effects on a supra-threshold target detection task. Whilst chromatic perceptual learning is possible, learnt category effects appear to be a product of left hemisphere processing, and may require the input of higher level linguistic coding processes in order to manifest.

Perceptual Grouping via Untangling Gestalt Principles

DEFF Research Database (Denmark)

Qi, Yonggang; Guo, Jun; Li, Yi

2013-01-01

the importance of Gestalt rules by solving a learning to rank problem, and formulate a multi-label graph-cuts algo- rithm to group image primitives while taking into account the learned Gestalt confliction. Our experiment results confirm the existence of Gestalt confliction in perceptual grouping and demonstrate...... confliction, i.e., the relative importance of each rule compared with another, remains unsolved. In this paper, we investigate the problem of perceptual grouping by quantifying the confliction among three commonly used rules: similarity, continuity and proximity. More specifically, we propose to quantify...... an improved performance when such a conflic- tion is accounted for via the proposed grouping algorithm. Finally, a novel cross domain image classification method is proposed by exploiting perceptual grouping as representation....

Embedding visual routines in AnaFocus' Eye-RIS Vision Systems for closing the perception to action loop in roving robots

Science.gov (United States)

Jiménez-Marrufo, A.; Caballero-García, D. J.

2011-05-01

The purpose of the current paper is to describe how different visual routines can be developed and embedded in the AnaFocus' Eye-RIS Vision System on Chip (VSoC) to close the perception to action loop within the roving robots developed under the framework of SPARK II European project. The Eye-RIS Vision System on Chip employs a bio-inspired architecture where image acquisition and processing are truly intermingled and the processing itself is carried out in two steps. At the first step, processing is fully parallel owing to the concourse of dedicated circuit structures which are integrated close to the sensors. At the second step, processing is realized on digitally-coded information data by means of digital processors. All these capabilities make the Eye-RIS VSoC very suitable for the integration within small robots in general, and within the robots developed by the SPARK II project in particular. These systems provide with image-processing capabilities and speed comparable to high-end conventional vision systems without the need for high-density image memory and intensive digital processing. As far as perception is concerned, current perceptual schemes are often based on information derived from visual routines. Since real world images are quite complex to be processed for perceptual needs with traditional approaches, more computationally feasible algorithms are required to extract the desired features from the scene in real time, to efficiently proceed with the consequent action. In this paper the development of such algorithms and their implementation taking full advantage of the sensing-processing capabilities of the Eye-RIS VSoC are described.

Decentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks

Directory of Open Access Journals (Sweden)

Deok-Jin Lee

2010-09-01

Full Text Available This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks estabilished by the decentralized cooperative control approach can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.

I Reach Faster When I See You Look: Gaze Effects in Human–Human and Human–Robot Face-to-Face Cooperation

Science.gov (United States)

Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

2012-01-01

Human–human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human–human cooperation experiment demonstrating that an agent’s vision of her/his partner’s gaze can significantly improve that agent’s performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human–robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human–robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times. PMID:22563315

I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

Science.gov (United States)

Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

2012-01-01

Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

Auditory perceptual load: A review.

Science.gov (United States)

Murphy, Sandra; Spence, Charles; Dalton, Polly

2017-09-01

Selective attention is a crucial mechanism in everyday life, allowing us to focus on a portion of incoming sensory information at the expense of other less relevant stimuli. The circumstances under which irrelevant stimuli are successfully ignored have been a topic of scientific interest for several decades now. Over the last 20 years, the perceptual load theory (e.g. Lavie, 1995) has provided one robust framework for understanding these effects within the visual modality. The suggestion is that successful selection depends on the perceptual demands imposed by the task-relevant information. However, less research has addressed the question of whether the same principles hold in audition and, to date, the existing literature provides a mixed picture. Here, we review the evidence for and against the applicability of perceptual load theory in hearing, concluding that this question still awaits resolution. Copyright © 2017 The Authors. Published by Elsevier B.V. All rights reserved.

Gaze-contingent training enhances perceptual skill acquisition

NARCIS (Netherlands)

Mann, D.L.; Ryu, D.; Abernethy, B.A.; Poolton, J.M.

2016-01-01

The purpose of this study was to determine whether decision-making skill in perceptual-cognitive tasks could be enhanced using a training technique that impaired selective areas of the visual field. Recreational basketball players performed perceptual training over 3 days while viewing with a

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

Modelling the Perceptual Components of Loudspeaker Distortion

DEFF Research Database (Denmark)

Olsen, Sune L.; Agerkvist, Finn T.; MacDonald, Ewen

2016-01-01

While non-linear distortion in loudspeakers decreases audio quality, the perceptual consequences can vary substantially. This paper investigates the metric Rnonlin [1] which was developed to predict subjective measurements of sound quality in nonlinear systems. The generalisability of the metric...... the perceptual consequences of non-linear distortion....

A perceptual study of Scottish dialects

OpenAIRE

Tichenor, Sydney

2012-01-01

Perceptual dialectology is dedicated to the formal study of folk linguistic perceptions. Through an amalgamation of social psychology, ethnography, dialectology, sociolinguistics, cultural geography and myriad other fields, perceptual dialectology provides a methodology to gain insight to overt folk language attitudes, knowledge of regional distribution, and the importance of language variation and change (Preston 1989, 1999a). This study conducts the first investigation of folk percept...

Perceptual incongruence influences bistability and cortical activation.

Directory of Open Access Journals (Sweden)

Gijs Joost Brouwer

Full Text Available We employed a parametric psychophysical design in combination with functional imaging to examine the influence of metric changes in perceptual incongruence on perceptual alternation rates and cortical responses. Subjects viewed a bistable stimulus defined by incongruent depth cues; bistability resulted from incongruence between binocular disparity and monocular perspective cues that specify different slants (slant rivalry. Psychophysical results revealed that perceptual alternation rates were positively correlated with the degree of perceived incongruence. Functional imaging revealed systematic increases in activity that paralleled the psychophysical results within anterior intraparietal sulcus, prior to the onset of perceptual alternations. We suggest that this cortical activity predicts the frequency of subsequent alternations, implying a putative causal role for these areas in initiating bistable perception. In contrast, areas implicated in form and depth processing (LOC and V3A were sensitive to the degree of slant, but failed to show increases in activity when these cues were in conflict.

Prior expectations facilitate metacognition for perceptual decision.

Science.gov (United States)

Sherman, M T; Seth, A K; Barrett, A B; Kanai, R

2015-09-01

The influential framework of 'predictive processing' suggests that prior probabilistic expectations influence, or even constitute, perceptual contents. This notion is evidenced by the facilitation of low-level perceptual processing by expectations. However, whether expectations can facilitate high-level components of perception remains unclear. We addressed this question by considering the influence of expectations on perceptual metacognition. To isolate the effects of expectation from those of attention we used a novel factorial design: expectation was manipulated by changing the probability that a Gabor target would be presented; attention was manipulated by instructing participants to perform or ignore a concurrent visual search task. We found that, independently of attention, metacognition improved when yes/no responses were congruent with expectations of target presence/absence. Results were modeled under a novel Bayesian signal detection theoretic framework which integrates bottom-up signal propagation with top-down influences, to provide a unified description of the mechanisms underlying perceptual decision and metacognition. Copyright © 2015 Elsevier Inc. All rights reserved.

Neurological evidence linguistic processes precede perceptual simulation in conceptual processing.

Science.gov (United States)

Louwerse, Max; Hutchinson, Sterling

2012-01-01

There is increasing evidence from response time experiments that language statistics and perceptual simulations both play a role in conceptual processing. In an EEG experiment we compared neural activity in cortical regions commonly associated with linguistic processing and visual perceptual processing to determine to what extent symbolic and embodied accounts of cognition applied. Participants were asked to determine the semantic relationship of word pairs (e.g., sky - ground) or to determine their iconic relationship (i.e., if the presentation of the pair matched their expected physical relationship). A linguistic bias was found toward the semantic judgment task and a perceptual bias was found toward the iconicity judgment task. More importantly, conceptual processing involved activation in brain regions associated with both linguistic and perceptual processes. When comparing the relative activation of linguistic cortical regions with perceptual cortical regions, the effect sizes for linguistic cortical regions were larger than those for the perceptual cortical regions early in a trial with the reverse being true later in a trial. These results map upon findings from other experimental literature and provide further evidence that processing of concept words relies both on language statistics and on perceptual simulations, whereby linguistic processes precede perceptual simulation processes.

Load theory behind the wheel; perceptual and cognitive load effects.

Science.gov (United States)

Murphy, Gillian; Greene, Ciara M

2017-09-01

Perceptual Load Theory has been proposed as a resolution to the longstanding early versus late selection debate in cognitive psychology. There is much evidence in support of Load Theory but very few applied studies, despite the potential for the model to shed light on everyday attention and distraction. Using a driving simulator, the effect of perceptual and cognitive load on drivers' visual search was assessed. The findings were largely in line with Load Theory, with reduced distractor processing under high perceptual load, but increased distractor processing under high cognitive load. The effect of load on driving behaviour was also analysed, with significant differences in driving behaviour under perceptual and cognitive load. In addition, the effect of perceptual load on drivers' levels of awareness was investigated. High perceptual load significantly increased inattentional blindness and deafness, for stimuli that were both relevant and irrelevant to driving. High perceptual load also increased RTs to hazards. The current study helps to advance Load Theory by illustrating its usefulness outside of traditional paradigms. There are also applied implications for driver safety and roadway design, as the current study suggests that perceptual and cognitive load are important factors in driver attention. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

A Self-Synthesis Approach to Perceptual Learning for Multisensory Fusion in Robotics

Science.gov (United States)

Axenie, Cristian; Richter, Christoph; Conradt, Jörg

2016-01-01

Biological and technical systems operate in a rich multimodal environment. Due to the diversity of incoming sensory streams a system perceives and the variety of motor capabilities a system exhibits there is no single representation and no singular unambiguous interpretation of such a complex scene. In this work we propose a novel sensory processing architecture, inspired by the distributed macro-architecture of the mammalian cortex. The underlying computation is performed by a network of computational maps, each representing a different sensory quantity. All the different sensory streams enter the system through multiple parallel channels. The system autonomously associates and combines them into a coherent representation, given incoming observations. These processes are adaptive and involve learning. The proposed framework introduces mechanisms for self-creation and learning of the functional relations between the computational maps, encoding sensorimotor streams, directly from the data. Its intrinsic scalability, parallelisation, and automatic adaptation to unforeseen sensory perturbations make our approach a promising candidate for robust multisensory fusion in robotic systems. We demonstrate this by applying our model to a 3D motion estimation on a quadrotor. PMID:27775621

A Self-Synthesis Approach to Perceptual Learning for Multisensory Fusion in Robotics

Directory of Open Access Journals (Sweden)

Cristian Axenie

2016-10-01

Full Text Available Biological and technical systems operate in a rich multimodal environment. Due to the diversity of incoming sensory streams a system perceives and the variety of motor capabilities a system exhibits there is no single representation and no singular unambiguous interpretation of such a complex scene. In this work we propose a novel sensory processing architecture, inspired by the distributed macro-architecture of the mammalian cortex. The underlying computation is performed by a network of computational maps, each representing a different sensory quantity. All the different sensory streams enter the system through multiple parallel channels. The system autonomously associates and combines them into a coherent representation, given incoming observations. These processes are adaptive and involve learning. The proposed framework introduces mechanisms for self-creation and learning of the functional relations between the computational maps, encoding sensorimotor streams, directly from the data. Its intrinsic scalability, parallelisation, and automatic adaptation to unforeseen sensory perturbations make our approach a promising candidate for robust multisensory fusion in robotic systems. We demonstrate this by applying our model to a 3D motion estimation on a quadrotor.

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

Constraints on Perceptual Learning: Objects and Dimensions.

Science.gov (United States)

Bedford, Felice L.

1995-01-01

Addresses two questions that may be unique to perceptual learning: What are the circumstances that produce learning? and What is the content of learning? Suggests a critical principle for each question. Provides a discussion of perceptual learning theory, how learning occurs, and what gets learned. Includes a 121-item bibliography. (DR)

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

Science.gov (United States)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

On Perceptual Distortion Minimization and Nonlinear Least-Squares Frequency Estimation

DEFF Research Database (Denmark)

Christensen, Mads Græsbøll; Jensen, Søren Holdt

2006-01-01

In this paper, we present a framework for perceptual error minimization and sinusoidal frequency estimation based on a new perceptual distortion measure, and we state its optimal solution. Using this framework, we relate a number of well-known practical methods for perceptual sinusoidal parameter...

Attention without awareness: Attentional modulation of perceptual grouping without awareness.

Science.gov (United States)

Lo, Shih-Yu

2018-04-01

Perceptual grouping is the process through which the perceptual system combines local stimuli into a more global perceptual unit. Previous studies have shown attention to be a modulatory factor for perceptual grouping. However, these studies mainly used explicit measurements, and, thus, whether attention can modulate perceptual grouping without awareness is still relatively unexplored. To clarify the relationship between attention and perceptual grouping, the present study aims to explore how attention interacts with perceptual grouping without awareness. The task was to judge the relative lengths of two centrally presented horizontal bars while a railway-shaped pattern defined by color similarity was presented in the background. Although the observers were unaware of the railway-shaped pattern, their line-length judgment was biased by that pattern, which induced a Ponzo illusion, indicating grouping without awareness. More importantly, an attentional modulatory effect without awareness was manifested as evident by the observer's performance being more often biased when the railway-shaped pattern was formed by an attended color than when it was formed by an unattended one. Also, the attentional modulation effect was shown to be dynamic, being more pronounced with a short presentation time than a longer one. The results of the present study not only clarify the relationship between attention and perceptual grouping but also further contribute to our understanding of attention and awareness by corroborating the dissociation between attention and awareness.

Beta oscillations define discrete perceptual cycles in the somatosensory domain.

Science.gov (United States)

Baumgarten, Thomas J; Schnitzler, Alfons; Lange, Joachim

2015-09-29

Whether seeing a movie, listening to a song, or feeling a breeze on the skin, we coherently experience these stimuli as continuous, seamless percepts. However, there are rare perceptual phenomena that argue against continuous perception but, instead, suggest discrete processing of sensory input. Empirical evidence supporting such a discrete mechanism, however, remains scarce and comes entirely from the visual domain. Here, we demonstrate compelling evidence for discrete perceptual sampling in the somatosensory domain. Using magnetoencephalography (MEG) and a tactile temporal discrimination task in humans, we find that oscillatory alpha- and low beta-band (8-20 Hz) cycles in primary somatosensory cortex represent neurophysiological correlates of discrete perceptual cycles. Our results agree with several theoretical concepts of discrete perceptual sampling and empirical evidence of perceptual cycles in the visual domain. Critically, these results show that discrete perceptual cycles are not domain-specific, and thus restricted to the visual domain, but extend to the somatosensory domain.

Generic robot architecture

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

2010-09-21

The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

Effect of practice on perceptual load

OpenAIRE

Mejia-Ramirez, Manuel

2013-01-01

Within attention studies, Lavie's load theory (Lavie & Tsal, 1994; Lavie, Hirst, de Fockert, & Viding, 2004) presented an account that could settle the question whether attention selects stimuli to be processed at an early or late stage of cognitive processing. This theory relied on the concepts of "perceptual load" and "attentional capacity", proposing that attentional resources are automatically allocated to stimuli, but when the perceptual load of the stimuli exceeds person's capacity, tas...

Frontoparietal cortex mediates perceptual transitions in bistable perception.

Science.gov (United States)

Weilnhammer, Veith A; Ludwig, Karin; Hesselmann, Guido; Sterzer, Philipp

2013-10-02

During bistable vision, perception oscillates between two mutually exclusive percepts despite constant sensory input. Greater BOLD responses in frontoparietal cortex have been shown to be associated with endogenous perceptual transitions compared with "replay" transitions designed to closely match bistability in both perceptual quality and timing. It has remained controversial, however, whether this enhanced activity reflects causal influences of these regions on processing at the sensory level or, alternatively, an effect of stimulus differences that result in, for example, longer durations of perceptual transitions in bistable perception compared with replay conditions. Using a rotating Lissajous figure in an fMRI experiment on 15 human participants, we controlled for potential confounds of differences in transition duration and confirmed previous findings of greater activity in frontoparietal areas for transitions during bistable perception. In addition, we applied dynamic causal modeling to identify the neural model that best explains the observed BOLD signals in terms of effective connectivity. We found that enhanced activity for perceptual transitions is associated with a modulation of top-down connectivity from frontal to visual cortex, thus arguing for a crucial role of frontoparietal cortex in perceptual transitions during bistable perception.

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

Triggers of fear: perceptual cues versus conceptual information in spider phobia.

Science.gov (United States)

Peperkorn, Henrik M; Alpers, Georg W; Mühlberger, Andreas

2014-07-01

Fear reactions in spider-phobic patients can be activated by specific perceptual cues or by conceptual fear-related information. Matching perceptual fear cues and fear-related information were expected to result in maximal fear responses, perceptual fear cues alone in less fear, and information alone in the weakest responses. We used virtual reality to manipulate the available cues and information. Forty-eight phobic patients and 48 healthy participants were repeatedly exposed to either a perceptual cue, information, or a combination of both. In conditions with a fear-relevant perceptual cue, phobic patients reported increased fear compared to the condition with information only. Across exposures trials, these reactions diminished. Skin conductance in phobic patients was significantly higher in the combined than in the cue or the information condition. Perceptual cues are essential for phobic fear reactions in spider phobia. In combination with fear-relevant information, perceptual cues activate an intense and persistent fear reaction. © 2013 Wiley Periodicals, Inc.

Reliability in perceptual analysis of voice quality.

Science.gov (United States)

Bele, Irene Velsvik

2005-12-01

This study focuses on speaking voice quality in male teachers (n = 35) and male actors (n = 36), who represent untrained and trained voice users, because we wanted to investigate normal and supranormal voices. In this study, both substantial and methodologic aspects were considered. It includes a method for perceptual voice evaluation, and a basic issue was rater reliability. A listening group of 10 listeners, 7 experienced speech-language therapists, and 3 speech-language therapist students evaluated the voices by 15 vocal characteristics using VA scales. Two sets of voice signals were investigated: text reading (2 loudness levels) and sustained vowel (3 levels). The results indicated a high interrater reliability for most perceptual characteristics. Connected speech was evaluated more reliably, especially at the normal level, but both types of voice signals were evaluated reliably, although the reliability for connected speech was somewhat higher than for vowels. Experienced listeners tended to be more consistent in their ratings than did the student raters. Some vocal characteristics achieved acceptable reliability even with a smaller panel of listeners. The perceptual characteristics grouped in 4 factors reflected perceptual dimensions.

Perceptual transparency from image deformation.

Science.gov (United States)

Kawabe, Takahiro; Maruya, Kazushi; Nishida, Shin'ya

2015-08-18

Human vision has a remarkable ability to perceive two layers at the same retinal locations, a transparent layer in front of a background surface. Critical image cues to perceptual transparency, studied extensively in the past, are changes in luminance or color that could be caused by light absorptions and reflections by the front layer, but such image changes may not be clearly visible when the front layer consists of a pure transparent material such as water. Our daily experiences with transparent materials of this kind suggest that an alternative potential cue of visual transparency is image deformations of a background pattern caused by light refraction. Although previous studies have indicated that these image deformations, at least static ones, play little role in perceptual transparency, here we show that dynamic image deformations of the background pattern, which could be produced by light refraction on a moving liquid's surface, can produce a vivid impression of a transparent liquid layer without the aid of any other visual cues as to the presence of a transparent layer. Furthermore, a transparent liquid layer perceptually emerges even from a randomly generated dynamic image deformation as long as it is similar to real liquid deformations in its spatiotemporal frequency profile. Our findings indicate that the brain can perceptually infer the presence of "invisible" transparent liquids by analyzing the spatiotemporal structure of dynamic image deformation, for which it uses a relatively simple computation that does not require high-level knowledge about the detailed physics of liquid deformation.

The influence of schizotypal traits on attention under high perceptual load.

Science.gov (United States)

Stotesbury, Hanne; Gaigg, Sebastian B; Kirhan, Saim; Haenschel, Corinna

2018-03-01

Schizophrenia Spectrum Disorders (SSD) are known to be characterised by abnormalities in attentional processes, but there are inconsistencies in the literature that remain unresolved. This article considers whether perceptual resource limitations play a role in moderating attentional abnormalities in SSD. According to perceptual load theory, perceptual resource limitations can lead to attenuated or superior performance on dual-task paradigms depending on whether participants are required to process, or attempt to ignore, secondary stimuli. If SSD is associated with perceptual resource limitations, and if it represents the extreme end of an otherwise normally distributed neuropsychological phenotype, schizotypal traits in the general population should lead to disproportionate performance costs on dual-task paradigms as a function of the perceptual task demands. To test this prediction, schizotypal traits were quantified via the Schizotypal Personality Questionnaire (SPQ) in 74 healthy volunteers, who also completed a dual-task signal detection paradigm that required participants to detect central and peripheral stimuli across conditions that varied in the overall number of stimuli presented. The results confirmed decreasing performance as the perceptual load of the task increased. More importantly, significant correlations between SPQ scores and task performance confirmed that increased schizotypal traits, particularly in the cognitive-perceptual domain, are associated with greater performance decrements under increasing perceptual load. These results confirm that attentional difficulties associated with SSD extend sub-clinically into the general population and suggest that cognitive-perceptual schizotypal traits may represent a risk factor for difficulties in the regulation of attention under increasing perceptual load.

The influence of schizotypal traits on attention under high perceptual load

Directory of Open Access Journals (Sweden)

Hanne Stotesbury

2018-03-01

Full Text Available Schizophrenia Spectrum Disorders (SSD are known to be characterised by abnormalities in attentional processes, but there are inconsistencies in the literature that remain unresolved. This article considers whether perceptual resource limitations play a role in moderating attentional abnormalities in SSD. According to perceptual load theory, perceptual resource limitations can lead to attenuated or superior performance on dual-task paradigms depending on whether participants are required to process, or attempt to ignore, secondary stimuli. If SSD is associated with perceptual resource limitations, and if it represents the extreme end of an otherwise normally distributed neuropsychological phenotype, schizotypal traits in the general population should lead to disproportionate performance costs on dual-task paradigms as a function of the perceptual task demands. To test this prediction, schizotypal traits were quantified via the Schizotypal Personality Questionnaire (SPQ in 74 healthy volunteers, who also completed a dual-task signal detection paradigm that required participants to detect central and peripheral stimuli across conditions that varied in the overall number of stimuli presented. The results confirmed decreasing performance as the perceptual load of the task increased. More importantly, significant correlations between SPQ scores and task performance confirmed that increased schizotypal traits, particularly in the cognitive-perceptual domain, are associated with greater performance decrements under increasing perceptual load. These results confirm that attentional difficulties associated with SSD extend sub-clinically into the general population and suggest that cognitive-perceptual schizotypal traits may represent a risk factor for difficulties in the regulation of attention under increasing perceptual load.

Perceptual Experience and Seeing-as

Directory of Open Access Journals (Sweden)

Daniel Enrique Kalpokas

2015-07-01

Full Text Available According to Rorty, Davidson and Brandom, to have an experience is to be caused by our senses to hold a perceptual belief. This article argues that the phenomenon of seeing-as cannot be explained by such a conception of perceptual experience. First, the notion of experience defended by the aforementioned authors is reconstructed. Second, the main features of what Wittgenstein called “seeing aspects” are briefly presented. Finally, several arguments are developed in order to support the main thesis of the article: seeing-as cannot be explained by the conception of experience defended by Rorty, Davidson and Brandom.

Micro intelligence robot

International Nuclear Information System (INIS)

Jeon, Yon Ho

1991-07-01

This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

Modelling of industrial robot in LabView Robotics

Science.gov (United States)

Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

2017-08-01

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

Towards Sociable Robots

DEFF Research Database (Denmark)

Ngo, Trung Dung

This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

2009-09-15

This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

Robot Futures

DEFF Research Database (Denmark)

Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

Soft Robotics Week

CERN Document Server

Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

2017-01-01

This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

Visual perceptual abilities of Chinese-speaking and English-speaking children.

Science.gov (United States)

Lai, Mun Yee; Leung, Frederick Koon Shing

2012-04-01

This paper reports an investigation of Chinese-speaking and English-speaking children's general visual perceptual abilities. The Developmental Test of Visual Perception was administered to 41 native Chinese-speaking children of mean age 5 yr. 4 mo. in Hong Kong and 35 English-speaking children of mean age 5 yr. 2 mo. in Melbourne. Of interest were the two interrelated components of visual perceptual abilities, namely, motor-reduced visual perceptual and visual-motor integration perceptual abilities, which require either verbal or motoric responses in completing visual tasks. Chinese-speaking children significantly outperformed the English-speaking children on general visual perceptual abilities. When comparing the results of each of the two different components, the Chinese-speaking students' performance on visual-motor integration was far better than that of their counterparts (ES = 2.70), while the two groups of students performed similarly on motor-reduced visual perceptual abilities. Cultural factors such as written language format may be contributing to the enhanced performance of Chinese-speaking children's visual-motor integration abilities, but there may be validity questions in the Chinese version.

Robotic architectures

CSIR Research Space (South Africa)

Mtshali, M

2010-01-01

Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

Understanding perceptual boundaries in laparoscopic surgery.

Science.gov (United States)

Lamata, Pablo; Gomez, Enrique J; Hernández, Félix Lamata; Oltra Pastor, Alfonso; Sanchez-Margallo, Francisco Miquel; Del Pozo Guerrero, Francisco

2008-03-01

Human perceptual capabilities related to the laparoscopic interaction paradigm are not well known. Its study is important for the design of virtual reality simulators, and for the specification of augmented reality applications that overcome current limitations and provide a supersensing to the surgeon. As part of this work, this article addresses the study of laparoscopic pulling forces. Two definitions are proposed to focalize the problem: the perceptual fidelity boundary, limit of human perceptual capabilities, and the Utile fidelity boundary, that encapsulates the perceived aspects actually used by surgeons to guide an operation. The study is then aimed to define the perceptual fidelity boundary of laparoscopic pulling forces. This is approached with an experimental design in which surgeons assess the resistance against pulling of four different tissues, which are characterized with both in vivo interaction forces and ex vivo tissue biomechanical properties. A logarithmic law of tissue consistency perception is found comparing subjective valorizations with objective parameters. A model of this perception is developed identifying what the main parameters are: the grade of fixation of the organ, the tissue stiffness, the amount of tissue bitten, and the organ mass being pulled. These results are a clear requirement analysis for the force feedback algorithm of a virtual reality laparoscopic simulator. Finally, some discussion is raised about the suitability of augmented reality applications around this surgical gesture.

Soft Robotics.

Science.gov (United States)

Whitesides, George M

2018-04-09

This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Conceptual and methodological concerns in the theory of perceptual load.

Science.gov (United States)

Benoni, Hanna; Tsal, Yehoshua

2013-01-01

The present paper provides a short critical review of the theory of perceptual load. It closely examines the basic tenets and assumptions of the theory and identifies major conceptual and methodological problems that have been largely ignored in the literature. The discussion focuses on problems in the definition of the concept of perceptual load, on the circularity in the characterization and manipulation of perceptual load and the confusion between the concept of perceptual load and its operationalization. The paper also selectively reviews evidence supporting the theory as well as inconsistent evidence which proposed alternative dominant factors influencing the efficacy of attentional selection.

Observation and imitation of actions performed by humans, androids, and robots: an EMG study

Science.gov (United States)

Hofree, Galit; Urgen, Burcu A.; Winkielman, Piotr; Saygin, Ayse P.

2015-01-01

Understanding others’ actions is essential for functioning in the physical and social world. In the past two decades research has shown that action perception involves the motor system, supporting theories that we understand others’ behavior via embodied motor simulation. Recently, empirical approach to action perception has been facilitated by using well-controlled artificial stimuli, such as robots. One broad question this approach can address is what aspects of similarity between the observer and the observed agent facilitate motor simulation. Since humans have evolved among other humans and animals, using artificial stimuli such as robots allows us to probe whether our social perceptual systems are specifically tuned to process other biological entities. In this study, we used humanoid robots with different degrees of human-likeness in appearance and motion along with electromyography (EMG) to measure muscle activity in participants’ arms while they either observed or imitated videos of three agents produce actions with their right arm. The agents were a Human (biological appearance and motion), a Robot (mechanical appearance and motion), and an Android (biological appearance and mechanical motion). Right arm muscle activity increased when participants imitated all agents. Increased muscle activation was found also in the stationary arm both during imitation and observation. Furthermore, muscle activity was sensitive to motion dynamics: activity was significantly stronger for imitation of the human than both mechanical agents. There was also a relationship between the dynamics of the muscle activity and motion dynamics in stimuli. Overall our data indicate that motor simulation is not limited to observation and imitation of agents with a biological appearance, but is also found for robots. However we also found sensitivity to human motion in the EMG responses. Combining data from multiple methods allows us to obtain a more complete picture of action

Observation and Imitation of Actions Performed by Humans, Androids and Robots: An EMG study

Directory of Open Access Journals (Sweden)

Galit eHofree

2015-06-01

Full Text Available Understanding others’ actions is essential for functioning in the physical and social world. In the past two decades research has shown that action perception involves the motor system, supporting theories that we understand others’ behavior via embodied motor simulation. Recently, action perception has been facilitated by using well-controlled artificial stimuli, such as robots. One key question this approach enables is what aspects of similarity between the observer and the observed agent facilitate motor simulation? Since humans have evolved among other humans and animals, using artificial stimuli such as robots allows us to probe whether our social perceptual systems are tuned to process other biological entities. In this study, we used humanoid robots with different degrees of humanlikeness in appearance and motion along with electromyography (EMG to measure muscle activity in participants’ arms while they either observed or imitated videos of three agents produce actions with their right arm. The agents were a Human (biological appearance and motion, a Robot (mechanical appearance and motion and an Android (biological appearance, mechanical motion. Right arm muscle activity increased when participants imitated all agents. Increased muscle activation was found also in the stationary arm both during imitation and observation. Furthermore, muscle activity was sensitive to motion dynamics: activity was significantly stronger for imitation of the human than both mechanical agents. There was also a relationship between the dynamics of the muscle activity and motion dynamics in stimuli. Overall our data indicate that motor simulation is not limited to observation and imitation of agents with a biological appearance, but is also found for robots. However we also found sensitivity to human motion in the EMG responses. Combining data from multiple methods allows us to obtain a more complete picture of action understanding and the underlying

Visual perception of procedural textures: identifying perceptual dimensions and predicting generation models.

Science.gov (United States)

Liu, Jun; Dong, Junyu; Cai, Xiaoxu; Qi, Lin; Chantler, Mike

2015-01-01

Procedural models are widely used in computer graphics for generating realistic, natural-looking textures. However, these mathematical models are not perceptually meaningful, whereas the users, such as artists and designers, would prefer to make descriptions using intuitive and perceptual characteristics like "repetitive," "directional," "structured," and so on. To make up for this gap, we investigated the perceptual dimensions of textures generated by a collection of procedural models. Two psychophysical experiments were conducted: free-grouping and rating. We applied Hierarchical Cluster Analysis (HCA) and Singular Value Decomposition (SVD) to discover the perceptual features used by the observers in grouping similar textures. The results suggested that existing dimensions in literature cannot accommodate random textures. We therefore utilized isometric feature mapping (Isomap) to establish a three-dimensional perceptual texture space which better explains the features used by humans in texture similarity judgment. Finally, we proposed computational models to map perceptual features to the perceptual texture space, which can suggest a procedural model to produce textures according to user-defined perceptual scales.

Visual perception of procedural textures: identifying perceptual dimensions and predicting generation models.

Directory of Open Access Journals (Sweden)

Jun Liu

Full Text Available Procedural models are widely used in computer graphics for generating realistic, natural-looking textures. However, these mathematical models are not perceptually meaningful, whereas the users, such as artists and designers, would prefer to make descriptions using intuitive and perceptual characteristics like "repetitive," "directional," "structured," and so on. To make up for this gap, we investigated the perceptual dimensions of textures generated by a collection of procedural models. Two psychophysical experiments were conducted: free-grouping and rating. We applied Hierarchical Cluster Analysis (HCA and Singular Value Decomposition (SVD to discover the perceptual features used by the observers in grouping similar textures. The results suggested that existing dimensions in literature cannot accommodate random textures. We therefore utilized isometric feature mapping (Isomap to establish a three-dimensional perceptual texture space which better explains the features used by humans in texture similarity judgment. Finally, we proposed computational models to map perceptual features to the perceptual texture space, which can suggest a procedural model to produce textures according to user-defined perceptual scales.

Memory: Enduring Traces of Perceptual and Reflective Attention

Science.gov (United States)

Chun, Marvin M.; Johnson, Marcia K.

2011-01-01

Attention and memory are typically studied as separate topics, but they are highly intertwined. Here we discuss the relation between memory and two fundamental types of attention: perceptual and reflective. Memory is the persisting consequence of cognitive activities initiated by and/or focused on external information from the environment (perceptual attention) and initiated by and/or focused on internal mental representations (reflective attention). We consider three key questions for advancing a cognitive neuroscience of attention and memory: To what extent do perception and reflection share representational areas? To what extent are the control processes that select, maintain, and manipulate perceptual and reflective information subserved by common areas and networks? During perception and reflection, to what extent are common areas responsible for binding features together to create complex, episodic memories and for reviving them later? Considering similarities and differences in perceptual and reflective attention helps integrate a broad range of findings and raises important unresolved issues. PMID:22099456

Memory: enduring traces of perceptual and reflective attention.

Science.gov (United States)

Chun, Marvin M; Johnson, Marcia K

2011-11-17

Attention and memory are typically studied as separate topics, but they are highly intertwined. Here we discuss the relation between memory and two fundamental types of attention: perceptual and reflective. Memory is the persisting consequence of cognitive activities initiated by and/or focused on external information from the environment (perceptual attention) and initiated by and/or focused on internal mental representations (reflective attention). We consider three key questions for advancing a cognitive neuroscience of attention and memory: to what extent do perception and reflection share representational areas? To what extent are the control processes that select, maintain, and manipulate perceptual and reflective information subserved by common areas and networks? During perception and reflection, to what extent are common areas responsible for binding features together to create complex, episodic memories and for reviving them later? Considering similarities and differences in perceptual and reflective attention helps integrate a broad range of findings and raises important unresolved issues. Copyright © 2011 Elsevier Inc. All rights reserved.

Perceptual Load Affects Eyewitness Accuracy & Susceptibility to Leading Questions

Directory of Open Access Journals (Sweden)

Gillian Murphy

2016-08-01

Full Text Available Load Theory (Lavie, 1995; 2005 states that the level of perceptual load in a task (i.e. the amount of information involved in processing task-relevant stimuli determines the efficiency of selective attention. There is evidence that perceptual load affects distractor processing, with increased inattentional blindness under high load. Given that high load can result in individuals failing to report seeing obvious objects, it is conceivable that load may also impair memory for the scene. The current study is the first to assess the effect of perceptual load on eyewitness memory. Across three experiments (two video-based and one in a driving simulator, the effect of perceptual load on eyewitness memory was assessed. The results showed that eyewitnesses were less accurate under high load, in particular for peripheral details. For example, memory for the central character in the video was not affected by load but memory for a witness who passed by the window at the edge of the scene was significantly worse under high load. High load memories were also more open to suggestion, showing increased susceptibility to leading questions. High visual perceptual load also affected recall for auditory information, illustrating a possible cross-modal perceptual load effect on memory accuracy. These results have implications for eyewitness memory researchers and forensic professionals.

Mechanism of Perceptual Attention

National Research Council Canada - National Science Library

Lu, Zhong-Lin

2000-01-01

.... Attention may affect the perceived clarity of visual displays and improve performance. In this project, a powerful external noise method was developed to identify and characterize the effect of attention on perceptual performance in visual tasks...

Mechanisms of Perceptual Attention

National Research Council Canada - National Science Library

Dosher, Barbara

2000-01-01

.... Attention may affect the perceived clarity of visual displays and improve performance. In this project, a powerful external noise method was developed to identify and characterize the effect of attention on perceptual performance in visual tasks...

Action video game play facilitates the development of better perceptual templates

Science.gov (United States)

Bejjanki, Vikranth R.; Zhang, Ruyuan; Li, Renjie; Pouget, Alexandre; Green, C. Shawn; Lu, Zhong-Lin; Bavelier, Daphne

2014-01-01

The field of perceptual learning has identified changes in perceptual templates as a powerful mechanism mediating the learning of statistical regularities in our environment. By measuring threshold-vs.-contrast curves using an orientation identification task under varying levels of external noise, the perceptual template model (PTM) allows one to disentangle various sources of signal-to-noise changes that can alter performance. We use the PTM approach to elucidate the mechanism that underlies the wide range of improvements noted after action video game play. We show that action video game players make use of improved perceptual templates compared with nonvideo game players, and we confirm a causal role for action video game play in inducing such improvements through a 50-h training study. Then, by adapting a recent neural model to this task, we demonstrate how such improved perceptual templates can arise from reweighting the connectivity between visual areas. Finally, we establish that action gamers do not enter the perceptual task with improved perceptual templates. Instead, although performance in action gamers is initially indistinguishable from that of nongamers, action gamers more rapidly learn the proper template as they experience the task. Taken together, our results establish for the first time to our knowledge the development of enhanced perceptual templates following action game play. Because such an improvement can facilitate the inference of the proper generative model for the task at hand, unlike perceptual learning that is quite specific, it thus elucidates a general learning mechanism that can account for the various behavioral benefits noted after action game play. PMID:25385590

Action video game play facilitates the development of better perceptual templates.

Science.gov (United States)

Bejjanki, Vikranth R; Zhang, Ruyuan; Li, Renjie; Pouget, Alexandre; Green, C Shawn; Lu, Zhong-Lin; Bavelier, Daphne

2014-11-25

The field of perceptual learning has identified changes in perceptual templates as a powerful mechanism mediating the learning of statistical regularities in our environment. By measuring threshold-vs.-contrast curves using an orientation identification task under varying levels of external noise, the perceptual template model (PTM) allows one to disentangle various sources of signal-to-noise changes that can alter performance. We use the PTM approach to elucidate the mechanism that underlies the wide range of improvements noted after action video game play. We show that action video game players make use of improved perceptual templates compared with nonvideo game players, and we confirm a causal role for action video game play in inducing such improvements through a 50-h training study. Then, by adapting a recent neural model to this task, we demonstrate how such improved perceptual templates can arise from reweighting the connectivity between visual areas. Finally, we establish that action gamers do not enter the perceptual task with improved perceptual templates. Instead, although performance in action gamers is initially indistinguishable from that of nongamers, action gamers more rapidly learn the proper template as they experience the task. Taken together, our results establish for the first time to our knowledge the development of enhanced perceptual templates following action game play. Because such an improvement can facilitate the inference of the proper generative model for the task at hand, unlike perceptual learning that is quite specific, it thus elucidates a general learning mechanism that can account for the various behavioral benefits noted after action game play.

Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

2012-01-01

A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

The Role of Perceptual Load in Object Recognition

Science.gov (United States)

Lavie, Nilli; Lin, Zhicheng; Zokaei, Nahid; Thoma, Volker

2009-01-01

Predictions from perceptual load theory (Lavie, 1995, 2005) regarding object recognition across the same or different viewpoints were tested. Results showed that high perceptual load reduces distracter recognition levels despite always presenting distracter objects from the same view. They also showed that the levels of distracter recognition were…

Evolutionary robotics

Indian Academy of Sciences (India)

In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

Science.gov (United States)

Fong, Terry

2017-01-01

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Robot services for elderly with cognitive impairment: testing usability of graphical user interfaces.

Science.gov (United States)

Granata, C; Pino, M; Legouverneur, G; Vidal, J-S; Bidaud, P; Rigaud, A-S

2013-01-01

Socially assistive robotics for elderly care is a growing field. However, although robotics has the potential to support elderly in daily tasks by offering specific services, the development of usable interfaces is still a challenge. Since several factors such as age or disease-related changes in perceptual or cognitive abilities and familiarity with computer technologies influence technology use they must be considered when designing interfaces for these users. This paper presents findings from usability testing of two different services provided by a social assistive robot intended for elderly with cognitive impairment: a grocery shopping list and an agenda application. The main goal of this study is to identify the usability problems of the robot interface for target end-users as well as to isolate the human factors that affect the use of the technology by elderly. Socio-demographic characteristics and computer experience were examined as factors that could have an influence on task performance. A group of 11 elderly persons with Mild Cognitive Impairment and a group of 11 cognitively healthy elderly individuals took part in this study. Performance measures (task completion time and number of errors) were collected. Cognitive profile, age and computer experience were found to impact task performance. Participants with cognitive impairment achieved the tasks committing more errors than cognitively healthy elderly. Instead younger participants and those with previous computer experience were faster at completing the tasks confirming previous findings in the literature. The overall results suggested that interfaces and contents of the services assessed were usable by older adults with cognitive impairment. However, some usability problems were identified and should be addressed to better meet the needs and capacities of target end-users.

Conceptual and Methodological Concerns in the Theory of Perceptual Load

Directory of Open Access Journals (Sweden)

Hanna eBenoni

2013-08-01

Full Text Available The present paper provides a short critical review of the theory of perceptual load. It closely examines the basic tenets and assumptions of the theory and identifies major conceptual and methodological problems that have been largely ignored in the literature. The discussion focuses on problems in the definition of the concept of perceptual load, on the circularity in the characterization and manipulation of perceptual load and the confusion between the concept of perceptual load and its operationalization. The paper also selectively reviews evidence supporting the theory as well as inconsistent evidence which proposed alternative dominant factors influencing the efficacy of attentional selection.

Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

Directory of Open Access Journals (Sweden)

Aleksandar Rodić

2015-04-01

Full Text Available The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope, stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions

The Role of Perceptual Load in Inattentional Blindness

Science.gov (United States)

Cartwright-Finch, Ula; Lavie, Nilli

2007-01-01

Perceptual load theory offers a resolution to the long-standing early vs. late selection debate over whether task-irrelevant stimuli are perceived, suggesting that irrelevant perception depends upon the perceptual load of task-relevant processing. However, previous evidence for this theory has relied on RTs and neuroimaging. Here we tested the…

Wake topology of under-actuated rajiform batoid robots

Science.gov (United States)

Valdivia Y Alvarado, Pablo; Weymouth, Gabriel; Thekoodan, Dilip; Patrikalakis, Nicholas

2011-11-01

Under-actuated continuous soft robots are designed to have modes of vibration that match desired body motions using minimal actuation. The desired modes of vibration are enabled by flexible continuous bodies with heterogenous material distributions. Errors or intentional approximations in the manufactured material distributions alter the achieved body motions and influence the resulting locomotion performance. An under-actuated continuous soft robot designed to mimic rajiform batoids such as stingrays is used to investigate the influence that fin kinematics variations have on wake topology, and the trade-offs that simplifying the body material structure has on achievable swimming performance. Pectoral fin kinematics in rajiform batoids are defined by traveling waves along the fin cord with particular amplitude envelopes along both the fin cord and span. Digital particle image velocimetry (DPIV) analysis of a prototype's wake structure and immersed-boundary numerical simulations are used to clarify the role of traveling wave wavelength, fin flapping frequency, and amplitude envelope characteristics on the resulting wake topology and swimming performance.

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

Cloud Robotics Platforms

Directory of Open Access Journals (Sweden)

Busra Koken

2015-01-01

Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

Distributed Robotics Education

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2011-01-01

Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

Minimalist approach to perceptual interactions.

Science.gov (United States)

Lenay, Charles; Stewart, John

2012-01-01

WORK AIMED AT STUDYING SOCIAL COGNITION IN AN INTERACTIONIST PERSPECTIVE OFTEN ENCOUNTERS SUBSTANTIAL THEORETICAL AND METHODOLOGICAL DIFFICULTIES: identifying the significant behavioral variables; recording them without disturbing the interaction; and distinguishing between: (a) the necessary and sufficient contributions of each individual partner for a collective dynamics to emerge; (b) features which derive from this collective dynamics and escape from the control of the individual partners; and (c) the phenomena arising from this collective dynamics which are subsequently appropriated and used by the partners. We propose a minimalist experimental paradigm as a basis for this conceptual discussion: by reducing the sensory inputs to a strict minimum, we force a spatial and temporal deployment of the perceptual activities, which makes it possible to obtain a complete recording and control of the dynamics of interaction. After presenting the principles of this minimalist approach to perception, we describe a series of experiments on two major questions in social cognition: recognizing the presence of another intentional subject; and phenomena of imitation. In both cases, we propose explanatory schema which render an interactionist approach to social cognition clear and explicit. Starting from our earlier work on perceptual crossing we present a new experiment on the mechanisms of reciprocal recognition of the perceptual intentionality of the other subject: the emergent collective dynamics of the perceptual crossing can be appropriated by each subject. We then present an experimental study of opaque imitation (when the subjects cannot see what they themselves are doing). This study makes it possible to characterize what a properly interactionist approach to imitation might be. In conclusion, we draw on these results, to show how an interactionist approach can contribute to a fully social approach to social cognition.

Robot Mechanisms

CERN Document Server

Lenarcic, Jadran; Stanišić, Michael M

2013-01-01

This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Robots de servicio

Directory of Open Access Journals (Sweden)

Rafael Aracil

2008-04-01

Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

Effects of regular aerobic exercise on visual perceptual learning.

Science.gov (United States)

Connell, Charlotte J W; Thompson, Benjamin; Green, Hayden; Sullivan, Rachel K; Gant, Nicholas

2017-12-02

This study investigated the influence of five days of moderate intensity aerobic exercise on the acquisition and consolidation of visual perceptual learning using a motion direction discrimination (MDD) task. The timing of exercise relative to learning was manipulated by administering exercise either before or after perceptual training. Within a matched-subjects design, twenty-seven healthy participants (n = 9 per group) completed five consecutive days of perceptual training on a MDD task under one of three interventions: no exercise, exercise before the MDD task, or exercise after the MDD task. MDD task accuracy improved in all groups over the five-day period, but there was a trend for impaired learning when exercise was performed before visual perceptual training. MDD task accuracy (mean ± SD) increased in exercise before by 4.5 ± 6.5%; exercise after by 11.8 ± 6.4%; and no exercise by 11.3 ± 7.2%. All intervention groups displayed similar MDD threshold reductions for the trained and untrained motion axes after training. These findings suggest that moderate daily exercise does not enhance the rate of visual perceptual learning for an MDD task or the transfer of learning to an untrained motion axis. Furthermore, exercise performed immediately prior to a visual perceptual learning task may impair learning. Further research with larger groups is required in order to better understand these effects. Copyright © 2017 Elsevier Ltd. All rights reserved.

Filigree Robotics

DEFF Research Database (Denmark)

Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

2016-01-01

Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

Perceptual Biases in Relation to Paranormal and Conspiracy Beliefs.

Science.gov (United States)

van Elk, Michiel

2015-01-01

Previous studies have shown that one's prior beliefs have a strong effect on perceptual decision-making and attentional processing. The present study extends these findings by investigating how individual differences in paranormal and conspiracy beliefs are related to perceptual and attentional biases. Two field studies were conducted in which visitors of a paranormal conducted a perceptual decision making task (i.e. the face/house categorization task; Experiment 1) or a visual attention task (i.e. the global/local processing task; Experiment 2). In the first experiment it was found that skeptics compared to believers more often incorrectly categorized ambiguous face stimuli as representing a house, indicating that disbelief rather than belief in the paranormal is driving the bias observed for the categorization of ambiguous stimuli. In the second experiment, it was found that skeptics showed a classical 'global-to-local' interference effect, whereas believers in conspiracy theories were characterized by a stronger 'local-to-global interference effect'. The present study shows that individual differences in paranormal and conspiracy beliefs are associated with perceptual and attentional biases, thereby extending the growing body of work in this field indicating effects of cultural learning on basic perceptual processes.

Perceptual Biases in Relation to Paranormal and Conspiracy Beliefs.

Directory of Open Access Journals (Sweden)

Michiel van Elk

Full Text Available Previous studies have shown that one's prior beliefs have a strong effect on perceptual decision-making and attentional processing. The present study extends these findings by investigating how individual differences in paranormal and conspiracy beliefs are related to perceptual and attentional biases. Two field studies were conducted in which visitors of a paranormal conducted a perceptual decision making task (i.e. the face/house categorization task; Experiment 1 or a visual attention task (i.e. the global/local processing task; Experiment 2. In the first experiment it was found that skeptics compared to believers more often incorrectly categorized ambiguous face stimuli as representing a house, indicating that disbelief rather than belief in the paranormal is driving the bias observed for the categorization of ambiguous stimuli. In the second experiment, it was found that skeptics showed a classical 'global-to-local' interference effect, whereas believers in conspiracy theories were characterized by a stronger 'local-to-global interference effect'. The present study shows that individual differences in paranormal and conspiracy beliefs are associated with perceptual and attentional biases, thereby extending the growing body of work in this field indicating effects of cultural learning on basic perceptual processes.

Biased and unbiased perceptual decision-making on vocal emotions.

Science.gov (United States)

Dricu, Mihai; Ceravolo, Leonardo; Grandjean, Didier; Frühholz, Sascha

2017-11-24

Perceptual decision-making on emotions involves gathering sensory information about the affective state of another person and forming a decision on the likelihood of a particular state. These perceptual decisions can be of varying complexity as determined by different contexts. We used functional magnetic resonance imaging and a region of interest approach to investigate the brain activation and functional connectivity behind two forms of perceptual decision-making. More complex unbiased decisions on affective voices recruited an extended bilateral network consisting of the posterior inferior frontal cortex, the orbitofrontal cortex, the amygdala, and voice-sensitive areas in the auditory cortex. Less complex biased decisions on affective voices distinctly recruited the right mid inferior frontal cortex, pointing to a functional distinction in this region following decisional requirements. Furthermore, task-induced neural connectivity revealed stronger connections between these frontal, auditory, and limbic regions during unbiased relative to biased decision-making on affective voices. Together, the data shows that different types of perceptual decision-making on auditory emotions have distinct patterns of activations and functional coupling that follow the decisional strategies and cognitive mechanisms involved during these perceptual decisions.

Cognitive-perceptual examination of remediation approaches to hypokinetic dysarthria.

Science.gov (United States)

McAuliffe, Megan J; Kerr, Sarah E; Gibson, Elizabeth M R; Anderson, Tim; LaShell, Patrick J

2014-08-01

To determine how increased vocal loudness and reduced speech rate affect listeners' cognitive-perceptual processing of hypokinetic dysarthric speech associated with Parkinson's disease. Fifty-one healthy listener participants completed a speech perception experiment. Listeners repeated phrases produced by 5 individuals with dysarthria across habitual, loud, and slow speaking modes. Listeners were allocated to habitual ( n = 17), loud ( n = 17), or slow ( n = 17) experimental conditions. Transcripts derived from the phrase repetition task were coded for overall accuracy (i.e., intelligibility), and perceptual error analyses examined how these conditions affected listeners' phonemic mapping (i.e., syllable resemblance) and lexical segmentation (i.e., lexical boundary error analysis). Both speech conditions provided obvious perceptual benefits to listeners. Overall, transcript accuracy was highest in the slow condition. In the loud condition, however, improvement was evidenced across the experiment. An error analysis suggested that listeners in the loud condition prioritized acoustic-phonetic cues in their attempts to resolve the degraded signal, whereas those in the slow condition appeared to preferentially weight lexical stress cues. Increased loudness and reduced rate exhibited differential effects on listeners' perceptual processing of dysarthric speech. The current study highlights the insights that may be gained from a cognitive-perceptual approach.

Perceptual learning in children with visual impairment improves near visual acuity.

Science.gov (United States)

Huurneman, Bianca; Boonstra, F Nienke; Cox, Ralf F A; van Rens, Ger; Cillessen, Antonius H N

2013-09-17

This study investigated whether visual perceptual learning can improve near visual acuity and reduce foveal crowding effects in four- to nine-year-old children with visual impairment. Participants were 45 children with visual impairment and 29 children with normal vision. Children with visual impairment were divided into three groups: a magnifier group (n = 12), a crowded perceptual learning group (n = 18), and an uncrowded perceptual learning group (n = 15). Children with normal vision also were divided in three groups, but were measured only at baseline. Dependent variables were single near visual acuity (NVA), crowded NVA, LH line 50% crowding NVA, number of trials, accuracy, performance time, amount of small errors, and amount of large errors. Children with visual impairment trained during six weeks, two times per week, for 30 minutes (12 training sessions). After training, children showed significant improvement of NVA in addition to specific improvements on the training task. The crowded perceptual learning group showed the largest acuity improvements (1.7 logMAR lines on the crowded chart, P children in the crowded perceptual learning group showed improvements on all NVA charts. Children with visual impairment benefit from perceptual training. While task-specific improvements were observed in all training groups, transfer to crowded NVA was largest in the crowded perceptual learning group. To our knowledge, this is the first study to provide evidence for the improvement of NVA by perceptual learning in children with visual impairment. (http://www.trialregister.nl number, NTR2537.).

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

1999-05-15

Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

Robotics education

International Nuclear Information System (INIS)

Benton, O.

1984-01-01

Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

Lessons learned over a decade of pediatric robotic ureteral reimplantation

Directory of Open Access Journals (Sweden)

Minki Baek

2017-01-01

Full Text Available The da Vinci robotic system has improved surgeon dexterity, ergonomics, and visualization to allow for a minimally invasive option for complex reconstructive procedures in children. Over the past decade, robot-assisted laparoscopic ureteral reimplantation (RALUR has become a viable minimally invasive surgical option for pediatric vesicoureteral reflux (VUR. However, higher-thanexpected complication rates and suboptimal reflux resolution rates at some centers have also been reported. The heterogeneity of surgical outcomes may arise from the inherent and underestimated complexity of the RALUR procedure that may justify its reclassification as a complex reconstructive procedure and especially for robotic surgeons early in their learning curve. Currently, no consensus exists on the role of RALUR for the surgical management of VUR. High success rates and low major complication rates are the expected norm for the current gold standard surgical option of open ureteral reimplantation. Similar to how robot-assisted laparoscopic surgery has gradually replaced open surgery as the most utilized option for prostatectomy in prostate cancer patients, RALUR may become a higher utilized surgical option in children with VUR if the adoption of standardized surgical techniques that have been associated with optimal outcomes can be adopted during the second decade of RALUR. A future standard of RALUR for children with VUR whose parents seek a minimally invasive surgical option can arise if widespread achievement of high success rates and low major complication rates can be obtained, similar to the replacement of open surgery with robot-assisted laparoscopic radical prostectomy as the new strandard for men with prostate cancer.

Visible digital watermarking system using perceptual models

Science.gov (United States)

Cheng, Qiang; Huang, Thomas S.

2001-03-01

This paper presents a visible watermarking system using perceptual models. %how and why A watermark image is overlaid translucently onto a primary image, for the purposes of immediate claim of copyright, instantaneous recognition of owner or creator, or deterrence to piracy of digital images or video. %perceptual The watermark is modulated by exploiting combined DCT-domain and DWT-domain perceptual models. % so that the watermark is visually uniform. The resulting watermarked image is visually pleasing and unobtrusive. The location, size and strength of the watermark vary randomly with the underlying image. The randomization makes the automatic removal of the watermark difficult even though the algorithm is known publicly but the key to the random sequence generator. The experiments demonstrate that the watermarked images have pleasant visual effect and strong robustness. The watermarking system can be used in copyright notification and protection.

A new method for mapping perceptual biases across visual space.

Science.gov (United States)

Finlayson, Nonie J; Papageorgiou, Andriani; Schwarzkopf, D Samuel

2017-08-01

How we perceive the environment is not stable and seamless. Recent studies found that how a person qualitatively experiences even simple visual stimuli varies dramatically across different locations in the visual field. Here we use a method we developed recently that we call multiple alternatives perceptual search (MAPS) for efficiently mapping such perceptual biases across several locations. This procedure reliably quantifies the spatial pattern of perceptual biases and also of uncertainty and choice. We show that these measurements are strongly correlated with those from traditional psychophysical methods and that exogenous attention can skew biases without affecting overall task performance. Taken together, MAPS is an efficient method to measure how an individual's perceptual experience varies across space.

Stimulus recognition occurs under high perceptual load: Evidence from correlated flankers.

Science.gov (United States)

Cosman, Joshua D; Mordkoff, J Toby; Vecera, Shaun P

2016-12-01

A dominant account of selective attention, perceptual load theory, proposes that when attentional resources are exhausted, task-irrelevant information receives little attention and goes unrecognized. However, the flanker effect-typically used to assay stimulus identification-requires an arbitrary mapping between a stimulus and a response. We looked for failures of flanker identification by using a more-sensitive measure that does not require arbitrary stimulus-response mappings: the correlated flankers effect. We found that flanking items that were task-irrelevant but that correlated with target identity produced a correlated flanker effect. Participants were faster on trials in which the irrelevant flanker had previously correlated with the target than when it did not. Of importance, this correlated flanker effect appeared regardless of perceptual load, occurring even in high-load displays that should have abolished flanker identification. Findings from a standard flanker task replicated the basic perceptual load effect, with flankers not affecting response times under high perceptual load. Our results indicate that task-irrelevant information can be processed to a high level (identification), even under high perceptual load. This challenges a strong account of high perceptual load effects that hypothesizes complete failures of stimulus identification under high perceptual load. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

Robot Aesthetics

DEFF Research Database (Denmark)

Jochum, Elizabeth Ann; Putnam, Lance Jonathan

This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

Perceptual Load Affects Eyewitness Accuracy and Susceptibility to Leading Questions.

Science.gov (United States)

Murphy, Gillian; Greene, Ciara M

2016-01-01

Load Theory (Lavie, 1995, 2005) states that the level of perceptual load in a task (i.e., the amount of information involved in processing task-relevant stimuli) determines the efficiency of selective attention. There is evidence that perceptual load affects distractor processing, with increased inattentional blindness under high load. Given that high load can result in individuals failing to report seeing obvious objects, it is conceivable that load may also impair memory for the scene. The current study is the first to assess the effect of perceptual load on eyewitness memory. Across three experiments (two video-based and one in a driving simulator), the effect of perceptual load on eyewitness memory was assessed. The results showed that eyewitnesses were less accurate under high load, in particular for peripheral details. For example, memory for the central character in the video was not affected by load but memory for a witness who passed by the window at the edge of the scene was significantly worse under high load. High load memories were also more open to suggestion, showing increased susceptibility to leading questions. High visual perceptual load also affected recall for auditory information, illustrating a possible cross-modal perceptual load effect on memory accuracy. These results have implications for eyewitness memory researchers and forensic professionals.

Robots: l'embarras de richesses [:survey of robots available

International Nuclear Information System (INIS)

Meieran, H.; Brittain, K.; Sturkey, R.

1989-01-01

A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

Dual mechanisms governing reward-driven perceptual learning [version 1; referees: 2 approved

Directory of Open Access Journals (Sweden)

Dongho Kim

2015-09-01

Full Text Available In this review, we explore how reward signals shape perceptual learning in animals and humans. Perceptual learning is the well-established phenomenon by which extensive practice elicits selective improvement in one’s perceptual discrimination of basic visual features, such as oriented lines or moving stimuli. While perceptual learning has long been thought to rely on ‘top-down’ processes, such as attention and decision-making, a wave of recent findings suggests that these higher-level processes are, in fact, not necessary.  Rather, these recent findings indicate that reward signals alone, in the absence of the contribution of higher-level cognitive processes, are sufficient to drive the benefits of perceptual learning. Here, we will review the literature tying reward signals to perceptual learning. Based on these findings, we propose dual underlying mechanisms that give rise to perceptual learning: one mechanism that operates ‘automatically’ and is tied directly to reward signals, and another mechanism that involves more ‘top-down’, goal-directed computations.

Seamless Heterogeneous 3D Tessellation via DWT Domain Smoothing and Mosaicking

Directory of Open Access Journals (Sweden)

Gilles Gesquière

2010-01-01

Full Text Available With todays geobrowsers, the tessellations are far from being smooth due to a variety of reasons: the principal being the light difference and resolution heterogeneity. Whilst the former has been extensively dealt with in the literature through classic mosaicking techniques, the latter has got little attention. We focus on this latter aspect and present two DWT domain methods to seamlessly stitch tiles of heterogeneous resolutions. The first method is local in that each of the tiles that constitute the view, is subjected to one of the three context-based smoothing functions proposed for horizontal, vertical, and radial smoothing, depending on its localization in the tessellation. These functions are applied at the DWT subband level and followed by an inverse DWT to give a smoothened tile. In the second method, though we assume the same tessellation scenario, the view field is thought to be of a sliding window which may contain parts of the tiles from the heterogeneous tessellation. The window is refined in the DWT domain through mosaicking and smoothing followed by a global inverse DWT. Rather than the traditional sense, the mosaicking employed over here targets the heterogeneous resolution. Perceptually, this second method has shown better results than the first one. The methods have been successfully applied to practical examples of both the texture and its corresponding DEM for seamless 3D terrain visualization.

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe

Perceptual biases in relation to paranormal and conspiracy beliefs

NARCIS (Netherlands)

van Elk, M.

2015-01-01

Previous studies have shown that one’s prior beliefs have a strong effect on perceptual decision-making and attentional processing. The present study extends these findings by investigating how individual differences in paranormal and conspiracy beliefs are related to perceptual and attentional

Is Hand Selection Modulated by Cognitive-perceptual Load?

Science.gov (United States)

Liang, Jiali; Wilkinson, Krista; Sainburg, Robert L

2018-01-15

Previous studies proposed that selecting which hand to use for a reaching task appears to be modulated by a factor described as "task difficulty". However, what features of a task might contribute to greater or lesser "difficulty" in the context of hand selection decisions has yet to be determined. There has been evidence that biomechanical and kinematic factors such as movement smoothness and work can predict patterns of selection across the workspace, suggesting a role of predictive cost analysis in hand-selection. We hypothesize that this type of prediction for hand-selection should recruit substantial cognitive resources and thus should be influenced by cognitive-perceptual loading. We test this hypothesis by assessing the role of cognitive-perceptual loading on hand selection decisions, using a visual search task that presents different levels of difficulty (cognitive-perceptual load), as established in previous studies on overall response time and efficiency of visual search. Although the data are necessarily preliminary due to small sample size, our data suggested an influence of cognitive-perceptual load on hand selection, such that the dominant hand was selected more frequently as cognitive load increased. Interestingly, cognitive-perceptual loading also increased cross-midline reaches with both hands. Because crossing midline is more costly in terms of kinematic and kinetic factors, our findings suggest that cognitive processes are normally engaged to avoid costly actions, and that the choice not-to-cross midline requires cognitive resources. Copyright © 2017 IBRO. Published by Elsevier Ltd. All rights reserved.

Cloud Robotics Model

OpenAIRE

Mester, Gyula

2015-01-01

Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

Space Robotics Challenge

Data.gov (United States)

National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...

Limited Cognitive Resources Explain a Trade-Off between Perceptual and Metacognitive Vigilance.

Science.gov (United States)

Maniscalco, Brian; McCurdy, Li Yan; Odegaard, Brian; Lau, Hakwan

2017-02-01

Why do experimenters give subjects short breaks in long behavioral experiments? Whereas previous studies suggest it is difficult to maintain attention and vigilance over long periods of time, it is unclear precisely what mechanisms benefit from rest after short experimental blocks. Here, we evaluate decline in both perceptual performance and metacognitive sensitivity (i.e., how well confidence ratings track perceptual decision accuracy) over time and investigate whether characteristics of prefrontal cortical areas correlate with these measures. Whereas a single-process signal detection model predicts that these two forms of fatigue should be strongly positively correlated, a dual-process model predicts that rates of decline may dissociate. Here, we show that these measures consistently exhibited negative or near-zero correlations, as if engaged in a trade-off relationship, suggesting that different mechanisms contribute to perceptual and metacognitive decisions. Despite this dissociation, the two mechanisms likely depend on common resources, which could explain their trade-off relationship. Based on structural MRI brain images of individual human subjects, we assessed gray matter volume in the frontal polar area, a region that has been linked to visual metacognition. Variability of frontal polar volume correlated with individual differences in behavior, indicating the region may play a role in supplying common resources for both perceptual and metacognitive vigilance. Additional experiments revealed that reduced metacognitive demand led to superior perceptual vigilance, providing further support for this hypothesis. Overall, results indicate that during breaks between short blocks, it is the higher-level perceptual decision mechanisms, rather than lower-level sensory machinery, that benefit most from rest. Perceptual task performance declines over time (the so-called vigilance decrement), but the relationship between vigilance in perception and metacognition has

Can Attention be Divided Between Perceptual Groups?

Science.gov (United States)

McCann, Robert S.; Foyle, David C.; Johnston, James C.; Hart, Sandra G. (Technical Monitor)

1994-01-01

Previous work using Head-Up Displays (HUDs) suggests that the visual system parses the HUD and the outside world into distinct perceptual groups, with attention deployed sequentially to first one group and then the other. New experiments show that both groups can be processed in parallel in a divided attention search task, even though subjects have just processed a stimulus in one perceptual group or the other. Implications for models of visual attention will be discussed.

Perceptual and Cognitive Impairments and Driving

Science.gov (United States)

Korner-Bitensky, Nicol; Coopersmith, Henry; Mayo, Nancy; Leblanc, Ginette; Kaizer, Franceen

1990-01-01

Perceptual and cognitive disorders that frequently accompany stroke and head injury influence an individual's ability to drive a motor vehicle. Canadian physicians are legally responsible for identifying patients who are potentially unsafe to drive and, if they fail to do so, may be held liable in a civil action suit. The authors review the guidelines for physicians evaluating a patient's fitness to drive after brain injury. They also examine the actions a physician should take when a patient with perceptual and cognitive problems wants to drive. Ultimately, by taking these actions, physicians will help to prevent driving accidents. PMID:21234047

Multi-robot control interface

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

2011-12-06

Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

Perceptual-motor functioning in children with phenylketonuria.

Science.gov (United States)

Koff, E; Boyle, P; Pueschel, S M

1977-10-01

Children with treated phenylketonuria (PKU) have been described as being at high risk for perceptual-motor dysfunction. In this study, the Wechsler Intelligence Scale for Children (WISC) and the Bender Gestalt test were administered to 19 school age children with treated PKU and of average intelligence who have been off diet from five months to six years four months. Perceptual-motor performance was evaluated, and school functioning was rated by classroom teachers. Substantial impairment of perceptual-motor functioning as measured by the Bender Gestalt test and lower WISC performance IQs than verbal IQs were observed in children of average intelligence. Quality of dietary control was found to be associated with performance on the Bender Gestalt test. These findings suggest the possibility of a specific deficit that could seriously interfere with academic progress, but which is not signalled by obvious impairment of overall intellectual functioning.

Robotics

Energy Technology Data Exchange (ETDEWEB)

Lorino, P; Altwegg, J M

1985-05-01

This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

A visual perceptual descriptor with depth feature for image retrieval

Science.gov (United States)

Wang, Tianyang; Qin, Zhengrui

2017-07-01

This paper proposes a visual perceptual descriptor (VPD) and a new approach to extract perceptual depth feature for 2D image retrieval. VPD mimics human visual system, which can easily distinguish regions that have different textures, whereas for regions which have similar textures, color features are needed for further differentiation. We apply VPD on the gradient direction map of an image, capture texture-similar regions to generate a VPD map. We then impose the VPD map on a quantized color map and extract color features only from the overlapped regions. To reflect the nature of perceptual distance in single 2D image, we propose and extract the perceptual depth feature by computing the nuclear norm of the sparse depth map of an image. Extracted color features and the perceptual depth feature are both incorporated to a feature vector, we utilize this vector to represent an image and measure similarity. We observe that the proposed VPD + depth method achieves a promising result, and extensive experiments prove that it outperforms other typical methods on 2D image retrieval.

Human visual perceptual organization beats thinking on speed.

Science.gov (United States)

van der Helm, Peter A

2017-05-01

What is the degree to which knowledge influences visual perceptual processes? This question, which is central to the seeing-versus-thinking debate in cognitive science, is often discussed using examples claimed to be proof of one stance or another. It has, however, also been muddled by the usage of different and unclear definitions of perception. Here, for the well-defined process of perceptual organization, I argue that including speed (or efficiency) into the equation opens a new perspective on the limits of top-down influences of thinking on seeing. While the input of the perceptual organization process may be modifiable and its output enrichable, the process itself seems so fast (or efficient) that thinking hardly has time to intrude and is effective mostly after the fact.

FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.

Effect of perceptual load on conceptual processing: an extension of Vermeulen's theory.

Science.gov (United States)

Xie, Jiushu; Wang, Ruiming; Sun, Xun; Chang, Song

2013-10-01

The effect of color and shape load on conceptual processing was studied. Perceptual load effects have been found in visual and auditory conceptual processing, supporting the theory of embodied cognition. However, whether different types of visual concepts, such as color and shape, share the same perceptual load effects is unknown. In the current experiment, 32 participants were administered simultaneous perceptual and conceptual tasks to assess the relation between perceptual load and conceptual processing. Keeping color load in mind obstructed color conceptual processing. Hence, perceptual processing and conceptual load shared the same resources, suggesting embodied cognition. Color conceptual processing was not affected by shape pictures, indicating that different types of properties within vision were separate.

Teaching Joint-Level Robot Programming with a New Robotics Software Tool

Directory of Open Access Journals (Sweden)

Fernando Gonzalez

2017-12-01

Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

First-Hand Accounts of Sensory Perceptual Experiences in Autism: A Qualitative Analysis.

Science.gov (United States)

Jones, Robert S. P.; Quigney, Ciara; Huws, Jaci C.

2003-01-01

Five first-hand Web page accounts of unusual sensory perceptual experiences written by persons with high-functioning autism were selected for qualitative analysis. Four core categories emerged: turbulent sensory perceptual experiences; coping mechanisms; enjoyable sensory perceptual experiences; and awareness of being different, suggesting they…

Consensus paper: the role of the cerebellum in perceptual processes.

Science.gov (United States)

Baumann, Oliver; Borra, Ronald J; Bower, James M; Cullen, Kathleen E; Habas, Christophe; Ivry, Richard B; Leggio, Maria; Mattingley, Jason B; Molinari, Marco; Moulton, Eric A; Paulin, Michael G; Pavlova, Marina A; Schmahmann, Jeremy D; Sokolov, Arseny A

2015-04-01

Various lines of evidence accumulated over the past 30 years indicate that the cerebellum, long recognized as essential for motor control, also has considerable influence on perceptual processes. In this paper, we bring together experts from psychology and neuroscience, with the aim of providing a succinct but comprehensive overview of key findings related to the involvement of the cerebellum in sensory perception. The contributions cover such topics as anatomical and functional connectivity, evolutionary and comparative perspectives, visual and auditory processing, biological motion perception, nociception, self-motion, timing, predictive processing, and perceptual sequencing. While no single explanation has yet emerged concerning the role of the cerebellum in perceptual processes, this consensus paper summarizes the impressive empirical evidence on this problem and highlights diversities as well as commonalities between existing hypotheses. In addition to work with healthy individuals and patients with cerebellar disorders, it is also apparent that several neurological conditions in which perceptual disturbances occur, including autism and schizophrenia, are associated with cerebellar pathology. A better understanding of the involvement of the cerebellum in perceptual processes will thus likely be important for identifying and treating perceptual deficits that may at present go unnoticed and untreated. This paper provides a useful framework for further debate and empirical investigations into the influence of the cerebellum on sensory perception.

Selective Attention to Perceptual Dimensions and Switching between Dimensions

Science.gov (United States)

Meiran, Nachshon; Dimov, Eduard; Ganel, Tzvi

2013-01-01

In the present experiments, the question being addressed was whether switching attention between perceptual dimensions and selective attention to dimensions are processes that compete over a common resource? Attention to perceptual dimensions is usually studied by requiring participants to ignore a never-relevant dimension. Selection failure…

Multivoxel neurofeedback selectively modulates confidence without changing perceptual performance

Science.gov (United States)

Cortese, Aurelio; Amano, Kaoru; Koizumi, Ai; Kawato, Mitsuo; Lau, Hakwan

2016-01-01

A central controversy in metacognition studies concerns whether subjective confidence directly reflects the reliability of perceptual or cognitive processes, as suggested by normative models based on the assumption that neural computations are generally optimal. This view enjoys popularity in the computational and animal literatures, but it has also been suggested that confidence may depend on a late-stage estimation dissociable from perceptual processes. Yet, at least in humans, experimental tools have lacked the power to resolve these issues convincingly. Here, we overcome this difficulty by using the recently developed method of decoded neurofeedback (DecNef) to systematically manipulate multivoxel correlates of confidence in a frontoparietal network. Here we report that bi-directional changes in confidence do not affect perceptual accuracy. Further psychophysical analyses rule out accounts based on simple shifts in reporting strategy. Our results provide clear neuroscientific evidence for the systematic dissociation between confidence and perceptual performance, and thereby challenge current theoretical thinking. PMID:27976739

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

2017-01-01

In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

Perceptual processing during trauma, priming and the development of intrusive memories

Science.gov (United States)

Sündermann, Oliver; Hauschildt, Marit; Ehlers, Anke

2013-01-01

Background Intrusive reexperiencing in posttraumatic stress disorder (PTSD) is commonly triggered by stimuli with perceptual similarity to those present during the trauma. Information processing theories suggest that perceptual processing during the trauma and enhanced perceptual priming contribute to the easy triggering of intrusive memories by these cues. Methods Healthy volunteers (N = 51) watched neutral and trauma picture stories on a computer screen. Neutral objects that were unrelated to the content of the stories briefly appeared in the interval between the pictures. Dissociation and data-driven processing (as indicators of perceptual processing) and state anxiety during the stories were assessed with self-report questionnaires. After filler tasks, participants completed a blurred object identification task to assess priming and a recognition memory task. Intrusive memories were assessed with telephone interviews 2 weeks and 3 months later. Results Neutral objects were more strongly primed if they occurred in the context of trauma stories than if they occurred during neutral stories, although the effect size was only moderate (ηp2=.08) and only significant when trauma stories were presented first. Regardless of story order, enhanced perceptual priming predicted intrusive memories at 2-week follow-up (N = 51), but not at 3 months (n = 40). Data-driven processing, dissociation and anxiety increases during the trauma stories also predicted intrusive memories. Enhanced perceptual priming and data-driven processing were associated with lower verbal intelligence. Limitations It is unclear to what extent these findings generalize to real-life traumatic events and whether they are specific to negative emotional events. Conclusions The results provide some support for the role of perceptual processing and perceptual priming in reexperiencing symptoms. PMID:23207970

The Spatial Focus of Attention Is Controlled at Perceptual and Cognitive Levels

Science.gov (United States)

Caparos, Serge; Linnell, Karina J.

2010-01-01

Selective attention has been hypothesized to reduce distractor interference at both perceptual and postperceptual levels (Lavie, 2005), respectively, by focusing perceptual resources on the attended location and by blocking at postperceptual levels distractors that survive perceptual selection. This study measured the impact of load on these…

Robotics Potential Fields

Directory of Open Access Journals (Sweden)

Jordi Lucero

2009-01-01

Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

Varieties of perceptual learning.

Science.gov (United States)

Mackintosh, N J

2009-05-01

Although most studies of perceptual learning in human participants have concentrated on the changes in perception assumed to be occurring, studies of nonhuman animals necessarily measure discrimination learning and generalization and remain agnostic on the question of whether changes in behavior reflect changes in perception. On the other hand, animal studies do make it easier to draw a distinction between supervised and unsupervised learning. Differential reinforcement will surely teach animals to attend to some features of a stimulus array rather than to others. But it is an open question as to whether such changes in attention underlie the enhanced discrimination seen after unreinforced exposure to such an array. I argue that most instances of unsupervised perceptual learning observed in animals (and at least some in human animals) are better explained by appeal to well-established principles and phenomena of associative learning theory: excitatory and inhibitory associations between stimulus elements, latent inhibition, and habituation.

Perceptual Specificity Effects in Rereading: Evidence from Eye Movements

Science.gov (United States)

Sheridan, Heather; Reingold, Eyal M.

2012-01-01

The present experiments examined perceptual specificity effects using a rereading paradigm. Eye movements were monitored while participants read the same target word twice, in two different low-constraint sentence frames. The congruency of perceptual processing was manipulated by either presenting the target word in the same distortion typography…

Perceptual maps: the good, the bad and the ugly

NARCIS (Netherlands)

J.C. Gower (John); P.J.F. Groenen (Patrick); M. van de Velden (Michel); K. Vines (Karen)

2010-01-01

textabstractPerceptual maps are often used in marketing to visually study relations between two or more attributes. However, in many perceptual maps published in the recent literature it remains unclear what is being shown and how the relations between the points in the map can be interpreted or

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

Constructing knowledge through perceptual processes in making craft-art

Directory of Open Access Journals (Sweden)

Milla Ojala

2013-10-01

Full Text Available The focus of the study is on the knowledge that is constructed through perceptual processes during craft making in the context of the Finnish Basic Education in the Arts (BEA system. Craft studies in the BEA are defined as craft-art. The research method used is the grounded theory. The data consists of seven interviews and participant observations. Participants in the study are adolescents who study craft-art in the BEA system in Visual Art School, Aimo in Hämeenlinna. The aim of the article is to present, define and reflect on the concepts, properties and dimensions concerning perceptual processes that are discovered in this stage of the study following grounded theory procedures. The perceptual processes are an essential means of constructing knowledge in craft-art. Consequently, one aim of the study is to discuss how these processes are connected to various types of knowledge. The perceptual processes are described by seven concepts: imitative, anticipative, evaluative, experimental, emotional, temporal and bodily perceptions. They indicate on a conceptual level the characteristic of knowledge constructed through perceptual processes in craft-art. Further, theconcepts have several properties that can vary dimensionally between two qualities. The properties are activity, function and position. The dimensions of the properties vary from active to passive, formal to informal and internal to external. In conclusion, the concepts can describe a large range of incidents in different situations. They also seem to describe well the practice of  craft-art and there are several connections with pre-existing concepts of knowledge.Keywords: Craft, Knowledge, Perceptual process, Basic Education in the Arts, Grounded Theory 

RIPE [robot independent programming environment]: A robot independent programming environment

International Nuclear Information System (INIS)

Miller, D.J.; Lennox, R.C.

1990-01-01

Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

Science.gov (United States)

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

Service robotics: an emergent technology field at the interface between industry and services.

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Ott, Ingrid

2012-12-01

The paper at hand analyzes the economic implications of service robots as expected important future technology. The considerations are embedded into global trends, focusing on the interdependencies between services and industry not only in the context of the provision of services but already starting at the level of the innovation process. It is argued that due to the various interdependencies combined with heterogenous application fields, the resulting implications need to be contextualized. Concerning the net labor market effects, it is reasonable to assume that the field of service robotics will generate overall job creation that goes along with increasing skill requirements demanded from involved employees. It is analyzed which challenges arise in evaluating and further developing the new technology field and some policy recommendations are given.

Recent advances in robotics

International Nuclear Information System (INIS)

Beni, G.; Hackwood, S.

1984-01-01

Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

Perceptual distortion analysis of color image VQ-based coding

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Charrier, Christophe; Knoblauch, Kenneth; Cherifi, Hocine

1997-04-01

It is generally accepted that a RGB color image can be easily encoded by using a gray-scale compression technique on each of the three color planes. Such an approach, however, fails to take into account correlations existing between color planes and perceptual factors. We evaluated several linear and non-linear color spaces, some introduced by the CIE, compressed with the vector quantization technique for minimum perceptual distortion. To study these distortions, we measured contrast and luminance of the video framebuffer, to precisely control color. We then obtained psychophysical judgements to measure how well these methods work to minimize perceptual distortion in a variety of color space.

Mid-level perceptual features distinguish objects of different real-world sizes.

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Long, Bria; Konkle, Talia; Cohen, Michael A; Alvarez, George A

2016-01-01

Understanding how perceptual and conceptual representations are connected is a fundamental goal of cognitive science. Here, we focus on a broad conceptual distinction that constrains how we interact with objects--real-world size. Although there appear to be clear perceptual correlates for basic-level categories (apples look like other apples, oranges look like other oranges), the perceptual correlates of broader categorical distinctions are largely unexplored, i.e., do small objects look like other small objects? Because there are many kinds of small objects (e.g., cups, keys), there may be no reliable perceptual features that distinguish them from big objects (e.g., cars, tables). Contrary to this intuition, we demonstrated that big and small objects have reliable perceptual differences that can be extracted by early stages of visual processing. In a series of visual search studies, participants found target objects faster when the distractor objects differed in real-world size. These results held when we broadly sampled big and small objects, when we controlled for low-level features and image statistics, and when we reduced objects to texforms--unrecognizable textures that loosely preserve an object's form. However, this effect was absent when we used more basic textures. These results demonstrate that big and small objects have reliably different mid-level perceptual features, and suggest that early perceptual information about broad-category membership may influence downstream object perception, recognition, and categorization processes. (c) 2015 APA, all rights reserved).

Perceptual Learning: 12-Month-Olds' Discrimination of Monkey Faces

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Fair, Joseph; Flom, Ross; Jones, Jacob; Martin, Justin

2012-01-01

Six-month-olds reliably discriminate different monkey and human faces whereas 9-month-olds only discriminate different human faces. It is often falsely assumed that perceptual narrowing reflects a permanent change in perceptual abilities. In 3 experiments, ninety-six 12-month-olds' discrimination of unfamiliar monkey faces was examined. Following…

Perceptual consciousness overflows cognitive access.

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Block, Ned

2011-12-01

One of the most important issues concerning the foundations of conscious perception centers on the question of whether perceptual consciousness is rich or sparse. The overflow argument uses a form of 'iconic memory' to argue that perceptual consciousness is richer (i.e., has a higher capacity) than cognitive access: when observing a complex scene we are conscious of more than we can report or think about. Recently, the overflow argument has been challenged both empirically and conceptually. This paper reviews the controversy, arguing that proponents of sparse perception are committed to the postulation of (i) a peculiar kind of generic conscious representation that has no independent rationale and (ii) an unmotivated form of unconscious representation that in some cases conflicts with what we know about unconscious representation. Copyright © 2011 Elsevier Ltd. All rights reserved.

Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

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Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

Out of mind, out of sight: perceptual consequences of memory suppression.

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Kim, Kyungmi; Yi, Do-Joon

2013-04-01

In the present study, the effect of memory suppression on subsequent perceptual processing of visual objects was examined within a modified think/no-think paradigm. Suppressing memories of visual objects significantly impaired subsequent perceptual identification of those objects when they were briefly encountered (Experiment 1) and when they were presented in noise (Experiment 2), relative to performance on baseline items for which participants did not undergo suppression training. However, in Experiment 3, when perceptual identification was performed on mirror-reversed images of to-be-suppressed objects, no impairment was observed. These findings, analogous to those showing forgetting of suppressed words in long-term memory, suggest that suppressing memories of visual objects might be mediated by direct inhibition of perceptual representations, which, in turn, impairs later perception of them. This study provides strong support for the role of inhibitory mechanisms in memory control and suggests a tight link between higher-order cognitive operations and perceptual processing.

Autism-specific covariation in perceptual performances: "g" or "p" factor?

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Meilleur, Andrée-Anne S; Berthiaume, Claude; Bertone, Armando; Mottron, Laurent

2014-01-01

Autistic perception is characterized by atypical and sometimes exceptional performance in several low- (e.g., discrimination) and mid-level (e.g., pattern matching) tasks in both visual and auditory domains. A factor that specifically affects perceptive abilities in autistic individuals should manifest as an autism-specific association between perceptual tasks. The first purpose of this study was to explore how perceptual performances are associated within or across processing levels and/or modalities. The second purpose was to determine if general intelligence, the major factor that accounts for covariation in task performances in non-autistic individuals, equally controls perceptual abilities in autistic individuals. We asked 46 autistic individuals and 46 typically developing controls to perform four tasks measuring low- or mid-level visual or auditory processing. Intelligence was measured with the Wechsler's Intelligence Scale (FSIQ) and Raven Progressive Matrices (RPM). We conducted linear regression models to compare task performances between groups and patterns of covariation between tasks. The addition of either Wechsler's FSIQ or RPM in the regression models controlled for the effects of intelligence. In typically developing individuals, most perceptual tasks were associated with intelligence measured either by RPM or Wechsler FSIQ. The residual covariation between unimodal tasks, i.e. covariation not explained by intelligence, could be explained by a modality-specific factor. In the autistic group, residual covariation revealed the presence of a plurimodal factor specific to autism. Autistic individuals show exceptional performance in some perceptual tasks. Here, we demonstrate the existence of specific, plurimodal covariation that does not dependent on general intelligence (or "g" factor). Instead, this residual covariation is accounted for by a common perceptual process (or "p" factor), which may drive perceptual abilities differently in autistic and

Perceptual structure of adductor spasmodic dysphonia and its acoustic correlates.

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Cannito, Michael P; Doiuchi, Maki; Murry, Thomas; Woodson, Gayle E

2012-11-01

To examine the perceptual structure of voice attributes in adductor spasmodic dysphonia (ADSD) before and after botulinum toxin treatment and identify acoustic correlates of underlying perceptual factors. Reliability of perceptual judgments is considered in detail. Pre- and posttreatment trial with comparison to healthy controls, using single-blind randomized listener judgments of voice qualities, as well as retrospective comparison with acoustic measurements. Oral readings were recorded from 42 ADSD speakers before and after treatment as well as from their age- and sex-matched controls. Experienced judges listened to speech samples and rated attributes of overall voice quality, breathiness, roughness, and brokenness, using computer-implemented visual analog scaling. Data were adjusted for regression to the mean and submitted to principal components factor analysis. Acoustic waveforms, extracted from the reading samples, were analyzed and measurements correlated with perceptual factor scores. Four reliable perceptual variables of ADSD voice were effectively reduced to two underlying factors that corresponded to hyperadduction, most strongly associated with roughness, and hypoadduction, most strongly associated with breathiness. After treatment, the hyperadduction factor improved, whereas the hypoadduction factor worsened. Statistically significant (P<0.01) correlations were observed between perceived roughness and four acoustic measures, whereas breathiness correlated with aperiodicity and cepstral peak prominence (CPPs). This study supported a two-factor model of ADSD, suggesting perceptual characterization by both hyperadduction and hypoadduction before and after treatment. Responses of the factors to treatment were consistent with previous research. Correlations among perceptual and acoustic variables suggested that multiple acoustic features contributed to the overall impression of roughness. Although CPPs appears to be a partial correlate of perceived

Autism-specific covariation in perceptual performances: "g" or "p" factor?

Directory of Open Access Journals (Sweden)

Andrée-Anne S Meilleur

Full Text Available Autistic perception is characterized by atypical and sometimes exceptional performance in several low- (e.g., discrimination and mid-level (e.g., pattern matching tasks in both visual and auditory domains. A factor that specifically affects perceptive abilities in autistic individuals should manifest as an autism-specific association between perceptual tasks. The first purpose of this study was to explore how perceptual performances are associated within or across processing levels and/or modalities. The second purpose was to determine if general intelligence, the major factor that accounts for covariation in task performances in non-autistic individuals, equally controls perceptual abilities in autistic individuals.We asked 46 autistic individuals and 46 typically developing controls to perform four tasks measuring low- or mid-level visual or auditory processing. Intelligence was measured with the Wechsler's Intelligence Scale (FSIQ and Raven Progressive Matrices (RPM. We conducted linear regression models to compare task performances between groups and patterns of covariation between tasks. The addition of either Wechsler's FSIQ or RPM in the regression models controlled for the effects of intelligence.In typically developing individuals, most perceptual tasks were associated with intelligence measured either by RPM or Wechsler FSIQ. The residual covariation between unimodal tasks, i.e. covariation not explained by intelligence, could be explained by a modality-specific factor. In the autistic group, residual covariation revealed the presence of a plurimodal factor specific to autism.Autistic individuals show exceptional performance in some perceptual tasks. Here, we demonstrate the existence of specific, plurimodal covariation that does not dependent on general intelligence (or "g" factor. Instead, this residual covariation is accounted for by a common perceptual process (or "p" factor, which may drive perceptual abilities differently in

Automatic code generation for distributed robotic systems

International Nuclear Information System (INIS)

Jones, J.P.

1993-01-01

Hetero Helix is a software environment which supports relatively large robotic system development projects. The environment supports a heterogeneous set of message-passing LAN-connected common-bus multiprocessors, but the programming model seen by software developers is a simple shared memory. The conceptual simplicity of shared memory makes it an extremely attractive programming model, especially in large projects where coordinating a large number of people can itself become a significant source of complexity. We present results from three system development efforts conducted at Oak Ridge National Laboratory over the past several years. Each of these efforts used automatic software generation to create 10 to 20 percent of the system

Neural mechanisms underlying the induction and relief of perceptual curiosity

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Marieke eJepma

2012-02-01

Full Text Available Curiosity is one of the most basic biological drives in both animals and humans, and has been identified as a key motive for learning and discovery. Despite the importance of curiosity and related behaviors, the topic has been largely neglected in human neuroscience; hence little is known about the neurobiological mechanisms underlying curiosity. We used functional magnetic resonance imaging (fMRI to investigate what happens in our brain during the induction and subsequent relief of perceptual curiosity. Our core findings were that (i the induction of perceptual curiosity, through the presentation of ambiguous visual input, activated the anterior insula and anterior cingulate cortex, brain regions sensitive to conflict and arousal; (ii the relief of perceptual curiosity, through visual disambiguation, activated regions of the striatum that have been related to reward processing; and (iii the relief of perceptual curiosity was associated with hippocampal activation and enhanced incidental memory. These findings provide the first demonstration of the neural basis of human perceptual curiosity. Our results provide neurobiological support for a classic psychological theory of curiosity, which holds that curiosity is an aversive condition of increased arousal whose termination is rewarding and facilitates memory.

Perceptual and Cognitive Load Interact to Control the Spatial Focus of Attention

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Linnell, Karina J.; Caparos, Serge

2011-01-01

Caparos and Linnell (2009, 2010) used a variable-separation flanker paradigm to show that (a) when cognitive load is low, increasing perceptual load causes spatial attention to focus and (b) when perceptual load is high, decreasing cognitive load causes spatial attention to focus. Here, we tested whether the effects of perceptual and cognitive…

Multisensory Cues Capture Spatial Attention Regardless of Perceptual Load

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Santangelo, Valerio; Spence, Charles

2007-01-01

We compared the ability of auditory, visual, and audiovisual (bimodal) exogenous cues to capture visuo-spatial attention under conditions of no load versus high perceptual load. Participants had to discriminate the elevation (up vs. down) of visual targets preceded by either unimodal or bimodal cues under conditions of high perceptual load (in…

Bayesian Face Recognition and Perceptual Narrowing in Face-Space

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Balas, Benjamin

2012-01-01

During the first year of life, infants' face recognition abilities are subject to "perceptual narrowing", the end result of which is that observers lose the ability to distinguish previously discriminable faces (e.g. other-race faces) from one another. Perceptual narrowing has been reported for faces of different species and different races, in…

Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

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Mazen Ghandour

2017-06-01

Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

Cultural differences in perceptual reorganization in US and Pirahã adults.

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Jennifer M D Yoon

Full Text Available Visual illusions and other perceptual phenomena can be used as tools to uncover the otherwise hidden constructive processes that give rise to perception. Although many perceptual processes are assumed to be universal, variable susceptibility to certain illusions and perceptual effects across populations suggests a role for factors that vary culturally. One striking phenomenon is seen with two-tone images-photos reduced to two tones: black and white. Deficient recognition is observed in young children under conditions that trigger automatic recognition in adults. Here we show a similar lack of cue-triggered perceptual reorganization in the Pirahã, a hunter-gatherer tribe with limited exposure to modern visual media, suggesting such recognition is experience- and culture-specific.

A cognitive approach to vision for a mobile robot

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Benjamin, D. Paul; Funk, Christopher; Lyons, Damian

2013-05-01

We describe a cognitive vision system for a mobile robot. This system works in a manner similar to the human vision system, using saccadic, vergence and pursuit movements to extract information from visual input. At each fixation, the system builds a 3D model of a small region, combining information about distance, shape, texture and motion. These 3D models are embedded within an overall 3D model of the robot's environment. This approach turns the computer vision problem into a search problem, with the goal of constructing a physically realistic model of the entire environment. At each step, the vision system selects a point in the visual input to focus on. The distance, shape, texture and motion information are computed in a small region and used to build a mesh in a 3D virtual world. Background knowledge is used to extend this structure as appropriate, e.g. if a patch of wall is seen, it is hypothesized to be part of a large wall and the entire wall is created in the virtual world, or if part of an object is recognized, the whole object's mesh is retrieved from the library of objects and placed into the virtual world. The difference between the input from the real camera and from the virtual camera is compared using local Gaussians, creating an error mask that indicates the main differences between them. This is then used to select the next points to focus on. This approach permits us to use very expensive algorithms on small localities, thus generating very accurate models. It also is task-oriented, permitting the robot to use its knowledge about its task and goals to decide which parts of the environment need to be examined. The software components of this architecture include PhysX for the 3D virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture, which controls the perceptual processing and robot planning. The hardware is a custom-built pan-tilt stereo color camera. We describe experiments using both

Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

Robot vision

International Nuclear Information System (INIS)

Hall, E.L.

1984-01-01

Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

Continuous spatial representations in the olfactory bulb may reflect perceptual categories

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Benjamin eAuffarth

2011-10-01

Full Text Available In sensory processing of odors, the olfactory bulb is an important relay station, where odor representations are noise-filtered, sharpened, and possibly re-organized. An organization by perceptual qualities has been found previously in the piriform cortex, however several recent studies indicate that the olfactory bulb code reflects behaviorally relevant dimensions spatially as well as at the population level. We apply a statistical analysis on 2-deoxyglucose images, taken over the entire bulb of glomerular layer of the rat, in order to see how the recognition of odors in the nose is translated into a map of odor quality in the brain. We first confirm previous studies that the first principal component could be related to pleasantness, however the next higher principal components are not directly clear. We then find mostly continuous spatial representations for perceptual categories. We compare the space spanned by spatial and population codes to human reports of perceptual similarity between odors and our results suggest that perceptual categories could be already embedded in glomerular activations and that spatial representations give a better match than population codes. This suggests that human and rat perceptual dimensions of odorant coding are related and indicates that perceptual qualities could be represented as continuous spatial codes of the olfactory bulb glomerulus population.

Perceptual-cognitive skill and the in situ performance of soccer players.

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van Maarseveen, Mariëtte J J; Oudejans, Raôul R D; Mann, David L; Savelsbergh, Geert J P

2018-02-01

Many studies have shown that experts possess better perceptual-cognitive skills than novices (e.g., in anticipation, decision making, pattern recall), but it remains unclear whether a relationship exists between performance on those tests of perceptual-cognitive skill and actual on-field performance. In this study, we assessed the in situ performance of skilled soccer players and related the outcomes to measures of anticipation, decision making, and pattern recall. In addition, we examined gaze behaviour when performing the perceptual-cognitive tests to better understand whether the underlying processes were related when those perceptual-cognitive tasks were performed. The results revealed that on-field performance could not be predicted on the basis of performance on the perceptual-cognitive tests. Moreover, there were no strong correlations between the level of performance on the different tests. The analysis of gaze behaviour revealed differences in search rate, fixation duration, fixation order, gaze entropy, and percentage viewing time when performing the test of pattern recall, suggesting that it is driven by different processes to those used for anticipation and decision making. Altogether, the results suggest that the perceptual-cognitive tests may not be as strong determinants of actual performance as may have previously been assumed.

Metacognitive Confidence Increases with, but Does Not Determine, Visual Perceptual Learning.

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Zizlsperger, Leopold; Kümmel, Florian; Haarmeier, Thomas

2016-01-01

While perceptual learning increases objective sensitivity, the effects on the constant interaction of the process of perception and its metacognitive evaluation have been rarely investigated. Visual perception has been described as a process of probabilistic inference featuring metacognitive evaluations of choice certainty. For visual motion perception in healthy, naive human subjects here we show that perceptual sensitivity and confidence in it increased with training. The metacognitive sensitivity-estimated from certainty ratings by a bias-free signal detection theoretic approach-in contrast, did not. Concomitant 3Hz transcranial alternating current stimulation (tACS) was applied in compliance with previous findings on effective high-low cross-frequency coupling subserving signal detection. While perceptual accuracy and confidence in it improved with training, there were no statistically significant tACS effects. Neither metacognitive sensitivity in distinguishing between their own correct and incorrect stimulus classifications, nor decision confidence itself determined the subjects' visual perceptual learning. Improvements of objective performance and the metacognitive confidence in it were rather determined by the perceptual sensitivity at the outset of the experiment. Post-decision certainty in visual perceptual learning was neither independent of objective performance, nor requisite for changes in sensitivity, but rather covaried with objective performance. The exact functional role of metacognitive confidence in human visual perception has yet to be determined.

Robot Wars: US Empire and geopolitics in the robotic age

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Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Synchronous and asynchronous perceptual bindings of colour and motion following identical stimulations.

Science.gov (United States)

McIntyre, Morgan E; Arnold, Derek H

2018-05-01

When a moving surface alternates in colour and direction, perceptual couplings of colour and motion can differ from their physical correspondence. Periods of motion tend to be perceptually bound with physically delayed colours - a colour/motion perceptual asynchrony. This can be eliminated by motion transparency. Here we show that the colour/motion perceptual asynchrony is not invariably eliminated by motion transparency. Nor is it an inevitable consequence given a particular physical input. Instead, it can emerge when moving surfaces are perceived as alternating in direction, even if those surfaces seem transparent, and it is eliminated when surfaces are perceived as moving invariably. For a given observer either situation can result from exposure to a common input. Our findings suggest that neural events that promote the perception of motion reversals are causal of the colour/motion perceptual asynchrony. Moreover, they suggest that motion transparency and coherence can be signalled simultaneously by subpopulations of direction-selective neurons, with this conflict instantaneously resolved by a competitive winner-takes-all interaction, which can instantiate or eliminate colour/motion perceptual asynchrony. Copyright © 2017. Published by Elsevier Ltd.

Mode transition and change in variable use in perceptual learning

NARCIS (Netherlands)

Hajnal, A; Grocki, M; Jacobs, DM; Zaal, FTJM; Michaels, CF

2006-01-01

Runeson, Justin, and Olsson (2000) proposed (a) that perceptual learning entails a transition from an inferential to a direct-perceptual mode of apprehension, and (b) that relative confidence-the difference between estimated and actual performance-indicates whether apprehension is inferential or

Mode transition and change in variable use in perceptual learning

NARCIS (Netherlands)

Hajnal, A.; Grocki, M.; Jacobs, D.M.; Zaal, F.T.J.M.; Michaels, C.F.

2006-01-01

Runeson, Juslin, and Olsson (2000) proposed (a) that perceptual learning entails a transition from an inferential to a direct-perceptual mode of apprehension, and (b) that relative confidence - the difference between estimated and actual performance - indicates whether apprehension is inferential or

Perceptual Mapping: A Methodology in the Assessment of Environmental Perceptions.

Science.gov (United States)

Sergent, Marie T.; Sedlacek, William E.

1989-01-01

Describes perceptual mapping, a newly developed method for assessing perceptions of campus environments. Describes evaluation of a student union by students using this method. Discusses the advantages and disadvantages of this perceptual mapping method for assessing college environments. (Author/ABL)

Mutual information, perceptual independence, and holistic face perception.

Science.gov (United States)

Fitousi, Daniel

2013-07-01

The concept of perceptual independence is ubiquitous in psychology. It addresses the question of whether two (or more) dimensions are perceived independently. Several authors have proposed perceptual independence (or its lack thereof) as a viable measure of holistic face perception (Loftus, Oberg, & Dillon, Psychological Review 111:835-863, 2004; Wenger & Ingvalson, Learning, Memory, and Cognition 28:872-892, 2002). According to this notion, the processing of facial features occurs in an interactive manner. Here, I examine this idea from the perspective of two theories of perceptual independence: the multivariate uncertainty analysis (MUA; Garner & Morton, Definitions, models, and experimental paradigms. Psychological Bulletin 72:233-259, 1969), and the general recognition theory (GRT; Ashby & Townsend, Psychological Review 93:154-179, 1986). The goals of the study were to (1) introduce the MUA, (2) examine various possible relations between MUA and GRT using numerical simulations, and (3) apply the MUA to two consensual markers of holistic face perception(-)recognition of facial features (Farah, Wilson, Drain, & Tanaka, Psychological Review 105:482-498, 1998) and the composite face effect (Young, Hellawell, & Hay, Perception 16:747-759, 1987). The results suggest that facial holism is generated by violations of several types of perceptual independence. They highlight the important theoretical role played by converging operations in the study of holistic face perception.

Top-down (Prior Knowledge) and Bottom-up (Perceptual Modality) Influences on Spontaneous Interpersonal Synchronization.

Science.gov (United States)

Gipson, Christina L; Gorman, Jamie C; Hessler, Eric E

2016-04-01

Coordination with others is such a fundamental part of human activity that it can happen unintentionally. This unintentional coordination can manifest as synchronization and is observed in physical and human systems alike. We investigated the role of top-down influences (prior knowledge of the perceptual modality their partner is using) and bottom-up factors (perceptual modality combination) on spontaneous interpersonal synchronization. We examine this phenomena with respect to two different theoretical perspectives that differently emphasize top-down and bottom-up factors in interpersonal synchronization: joint-action/shared cognition theories and ecological-interactive theories. In an empirical study twelve dyads performed a finger oscillation task while attending to each other's movements through either visual, auditory, or visual and auditory perceptual modalities. Half of the participants were given prior knowledge of their partner's perceptual capabilities for coordinating across these different perceptual modality combinations. We found that the effect of top-down influence depends on the perceptual modality combination between two individuals. When people used the same perceptual modalities, top-down influence resulted in less synchronization and when people used different perceptual modalities, top-down influence resulted in more synchronization. Furthermore, persistence in the change in behavior as a result of having perceptual information about each other ('social memory') was stronger when this top-down influence was present.

Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

Modular Robotic Wearable

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2009-01-01

In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

Marine Robot Autonomy

CERN Document Server

2013-01-01

Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

Industrial Robots.

Science.gov (United States)

Reed, Dean; Harden, Thomas K.

Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

Social Robots

DEFF Research Database (Denmark)

Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

The Competitive Influences of Perceptual Load and Working Memory Guidance on Selective Attention.

Directory of Open Access Journals (Sweden)

Jinfeng Tan

Full Text Available The perceptual load theory in selective attention literature proposes that the interference from task-irrelevant distractor is eliminated when perceptual capacity is fully consumed by task-relevant information. However, the biased competition model suggests that the contents of working memory (WM can guide attentional selection automatically, even when this guidance is detrimental to visual search. An intriguing but unsolved question is what will happen when selective attention is influenced by both perceptual load and WM guidance. To study this issue, behavioral performances and event-related potentials (ERPs were recorded when participants were presented with a cue to either identify or hold in memory and had to perform a visual search task subsequently, under conditions of low or high perceptual load. Behavioural data showed that high perceptual load eliminated the attentional capture by WM. The ERP results revealed an obvious WM guidance effect in P1 component with invalid trials eliciting larger P1 than neutral trials, regardless of the level of perceptual load. The interaction between perceptual load and WM guidance was significant for the posterior N1 component. The memory guidance effect on N1 was eliminated by high perceptual load. Standardized Low Resolution Electrical Tomography Analysis (sLORETA showed that the WM guidance effect and the perceptual load effect on attention can be localized into the occipital area and parietal lobe, respectively. Merely identifying the cue produced no effect on the P1 or N1 component. These results suggest that in selective attention, the information held in WM could capture attention at the early stage of visual processing in the occipital cortex. Interestingly, this initial capture of attention by WM could be modulated by the level of perceptual load and the parietal lobe mediates target selection at the discrimination stage.

The Competitive Influences of Perceptual Load and Working Memory Guidance on Selective Attention.

Science.gov (United States)

Tan, Jinfeng; Zhao, Yuanfang; Wang, Lijun; Tian, Xia; Cui, Yan; Yang, Qian; Pan, Weigang; Zhao, Xiaoyue; Chen, Antao

2015-01-01

The perceptual load theory in selective attention literature proposes that the interference from task-irrelevant distractor is eliminated when perceptual capacity is fully consumed by task-relevant information. However, the biased competition model suggests that the contents of working memory (WM) can guide attentional selection automatically, even when this guidance is detrimental to visual search. An intriguing but unsolved question is what will happen when selective attention is influenced by both perceptual load and WM guidance. To study this issue, behavioral performances and event-related potentials (ERPs) were recorded when participants were presented with a cue to either identify or hold in memory and had to perform a visual search task subsequently, under conditions of low or high perceptual load. Behavioural data showed that high perceptual load eliminated the attentional capture by WM. The ERP results revealed an obvious WM guidance effect in P1 component with invalid trials eliciting larger P1 than neutral trials, regardless of the level of perceptual load. The interaction between perceptual load and WM guidance was significant for the posterior N1 component. The memory guidance effect on N1 was eliminated by high perceptual load. Standardized Low Resolution Electrical Tomography Analysis (sLORETA) showed that the WM guidance effect and the perceptual load effect on attention can be localized into the occipital area and parietal lobe, respectively. Merely identifying the cue produced no effect on the P1 or N1 component. These results suggest that in selective attention, the information held in WM could capture attention at the early stage of visual processing in the occipital cortex. Interestingly, this initial capture of attention by WM could be modulated by the level of perceptual load and the parietal lobe mediates target selection at the discrimination stage.

Steady-state signatures of visual perceptual load, multimodal distractor filtering, and neural competition.

Science.gov (United States)

Parks, Nathan A; Hilimire, Matthew R; Corballis, Paul M

2011-05-01

The perceptual load theory of attention posits that attentional selection occurs early in processing when a task is perceptually demanding but occurs late in processing otherwise. We used a frequency-tagged steady-state evoked potential paradigm to investigate the modality specificity of perceptual load-induced distractor filtering and the nature of neural-competitive interactions between task and distractor stimuli. EEG data were recorded while participants monitored a stream of stimuli occurring in rapid serial visual presentation (RSVP) for the appearance of previously assigned targets. Perceptual load was manipulated by assigning targets that were identifiable by color alone (low load) or by the conjunction of color and orientation (high load). The RSVP task was performed alone and in the presence of task-irrelevant visual and auditory distractors. The RSVP stimuli, visual distractors, and auditory distractors were "tagged" by modulating each at a unique frequency (2.5, 8.5, and 40.0 Hz, respectively), which allowed each to be analyzed separately in the frequency domain. We report three important findings regarding the neural mechanisms of perceptual load. First, we replicated previous findings of within-modality distractor filtering and demonstrated a reduction in visual distractor signals with high perceptual load. Second, auditory steady-state distractor signals were unaffected by manipulations of visual perceptual load, consistent with the idea that perceptual load-induced distractor filtering is modality specific. Third, analysis of task-related signals revealed that visual distractors competed with task stimuli for representation and that increased perceptual load appeared to resolve this competition in favor of the task stimulus.

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

2007-01-01

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

Exploring "fringe" consciousness: the subjective experience of perceptual fluency and its objective bases.

Science.gov (United States)

Reber, Rolf; Wurtz, Pascal; Zimmermann, Thomas D

2004-03-01

Perceptual fluency is the subjective experience of ease with which an incoming stimulus is processed. Although perceptual fluency is assessed by speed of processing, it remains unclear how objective speed is related to subjective experiences of fluency. We present evidence that speed at different stages of the perceptual process contributes to perceptual fluency. In an experiment, figure-ground contrast influenced detection of briefly presented words, but not their identification at longer exposure durations. Conversely, font in which the word was written influenced identification, but not detection. Both contrast and font influenced subjective fluency. These findings suggest that speed of processing at different stages condensed into a unified subjective experience of perceptual fluency.

Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots

Science.gov (United States)

2010-04-01

you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt

Human-Robot Interaction

Science.gov (United States)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

Shape-specific perceptual learning in a figure-ground segregation task.

Science.gov (United States)

Yi, Do-Joon; Olson, Ingrid R; Chun, Marvin M

2006-03-01

What does perceptual experience contribute to figure-ground segregation? To study this question, we trained observers to search for symmetric dot patterns embedded in random dot backgrounds. Training improved shape segmentation, but learning did not completely transfer either to untrained locations or to untrained shapes. Such partial specificity persisted for a month after training. Interestingly, training on shapes in empty backgrounds did not help segmentation of the trained shapes in noisy backgrounds. Our results suggest that perceptual training increases the involvement of early sensory neurons in the segmentation of trained shapes, and that successful segmentation requires perceptual skills beyond shape recognition alone.

Five aspects of maximizing objectivity from perceptual evaluations of loudspeakers

DEFF Research Database (Denmark)

Volk, Christer Peter; Bech, Søren; Pedersen, Torben H.

2015-01-01

of data from the listening evaluations. This paper addresses the following subset of aspects for increasing the objectivity of data from listening tests: The choice of perceptual attributes, relevance of perceptual attributes, choice of loudness equalisation strategy, optimum listening room specifications......A literature study was conducted focusing on maximizing objectivity of results from listening evaluations aimed at establishing the relationship between physical and perceptual measurements of loudspeakers. The purpose of the study was to identify and examine factors influencing the objectivity......, as well as loudspeaker listening in-situ vs. listening to recordings of loudspeakers over headphones....

Next generation light robotic

DEFF Research Database (Denmark)

Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

2017-01-01

-assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Directory of Open Access Journals (Sweden)

Kristel Knaepen

Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Science.gov (United States)

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

2007-01-01

A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

Robot Teachers

DEFF Research Database (Denmark)

Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

2007-01-01

The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose

The effectiveness of multimedia visual perceptual training groups for the preschool children with developmental delay.

Science.gov (United States)

Chen, Yi-Nan; Lin, Chin-Kai; Wei, Ta-Sen; Liu, Chi-Hsin; Wuang, Yee-Pay

2013-12-01

This study compared the effectiveness of three approaches to improving visual perception among preschool children 4-6 years old with developmental delays: multimedia visual perceptual group training, multimedia visual perceptual individual training, and paper visual perceptual group training. A control group received no special training. This study employed a pretest-posttest control group of true experimental design. A total of 64 children 4-6 years old with developmental delays were randomized into four groups: (1) multimedia visual perceptual group training (15 subjects); (2) multimedia visual perceptual individual training group (15 subjects); paper visual perceptual group training (19 subjects); and (4) a control group (15 subjects) with no visual perceptual training. Forty minute training sessions were conducted once a week for 14 weeks. The Test of Visual Perception Skills, third edition, was used to evaluate the effectiveness of the intervention. Paired-samples t-test showed significant differences pre- and post-test among the three groups, but no significant difference was found between the pre-test and post-test scores among the control group. ANOVA results showed significant differences in improvement levels among the four study groups. Scheffe post hoc test results showed significant differences between: group 1 and group 2; group 1 and group 3; group 1 and the control group; and group 2 and the control group. No significant differences were reported between group 2 and group 3, and group 3 and the control group. The results showed all three therapeutic programs produced significant differences between pretest and posttest scores. The training effect on the multimedia visual perceptual group program and the individual program was greater than the developmental effect Both the multimedia visual perceptual group training program and the multimedia visual perceptual individual training program produced significant effects on visual perception. The

Micro Robotics Lab

Data.gov (United States)

Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

Using listener-based perceptual features as intermediate representations in music information retrieval.

Science.gov (United States)

Friberg, Anders; Schoonderwaldt, Erwin; Hedblad, Anton; Fabiani, Marco; Elowsson, Anders

2014-10-01

The notion of perceptual features is introduced for describing general music properties based on human perception. This is an attempt at rethinking the concept of features, aiming to approach the underlying human perception mechanisms. Instead of using concepts from music theory such as tones, pitches, and chords, a set of nine features describing overall properties of the music was selected. They were chosen from qualitative measures used in psychology studies and motivated from an ecological approach. The perceptual features were rated in two listening experiments using two different data sets. They were modeled both from symbolic and audio data using different sets of computational features. Ratings of emotional expression were predicted using the perceptual features. The results indicate that (1) at least some of the perceptual features are reliable estimates; (2) emotion ratings could be predicted by a small combination of perceptual features with an explained variance from 75% to 93% for the emotional dimensions activity and valence; (3) the perceptual features could only to a limited extent be modeled using existing audio features. Results clearly indicated that a small number of dedicated features were superior to a "brute force" model using a large number of general audio features.

Sensor fusion-based map building for mobile robot exploration

International Nuclear Information System (INIS)

Ribo, M.

2000-01-01

To carry out exploration tasks in unknown or partially unknown environments, a mobile robot needs to acquire and maintain models of its environment. In doing so, several sensors of same nature and/or heterogeneous sensor configurations may be used by the robot to achieve reliable performances. However, this in turn poses the problem of sensor fusion-based map building: How to interpret, combine and integrate sensory information in order to build a proper representation of the environment. Specifically, the goal of this thesis is to probe integration algorithms for Occupancy Grid (OG) based map building using odometry, ultrasonic rangefinders, and stereo vision. Three different uncertainty calculi are presented here which are used for sensor fusion-based map building purposes. They are based on probability theory, Dempster-Shafer theory of evidence, and fuzzy set theory. Besides, two different sensor models are depicted which are used to translate sensing data into range information. Experimental examples of OGs built from real data recorded by two robots in office-like environment are presented. They show the feasibility of the proposed approach for building both sonar and visual based OGs. A comparison among the presented uncertainty calculi is performed in a sonar-based framework. Finally, the fusion of both sonar and visual information based of the fuzzy set theory is depicted. (author)

Ambiguity Tolerance and Perceptual Learning Styles of Chinese EFL Learners

Science.gov (United States)

Li, Haishan; He, Qingshun

2016-01-01

Ambiguity tolerance and perceptual learning styles are the two influential elements showing individual differences in EFL learning. This research is intended to explore the relationship between Chinese EFL learners' ambiguity tolerance and their preferred perceptual learning styles. The findings include (1) the learners are sensitive to English…

Robot fish bio-inspired fishlike underwater robots

CERN Document Server

Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo

2015-01-01

This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

Hybrid Control of Long-Endurance Aerial Robotic Vehicles for Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Deok-Jin Lee

2011-06-01

Full Text Available This paper presents an effective hybrid control approach for building stable wireless sensor networks between heterogeneous unmanned vehicles using long‐ endurance aerial robotic vehicles. For optimal deployment of the aerial vehicles in communication networks, a gradient climbing based self‐estimating control algorithm is utilized to locate the aerial platforms to maintain maximum communication throughputs between distributed multiple nodes. The autonomous aerial robots, which function as communication relay nodes, extract and harvest thermal energy from the atmospheric environment to improve their flight endurance within specified communication coverage areas. The rapidly‐deployable sensor networks with the high‐endurance aerial vehicles can be used for various application areas including environment monitoring, surveillance, tracking, and decision‐making support. Flight test and simulation studies are conducted to evaluate the effectiveness of the proposed hybrid control technique for robust communication networks.

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

Enhanced perceptual functioning in autism: an update, and eight principles of autistic perception.

Science.gov (United States)

Mottron, Laurent; Dawson, Michelle; Soulières, Isabelle; Hubert, Benedicte; Burack, Jake

2006-01-01

We propose an "Enhanced Perceptual Functioning" model encompassing the main differences between autistic and non-autistic social and non-social perceptual processing: locally oriented visual and auditory perception, enhanced low-level discrimination, use of a more posterior network in "complex" visual tasks, enhanced perception of first order static stimuli, diminished perception of complex movement, autonomy of low-level information processing toward higher-order operations, and differential relation between perception and general intelligence. Increased perceptual expertise may be implicated in the choice of special ability in savant autistics, and in the variability of apparent presentations within PDD (autism with and without typical speech, Asperger syndrome) in non-savant autistics. The overfunctioning of brain regions typically involved in primary perceptual functions may explain the autistic perceptual endophenotype.

Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

Perceptual representation and effectiveness of local figure?ground cues in natural contours

OpenAIRE

Sakai, Ko; Matsuoka, Shouhei; Kurematsu, Ken; Hatori, Yasuhiro

2015-01-01

A contour shape strongly influences the perceptual segregation of a figure from the ground. We investigated the contribution of local contour shape to figure–ground segregation. Although previous studies have reported local contour features that evoke figure–ground perception, they were often image features and not necessarily perceptual features. First, we examined whether contour features, specifically, convexity, closure, and symmetry, underlie the perceptual representation of natural cont...

Presentation robot Advee

Czech Academy of Sciences Publication Activity Database

Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

2012-01-01

Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

Multisensory perceptual learning is dependent upon task difficulty.

Science.gov (United States)

De Niear, Matthew A; Koo, Bonhwang; Wallace, Mark T

2016-11-01

There has been a growing interest in developing behavioral tasks to enhance temporal acuity as recent findings have demonstrated changes in temporal processing in a number of clinical conditions. Prior research has demonstrated that perceptual training can enhance temporal acuity both within and across different sensory modalities. Although certain forms of unisensory perceptual learning have been shown to be dependent upon task difficulty, this relationship has not been explored for multisensory learning. The present study sought to determine the effects of task difficulty on multisensory perceptual learning. Prior to and following a single training session, participants completed a simultaneity judgment (SJ) task, which required them to judge whether a visual stimulus (flash) and auditory stimulus (beep) presented in synchrony or at various stimulus onset asynchronies (SOAs) occurred synchronously or asynchronously. During the training session, participants completed the same SJ task but received feedback regarding the accuracy of their responses. Participants were randomly assigned to one of three levels of difficulty during training: easy, moderate, and hard, which were distinguished based on the SOAs used during training. We report that only the most difficult (i.e., hard) training protocol enhanced temporal acuity. We conclude that perceptual training protocols for enhancing multisensory temporal acuity may be optimized by employing audiovisual stimuli for which it is difficult to discriminate temporal synchrony from asynchrony.

Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

Perceptual Color Characterization of Cameras

Directory of Open Access Journals (Sweden)

Javier Vazquez-Corral

2014-12-01

Full Text Available Color camera characterization, mapping outputs from the camera sensors to an independent color space, such as \\(XYZ\\, is an important step in the camera processing pipeline. Until now, this procedure has been primarily solved by using a \\(3 \\times 3\\ matrix obtained via a least-squares optimization. In this paper, we propose to use the spherical sampling method, recently published by Finlayson al., to perform a perceptual color characterization. In particular, we search for the \\(3 \\times 3\\ matrix that minimizes three different perceptual errors, one pixel based and two spatially based. For the pixel-based case, we minimize the CIE \\(\\Delta E\\ error, while for the spatial-based case, we minimize both the S-CIELAB error and the CID error measure. Our results demonstrate an improvement of approximately 3for the \\(\\Delta E\\ error, 7& for the S-CIELAB error and 13% for the CID error measures.

Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

Robotic seeding

DEFF Research Database (Denmark)

Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

2017-01-01

Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

Large-scale network dynamics of beta-band oscillations underlie auditory perceptual decision-making

Directory of Open Access Journals (Sweden)

Mohsen Alavash

2017-06-01

Full Text Available Perceptual decisions vary in the speed at which we make them. Evidence suggests that translating sensory information into perceptual decisions relies on distributed interacting neural populations, with decision speed hinging on power modulations of the neural oscillations. Yet the dependence of perceptual decisions on the large-scale network organization of coupled neural oscillations has remained elusive. We measured magnetoencephalographic signals in human listeners who judged acoustic stimuli composed of carefully titrated clouds of tone sweeps. These stimuli were used in two task contexts, in which the participants judged the overall pitch or direction of the tone sweeps. We traced the large-scale network dynamics of the source-projected neural oscillations on a trial-by-trial basis using power-envelope correlations and graph-theoretical network discovery. In both tasks, faster decisions were predicted by higher segregation and lower integration of coupled beta-band (∼16–28 Hz oscillations. We also uncovered the brain network states that promoted faster decisions in either lower-order auditory or higher-order control brain areas. Specifically, decision speed in judging the tone sweep direction critically relied on the nodal network configurations of anterior temporal, cingulate, and middle frontal cortices. Our findings suggest that global network communication during perceptual decision-making is implemented in the human brain by large-scale couplings between beta-band neural oscillations. The speed at which we make perceptual decisions varies. This translation of sensory information into perceptual decisions hinges on dynamic changes in neural oscillatory activity. However, the large-scale neural-network embodiment supporting perceptual decision-making is unclear. We addressed this question by experimenting two auditory perceptual decision-making situations. Using graph-theoretical network discovery, we traced the large-scale network

An Adaptive Robot Game

DEFF Research Database (Denmark)

Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

2010-01-01

The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping

DEFF Research Database (Denmark)

Andersen, Rasmus Skovgaard

The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant for ...

Perceptual learning modifies the functional specializations of visual cortical areas.

Science.gov (United States)

Chen, Nihong; Cai, Peng; Zhou, Tiangang; Thompson, Benjamin; Fang, Fang

2016-05-17

Training can improve performance of perceptual tasks. This phenomenon, known as perceptual learning, is strongest for the trained task and stimulus, leading to a widely accepted assumption that the associated neuronal plasticity is restricted to brain circuits that mediate performance of the trained task. Nevertheless, learning does transfer to other tasks and stimuli, implying the presence of more widespread plasticity. Here, we trained human subjects to discriminate the direction of coherent motion stimuli. The behavioral learning effect substantially transferred to noisy motion stimuli. We used transcranial magnetic stimulation (TMS) and functional magnetic resonance imaging (fMRI) to investigate the neural mechanisms underlying the transfer of learning. The TMS experiment revealed dissociable, causal contributions of V3A (one of the visual areas in the extrastriate visual cortex) and MT+ (middle temporal/medial superior temporal cortex) to coherent and noisy motion processing. Surprisingly, the contribution of MT+ to noisy motion processing was replaced by V3A after perceptual training. The fMRI experiment complemented and corroborated the TMS finding. Multivariate pattern analysis showed that, before training, among visual cortical areas, coherent and noisy motion was decoded most accurately in V3A and MT+, respectively. After training, both kinds of motion were decoded most accurately in V3A. Our findings demonstrate that the effects of perceptual learning extend far beyond the retuning of specific neural populations for the trained stimuli. Learning could dramatically modify the inherent functional specializations of visual cortical areas and dynamically reweight their contributions to perceptual decisions based on their representational qualities. These neural changes might serve as the neural substrate for the transfer of perceptual learning.

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

When Does Modality Matter? Perceptual versus Conceptual Fluency-Based Illusions in Recognition Memory

Science.gov (United States)

Miller, Jeremy K.; Lloyd, Marianne E.; Westerman, Deanne L.

2008-01-01

Previous research has shown that illusions of recognition memory based on enhanced perceptual fluency are sensitive to the perceptual match between the study and test phases of an experiment. The results of the current study strengthen that conclusion, as they show that participants will not interpret enhanced perceptual fluency as a sign of…

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

Perceptual organization in computer vision - A review and a proposal for a classificatory structure

Science.gov (United States)

Sarkar, Sudeep; Boyer, Kim L.

1993-01-01

The evolution of perceptual organization in biological vision, and its necessity in advanced computer vision systems, arises from the characteristic that perception, the extraction of meaning from sensory input, is an intelligent process. This is particularly so for high order organisms and, analogically, for more sophisticated computational models. The role of perceptual organization in computer vision systems is explored. This is done from four vantage points. First, a brief history of perceptual organization research in both humans and computer vision is offered. Next, a classificatory structure in which to cast perceptual organization research to clarify both the nomenclature and the relationships among the many contributions is proposed. Thirdly, the perceptual organization work in computer vision in the context of this classificatory structure is reviewed. Finally, the array of computational techniques applied to perceptual organization problems in computer vision is surveyed.

Robot-assisted training of the kinesthetic sense: enhancing proprioception after stroke.

Science.gov (United States)

De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Riva, Assunta; Morasso, Pietro; Squeri, Valentina

2014-01-01

Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration, and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved seven chronic hemiparetic subjects over 3 weeks. The protocol included evaluation sessions that consisted of a psychometric estimate of the subject's kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time.

Robot-assisted training of the kinesthetic sense: enhancing proprioception after stroke

Directory of Open Access Journals (Sweden)

Dalia eDe Santis

2015-01-01

Full Text Available Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved 7 chronic hemiparetic subjects over three weeks. The protocol included evaluation sessions, that consisted of a psychometric estimate of the subject’s kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

Visual Perceptual Echo Reflects Learning of Regularities in Rapid Luminance Sequences.

Science.gov (United States)

Chang, Acer Y-C; Schwartzman, David J; VanRullen, Rufin; Kanai, Ryota; Seth, Anil K

2017-08-30

A novel neural signature of active visual processing has recently been described in the form of the "perceptual echo", in which the cross-correlation between a sequence of randomly fluctuating luminance values and occipital electrophysiological signals exhibits a long-lasting periodic (∼100 ms cycle) reverberation of the input stimulus (VanRullen and Macdonald, 2012). As yet, however, the mechanisms underlying the perceptual echo and its function remain unknown. Reasoning that natural visual signals often contain temporally predictable, though nonperiodic features, we hypothesized that the perceptual echo may reflect a periodic process associated with regularity learning. To test this hypothesis, we presented subjects with successive repetitions of a rapid nonperiodic luminance sequence, and examined the effects on the perceptual echo, finding that echo amplitude linearly increased with the number of presentations of a given luminance sequence. These data suggest that the perceptual echo reflects a neural signature of regularity learning.Furthermore, when a set of repeated sequences was followed by a sequence with inverted luminance polarities, the echo amplitude decreased to the same level evoked by a novel stimulus sequence. Crucially, when the original stimulus sequence was re-presented, the echo amplitude returned to a level consistent with the number of presentations of this sequence, indicating that the visual system retained sequence-specific information, for many seconds, even in the presence of intervening visual input. Altogether, our results reveal a previously undiscovered regularity learning mechanism within the human visual system, reflected by the perceptual echo. SIGNIFICANCE STATEMENT How the brain encodes and learns fast-changing but nonperiodic visual input remains unknown, even though such visual input characterizes natural scenes. We investigated whether the phenomenon of "perceptual echo" might index such learning. The perceptual echo is a

Perceptual learning effect on decision and confidence thresholds.

Science.gov (United States)

Solovey, Guillermo; Shalom, Diego; Pérez-Schuster, Verónica; Sigman, Mariano

2016-10-01

Practice can enhance of perceptual sensitivity, a well-known phenomenon called perceptual learning. However, the effect of practice on subjective perception has received little attention. We approach this problem from a visual psychophysics and computational modeling perspective. In a sequence of visual search experiments, subjects significantly increased the ability to detect a "trained target". Before and after training, subjects performed two psychophysical protocols that parametrically vary the visibility of the "trained target": an attentional blink and a visual masking task. We found that confidence increased after learning only in the attentional blink task. Despite large differences in some observables and task settings, we identify common mechanisms for decision-making and confidence. Specifically, our behavioral results and computational model suggest that perceptual ability is independent of processing time, indicating that changes in early cortical representations are effective, and learning changes decision criteria to convey choice and confidence. Copyright © 2016 Elsevier Inc. All rights reserved.

Grasping in Robotics

CERN Document Server

2013-01-01

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

Designing Emotionally Expressive Robots

DEFF Research Database (Denmark)

Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

2017-01-01

Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

Comparing the landscape level perceptual abilities of forest sciurids in fragmented agricultural landscapes*

Science.gov (United States)

Patrick A. Zollner

2000-01-01

Perceptual range is the maximum distance from which an animal can perceive the presence of remote landscape elements such as patches of habitat. Such perceptual abilities are of interest because they influence the probability that an animal will successfully disperse to a new patch in a landscape. Furthermore, understanding how perceptual range differs between species...

Perceptual Organization of Visual Structure Requires a Flexible Learning Mechanism

Science.gov (United States)

Aslin, Richard N.

2011-01-01

Bhatt and Quinn (2011) provide a compelling and comprehensive review of empirical evidence that supports the operation of principles of perceptual organization in young infants. They also have provided a comprehensive list of experiences that could serve to trigger the learning of at least some of these principles of perceptual organization, and…

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.

Age-Related Changes in Selective Attention and Perceptual Load During Visual Search

OpenAIRE

Madden, David J.; Langley, Linda K.

2003-01-01

Three visual search experiments were conducted to test the hypothesis that age differences in selective attention vary as a function of perceptual load (E. A. Maylor & N. Lavie, 1998). Under resource-limited conditions (Experiments 1 and 2), the distraction from irrelevant display items generally decreased as display size (perceptual load) increased. This perceptual load effect was similar for younger and older adults, contrary to the findings of Maylor and Lavie. Distraction at low perceptua...

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

Inverse kinematic solution for near-simple robots and its application to robot calibration

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

A New Perceptual Mapping Model Using Lifting Wavelet Transform

OpenAIRE

Taha TahaBasheer; Ehkan Phaklen; Ngadiran Ruzelita

2017-01-01

Perceptual mappingapproaches have been widely used in visual information processing in multimedia and internet of things (IOT) applications. Accumulative Lifting Difference (ALD) is proposed in this paper as texture mapping model based on low-complexity lifting wavelet transform, and combined with luminance masking for creating an efficient perceptual mapping model to estimate Just Noticeable Distortion (JND) in digital images. In addition to low complexity operations, experiments results sho...

Conceptual and perceptual factors in the picture superiority effect

OpenAIRE

Stenberg, Georg

2006-01-01

The picture superiority effect, i.e. better memory for pictures than for corresponding words, has been variously ascribed to a conceptual or a perceptual processing advantage. The present study aimed to disentangle perceptual and conceptual contributions. Pictures and words were tested for recognition in both their original formats and translated into participants´ second language. Multinomial Processing Tree (Batchelder & Riefer, 1999) and MINERVA (Hintzman, 1984) models were fitted to t...

Micro robot bible

International Nuclear Information System (INIS)

Yoon, Jin Yeong

2000-08-01

This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

Micro robot bible

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jin Yeong

2000-08-15

This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

Robots at Work

OpenAIRE

Graetz, Georg; Michaels, Guy

2015-01-01

Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

Directory of Open Access Journals (Sweden)

Nicole Mirnig

2017-05-01

Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

ROILA : RObot Interaction LAnguage

NARCIS (Netherlands)

Mubin, O.

2011-01-01

The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

Perceptual and conceptual similarities facilitate the generalization of instructed fear.

Science.gov (United States)

Bennett, Marc; Vervoort, Ellen; Boddez, Yannick; Hermans, Dirk; Baeyens, Frank

2015-09-01

Learned fear can generalize to neutral events due their perceptual and conceptual similarity with threat relevant stimuli. This study simultaneously examined these forms of generalization to model the expansion of fear in anxiety disorders. First, artificial categories involving sounds, nonsense words and animal-like objects were established. Next, the words from one category were paired with threatening information while the words from the other category were paired with safety information. Lastly, we examined if fear generalized to (i) the conceptually related animal-like objects and (ii) other animal like-objects that were perceptually similar. This was measured using behavioral avoidance, US expectancy ratings and self-reported stimulus valence. Animal-like objects conceptually connected to the aversive words evoked heightened fear. Perceptual variants of these animal-like objects also elicit fear. Future research would benefit from the use of online-US expectancy ratings and physiological measures of fear. Investigating the role of both perceptual and conceptual fear generalization is important to better understand the etiology of anxiety disorders symptoms. Copyright © 2015 Elsevier Ltd. All rights reserved.

Perceptual attributes for the comparison of head-related transfer functions.

Science.gov (United States)

Simon, Laurent S R; Zacharov, Nick; Katz, Brian F G

2016-11-01

The benefit of using individual head-related transfer functions (HRTFs) in binaural audio is well documented with regards to improving localization precision. However, with the increased use of binaural audio in more complex scene renderings, cognitive studies, and virtual and augmented reality simulations, the perceptual impact of HRTF selection may go beyond simple localization. In this study, the authors develop a list of attributes which qualify the perceived differences between HRTFs, providing a qualitative understanding of the perceptual variance of non-individual binaural renderings. The list of attributes was designed using a Consensus Vocabulary Protocol elicitation method. Participants followed an Individual Vocabulary Protocol elicitation procedure, describing the perceived differences between binaural stimuli based on binauralized extracts of multichannel productions. This was followed by an automated lexical reduction and a series of consensus group meetings during which participants agreed on a list of relevant attributes. Finally, the proposed list of attributes was then evaluated through a listening test, leading to eight valid perceptual attributes for describing the perceptual dimensions affected by HRTF set variations.

Evidence for robots.

Science.gov (United States)

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

1st Iberian Robotics Conference

CERN Document Server

Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

2014-01-01

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

Predicting the Perceptual Consequences of Hidden Hearing Loss

Directory of Open Access Journals (Sweden)

Andrew J. Oxenham

2016-12-01

Full Text Available Recent physiological studies in several rodent species have revealed that permanent damage can occur to the auditory system after exposure to a noise that produces only a temporary shift in absolute thresholds. The damage has been found to occur in the synapses between the cochlea’s inner hair cells and the auditory nerve, effectively severing part of the connection between the ear and the brain. This synaptopathy has been termed hidden hearing loss because its effects are not thought to be revealed in standard clinical, behavioral, or physiological measures of absolute threshold. It is currently unknown whether humans suffer from similar deficits after noise exposure. Even if synaptopathy occurs in humans, it remains unclear what the perceptual consequences might be or how they should best be measured. Here, we apply a simple theoretical model, taken from signal detection theory, to provide some predictions for what perceptual effects could be expected for a given loss of synapses. Predictions are made for a number of basic perceptual tasks, including tone detection in quiet and in noise, frequency discrimination, level discrimination, and binaural lateralization. The model’s predictions are in line with the empirical observations that a 50% loss of synapses leads to changes in threshold that are too small to be reliably measured. Overall, the model provides a simple initial quantitative framework for understanding and predicting the perceptual effects of synaptopathy in humans.

The Relationship Between Perceptual Egocentrism and Field Dependence in Early Childhood

Science.gov (United States)

Bowd, Alan D.

1975-01-01

Kindergarten children were administered tests of inductive reasoning and field dependence and a series of perceptual egocentrism tasks. Results confirm a positive relation between field dependence and perceptual egocentrism; they also question the validity of the field-dependence construct in early childhood. (GO)

Evidence accumulation detected in BOLD signal using slow perceptual decision making

NARCIS (Netherlands)

Krueger, Paul M.; van Vugt, Marieke K.; Simen, Patrick; Nystrom, Leigh; Holmes, Philip; Cohen, Jonathan D.

2017-01-01

BACKGROUND: We assessed whether evidence accumulation could be observed in the BOLD signal during perceptual decision making. This presents a challenge since the hemodynamic response is slow, while perceptual decisions are typically fast. NEW METHOD: Guided by theoretical predictions of the drift

A perceptual metric for photo retouching.

Science.gov (United States)

Kee, Eric; Farid, Hany

2011-12-13

In recent years, advertisers and magazine editors have been widely criticized for taking digital photo retouching to an extreme. Impossibly thin, tall, and wrinkle- and blemish-free models are routinely splashed onto billboards, advertisements, and magazine covers. The ubiquity of these unrealistic and highly idealized images has been linked to eating disorders and body image dissatisfaction in men, women, and children. In response, several countries have considered legislating the labeling of retouched photos. We describe a quantitative and perceptually meaningful metric of photo retouching. Photographs are rated on the degree to which they have been digitally altered by explicitly modeling and estimating geometric and photometric changes. This metric correlates well with perceptual judgments of photo retouching and can be used to objectively judge by how much a retouched photo has strayed from reality.

Springer handbook of robotics

CERN Document Server

Khatib, Oussama

2016-01-01

The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

Innovations in robotic surgery.

Science.gov (United States)

Gettman, Matthew; Rivera, Marcelino

2016-05-01

Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.

Multiple spatial frequency channels in human visual perceptual memory.

Science.gov (United States)

Nemes, V A; Whitaker, D; Heron, J; McKeefry, D J

2011-12-08

Current models of short-term visual perceptual memory invoke mechanisms that are closely allied to low-level perceptual discrimination mechanisms. The purpose of this study was to investigate the extent to which human visual perceptual memory for spatial frequency is based upon multiple, spatially tuned channels similar to those found in the earliest stages of visual processing. To this end we measured how performance on a delayed spatial frequency discrimination paradigm was affected by the introduction of interfering or 'memory masking' stimuli of variable spatial frequency during the delay period. Masking stimuli were shown to induce shifts in the points of subjective equality (PSE) when their spatial frequencies were within a bandwidth of 1.2 octaves of the reference spatial frequency. When mask spatial frequencies differed by more than this value, there was no change in the PSE from baseline levels. This selective pattern of masking was observed for different spatial frequencies and demonstrates the existence of multiple, spatially tuned mechanisms in visual perceptual memory. Memory masking effects were also found to occur for horizontal separations of up to 6 deg between the masking and test stimuli and lacked any orientation selectivity. These findings add further support to the view that low-level sensory processing mechanisms form the basis for the retention of spatial frequency information in perceptual memory. However, the broad range of transfer of memory masking effects across spatial location and other dimensions indicates more long range, long duration interactions between spatial frequency channels that are likely to rely contributions from neural processes located in higher visual areas. Copyright © 2011 Elsevier Ltd. All rights reserved.

Faster-than-real-time robot simulation for plan development and robot safety

International Nuclear Information System (INIS)

Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.

1990-01-01

The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

Soft-Material Robotics

OpenAIRE

Wang, L; Nurzaman, SG; Iida, Fumiya

2017-01-01

There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...

AssistMe robot, an assistance robotic platform