Relationship between familiarity and humanness of robots – quantification of psychological impressions toward humanoid robots

We investigate the relationships between familiarity and humanness of humanoids from psychological perspective of view. Two thousand six hundred and twenty-four people from their 10s to 70s in Japan evaluated familiarity and humanness of different 11 humanoids based on the psychological scales which are developed for evaluation of humanoids. Results showed that robot-like robots which have round shapes are evaluated higher in familiarity and lower in humanness than robot-like robots which have mechanic appearance. Androids which have totally human-like appearances are evaluated higher in humanness and familiarity than robots which are partly human-like, while one android was rated high in humanness but low in familiarity. Relatedly, repulsion which reflects a value toward the existence of humanoids bears a proportionate relationship to humanness. Higher humanness with humanoids related to higher repulsion. In sum, the relationship between familiarity and humanness is curvilinear, while repulsion and humanness shows a linear relationship. We discussed the importance of appearance of robots and interaction with robots to introduce robots toward ordinary people.     

Modular behavior-based control for team humanoids

When developing teams of humanoids — rather than an individual humanoid — there are a number of issues that become important to consider, including robustness, scalability, versatility, and also development and production costs. Therefore, we used a modern approach to AI that puts emphasis on the balance between control, electronic hardware, material, sensory system and energy in order to develop the team of Viki humanoid robots. In contrast to the top-down approach of equipping a humanoid with as many sensors, motors, power, etc., as possible, we developed a bottom-up approach to the construction of humanoids, regarding both hardware and software (modular behaviorbased control). The approach is shown with the development of the Viki humanoid team that won the RoboCup Humanoids Free Style World Championship 2002. In this paper, we focus on the main result of the behavior-based architecture with many layers of behaviors at different levels, which make it easy for both engineers to design new behaviors and for end-users to develop humanoid behaviors at different levels of complexity, dependent on the competencies of the individual end-user. With this architecture, it becomes possible to develop simple user interfaces with a user-guided implementation of our modular behavior-based approach, in order to allow any user to design performances with the humanoid robots.     

Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness

The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances. To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance. At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force, both with variable direction and magnitude.     

Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction*

In this paper, we propose a generic method of online motion generation and control that realizes quasi-static multi-contact motion for real position-controlled humanoids. The proposed system calculates command joint angle online by prioritized inverse kinematics that realizes the target contact states and the target position/orientation of interaction end-effectors feasibly. In order to enable control of contact wrench and joint torque with position-controlled robots, Jacobian matrixes (PWT Jacobian matrix) focusing on relationships between command joint angle and actual joint position, contact wrench, and joint torque are introduced. In addition, contact wrench is estimated at the body parts where force sensors are not mounted to enable contacts there, and joint load reduction based on the motor temperature is taken into account to enable long-term motions with real humanoids. The proposed method was verified by a real life-size position-controlled humanoid HRP2-JSKNTS, and various multi-contact motions such as desk climbing using the right knee and both arms were realized.     

Path planning of humanoids based on artificial potential field method in unknown environments

In this paper, an artificial potential field based navigational controller has been developed for motion planning of humanoid robots. Here, NAO robots are used as the humanoid platform using the underlying principles of potential field based method. The movement of the robot is considered to be under a negative gradient scheme by the combined effect of attractive and repulsive forces generated due to target and obstacles, respectively. The working of the controller is tested in a V‐REP simulation platform, and the simulation results are validated through a real‐time experimental set‐up developed under laboratory conditions. Here, the navigation of both single and multiple humanoids has been attempted. For avoiding intercollision among multiple humanoids during their navigation in a common platform, a Petri‐Net control scheme has been proposed. The results obtained from both the simulation and experimental platforms are compared against each other with a good agreement between them having minimal percentage of deviations. Finally, the proposed controller is also evaluated against another existing navigational model, and a significant performance improvement has been observed.     

Explanatory Factors and Causality in the Dynamics of Volatility Surfaces Implied from OTC Asian–Pacific Currency Options

Volatility implied from observed option contracts systematically varies with the contracts’ strike price and time to expiration, giving rise to an instantaneously non-flat implied volatility surface (IVS) that exhibits substantial time variation. We identify a number of latent factors that drive the dynamics of the IVSs from options on 11 Asian–Pacific exchange rates and show that these have a natural interpretation in the law of motion of each surface. We present evidence that these latent factors are related due to their common dependence on exogenous economy-wide variables. Findings suggest that the factors capturing (i) the volatility level of the Japanese yen and the Chinese yuan, (ii) the volatility term structure of the Japanese yen, Taiwanese and Australian dollars and (iii) the risk aversion towards the Australian dollar, Japanese yen and Chinese yuan seem to incorporate first the investors’ expectations regarding the volatility in the region.     

Cross-validation of reliability,convergent and discriminant validity for the problematic online game use scale

The main purpose of the present study is to develop a measure of problematic online game use by identifying underlying factors and testing external validities of the scale. The authors tested the scale with the three age groups: 5th, 8th, and 11th graders. Through a series of exploratory and confirmatory factor analyses, the present study confirmed that the POGU scale produced reliable and consistent factorial structures across the independent samples. The results supported convergent validity of the scale: POGU showed significant correlations with academic self-efficacy, anxiety, loneliness, and satisfaction with daily life. The results also supported the discriminant validity. The POGU scale did not redundantly measure any of individual difference constructs and was statistically distinguishable from the closely correlated constructs.     

Ethics and consciousness in artificial agents

In what ways should we include future humanoid robots, and other kinds of artificial agents, in our moral universe? We consider the Organic view, which maintains that artificial humanoid agents, based on current computational technologies, could not count as full-blooded moral agents, nor as appropriate targets of intrinsic moral concern. On this view, artificial humanoids lack certain key properties of biological organisms, which preclude them from having full moral status. Computationally controlled systems, however advanced in their cognitive or informational capacities, are, it is proposed, unlikely to possess sentience and hence will fail to be able to exercise the kind of empathic rationality that is a prerequisite for being a moral agent. The organic view also argues that sentience and teleology require biologically based forms of self-organization and autonomous self-maintenance. The organic view may not be correct, but at least it needs to be taken seriously in the future development of the field of Machine Ethics.     

The users' perspective on how creativity techniques help in the idea generation process—A repertory grid study

Despite the large number of available creativity techniques such as Brainstorming and Six Thinking Hats and their widespread use in idea generation workshops, it remains unclear what specific aspects creativity technique users perceive as helpful. We conducted five large‐scale product development workshops with 216 inexperienced students in groups of four to six people and personally interviewed a subset of 87 participants using the repertory grid procedure. The results reveal a framework of facilitating and impeding factors users associate with the methodological frame, the process view and anticipated idea characteristics of creativity techniques. Particularly helpful and differentiating factors cover visual, cognitive and emotional processing systems. In addition, we evaluate 11 commonly used creativity techniques and present underlying reasons for why some of them are perceived as more helpful than others by inexperienced users. The results thus provide a stepping stone to understand the users' perspective on creativity techniques, improve existing techniques and develop better versions of them.     

Studying laughter in combination with two humanoid robots

To let humanoid robots behave socially adequate in a future society, we started to explore laughter as an important para-verbal signal known to influence relationships among humans rather easily. We investigated how the naturalness of various types of laughter in combination with different humanoid robots was judged, first, within a situational context that is suitable for laughter and, second, without describing the situational context. Given the variety of human laughter, do people prefer a certain style for a robot??s laughter? And if yes, how does a robot??s outer appearance affect this preference, if at all? Is this preference independent of the observer??s cultural background? Those participants, who took part in two separate online surveys and were told that the robots would laugh in response to a joke, preferred one type of laughter regardless of the robot type. This result is contrasted by a detailed analysis of two more surveys, which took place during presentations at a Japanese and a German high school, respectively. From the results of these two surveys, interesting intercultural differences in the perceived naturalness of our laughing humanoids can be derived and challenging questions arise that are to be addressed in future research.     

Biologically inspired design of a parallel actuated humanoid robot

This paper presents the comparison for the role of bi-articular and mono-articular actuators in human and bipedal robot legs, in particular the hip and knee joint, for driving the design of a humanoid robot with inspirations from the biological system. The various constraints driving the design of both systems are also compared. Additional factors particular to robotic system are identified and incorporated in the design process. To do this, a dynamic simulation is used to determine loading conditions and the forces and power produced by each actuator under various arrangements. It is shown that while the design principles of humans and humanoids are similar, other constraints ensure that robots are still merely inspired by humans, and not direct copies. A simple design methodology that captures the complexity and constraints of such a system in this paper is proposed. Finally, a full-size humanoid robot that demonstrates the newfound principle is highlighted.     

An intelligent computer vision integrated regression based navigation approach for humanoids in a cluttered environment

Multimedia Tools and Applications - With a clear edge over the mobile robot counterparts, humanoids have become the centre of attraction for people dealing with robotics research. The enhanced use...     

一种新的网络业务流的多重分形小波模型

针对当前Internet上日益复杂的网络业务流和视频流，文章提出了一种新的多重分形小波模型．与普通的多重分形小波模型(Multifractal Wavelet Model，MWM)不同的是，该文提出的新模型在各个时间尺度上对小波系数都依据源数据尺度系数的边缘分布作了修正，这样确保新模型能在不同的时间尺度上拟合源数据的分布．决定网络业务流的排队分析特性的是一个关键时间尺度(Critical Time Scale，CTS)，CTS是随着缓冲区的容量和节点传输速率的变化而变化的，该文提出的模型能描述几乎各个时间尺度的业务流特性，因此能适应各种不同情况的缓冲区的排队分析．同时，新模型也继承了传统MWM的一些优良特性，比如能描述业务流的多重分形特征以及能确保最终结果始终是非负等等．最后通过对视频业务流和网络业务流的仿真实验与排队分析验证了该模型的有效性．     

Controller Design for Multi‐Skilled Bipedal Characters

Developing motions for simulated humanoids remains a challenging problem. While there exists a multitude of approaches, few of these are reimplemented or reused by others. The predominant focus of papers in the area remains on algorithmic novelty, due to the difficulty and lack of incentive to more fully explore what can be accomplished within the scope of existing methodologies. We develop a language, based on common features found across physics‐based character animation research, that facilitates the controller authoring process. By specifying motion primitives over a number of phases, our language has been used to design over 25 controllers for motions ranging from simple static balanced poses, to highly dynamic stunts. Controller sequencing is supported in two ways. Naive integration of controllers is achieved by using highly stable pose controllers (such as a standing or squatting) as intermediate transitions. More complex controller connections are automatically learned through an optimization process. The robustness of our system is demonstrated via random walkthroughs of our integrated set of controllers.     

Fractality in broken clouds and the scan geometry of new satellite-borne infrared sensors

Cloud scenes observed by the Advanced Visible and Near-Infrared Radiometer on board the Japanese polar platform Advanced Earth Observing Satellite have been analysed to check the validity of power laws extending from the length scale of a few metres to several kilometers. The kind of scaling law we have investigated pertains to cloud morphology and may have important implications for the design of the scan geometry of new satellite-borne infrared sensors aimed at improving the density of clear soundings in frontal systems.     

显微镜一种新的自动聚焦算法

在开发普通光学显微镜自动聚焦系统的过程中,超初作者采用图像灰度熵和灰度方差这两种常用的显微镜聚焦算法,但实际应用效果不很理想。经检验发现了两种算法的一些不足之处,并针对这些不足点加以改进,进而提出了灰度差分绝对值之和算法。经实际聚焦过程中的对比实验,证明了新算法在聚焦可靠性、聚焦速度及聚焦结果等方面都具有一定的优越性。     

Direct extraction of topographic features for gray scale characterrecognition

Optical character recognition (OCR) traditionally applies to binary-valued imagery although text is always scanned and stored in gray scale. However, binarization of multivalued image may remove important topological information from characters and introduce noise to character background. In order to avoid this problem, it is indispensable to develop a method which can minimize the information loss due to binarization by extracting features directly from gray scale character images. In this paper, we propose a new method for the direct extraction of topographic features from gray scale character images. By comparing the proposed method with Wang and Pavlidis' method, we realized that the proposed method enhanced the performance of topographic feature extraction by computing the directions of principal curvature efficiently and prevented the extraction of unnecessary features. We also show that the proposed method is very effective for gray scale skeletonization compared to Levi and Montanari's method     

Retrieving information from document images: problems and solutions

An information retrieval system that captures both visual and textual contents from paper documents can derive maximal benefits from DAR techniques while demanding little human assistance to achieve its goals. This article discusses technical problems, along with solution methods, and their integration into a well-performing system. The focus of the discussion is very difficult applications, for example, Chinese and Japanese documents. Solution methods are also highlighted, with the emphasis placed upon some new ideas, including window-based binarization using scale measures, document layout analysis for solving the multiple constraint problem, and full-text searching techniques capable of evading machine recognition errors. Received May 25, 2000 / Revised November 7, 2000     

Visual Analysis of Trajectories in Multi‐Dimensional State Spaces

Multi‐dimensional data originate from many different sources and are relevant for many applications. One specific sub‐type of such data is continuous trajectory data in multi‐dimensional state spaces of complex systems. We adapt the concept of spatially continuous scatterplots and spatially continuous parallel coordinate plots to such trajectory data, leading to continuous‐time scatterplots and continuous‐time parallel coordinates. Together with a temporal heat map representation, we design coordinated views for visual analysis and interactive exploration. We demonstrate the usefulness of our visualization approach for three case studies that cover examples of complex dynamic systems: cyber‐physical systems consisting of heterogeneous sensors and actuators networks (the collection of time‐dependent sensor network data of an exemplary smart home environment), the dynamics of robot arm movement and motion characteristics of humanoids.