The Robotic Autonomy Mobile Robotics Course: Robot Design, Curriculum Design and Educational Assessment

Robotic Autonomy is a seven-week, hands-on introduction to robotics designed for high school students. The course presents a broad survey of robotics, beginning with mechanism and electronics and ending with robot behavior, navigation and remote teleoperation. During the summer of 2002, Robotic Autonomy was taught to twenty eight students at Carnegie Mellon West in cooperation with NASA/Ames (Moffett Field, CA). The educational robot and course curriculum were the result of a ground-up design effort chartered to develop an effective and low-cost robot for secondary level education and home use. Cooperation between Carnegie Mellon's Robotics Institute, Gogoco, LLC. and Acroname Inc. yielded notable innovations including a fast-build robot construction kit, indoor/outdoor terrainability, CMOS vision-centered sensing, back-EMF motor speed control and a Java-based robot programming interface. In conjunction with robot and curriculum design, the authors at the Robotics Institute and the University of Pittsburgh's Learning Research and Development Center planned a methodology for evaluating the educational efficacy of Robotic Autonomy, implementing both formative and summative evaluations of progress as well as an in-depth, one week ethnography to identify micro-genetic mechanisms of learning that would inform the broader evaluation. This article describes the robot and curriculum design processes and then the educational analysis methodology and statistically significant results, demonstrating the positive impact of Robotic Autonomy on student learning well beyond the boundaries of specific technical concepts in robotics.     

Modular robotic tiles: experiments for children with autism

We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, sports, fitness, and entertainment. The modular robotic tiles motivate the user to perform physical activities by providing immediate feedback based upon their physical interaction with the system. With the modular robotic tiles, the user is able to make new physical set-ups within less than a minute. The tiles are applicable for different forms of physical activities (e.g., therapeutic rehabilitation), and with the proper radio communication mechanism they may give unique possibilities for documentation of the physical activity (e.g., therapeutic treatment). A major point of concern in modular robotics is the connection mechanism, so we investigated different solutions for the connection between the modules, and outline their pros and cons for utilizing modules with different connection mechanisms as different kinds of playware. This kind of playware is highly motivating because of its immediate feedback and fun, interesting games. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Psychological Effects of Behavior Patterns of a Mobile Personal Robot

It is envisioned that in the near future personal mobile robots will be assisting people in their daily lives. An essential characteristic shaping the design of personal robots is the fact that they must be accepted by human users. This paper explores the interactions between humans and mobile personal robots, by focusing on the psychological effects of robot behavior patterns during task performance. These behaviors include the personal robot approaching a person, avoiding a person while passing, and performing non-interactive tasks in an environment populated with humans. The level of comfort the robot causes human subjects is analyzed according to the effects of robot speed, robot distance, and robot body design, as these parameters are varied in order to present a variety of behaviors to human subjects. The information gained from surveys taken by 40 human subjects can be used to obtain a better understanding of what characteristics make up personal robot behaviors that are most acceptable to the human users.     

Design and testing of a low-cost robotic wheelchair prototype

Many people who are mobility impaired are, for a variety of reasons, incapable of using an ordinary wheelchair. In some instances, a power wheelchair also cannot be used, usually because of the difficulty the person has in controlling it (often due to additional disabilities). This paper describes two low-cost robotic wheelchair prototypes that assist the operator of the chair in avoiding obstacles, going to pre-designated places, and maneuvering through doorways and other narrow or crowded areas. These systems can be interfaced to a variety of input devices, and can give the operator as much or as little moment by moment control of the chair as they wish. This paper describes both systems, the evolution from one system to another, and the lessons learned.     

NAO机器人在自闭症干预中的应用

描述了自闭症谱系障碍（ASD）患儿基于人形机器人NAO人机互动情况下和在普通课堂环境下的行为反应,并给出其在干预治疗及普通课堂环境下的评估结果。大量实验结果表明,基于NAO机器人的人机互动干预过程中患儿自闭症状行为较普通课堂大大减少,其症状得到有效控制。因此可得出结论：人形机器人NAO可以作为帮助自闭症谱系障碍患儿干预治疗的平台。     

Human interaction with robotic systems: performance and workload evaluations

Abstract

We first tested the effect of differing tactile informational forms (i.e. directional cues vs. static cues vs. dynamic cues) on objective performance and perceived workload in a collaborative human–robot task. A second experiment evaluated the influence of task load and informational message type (i.e. single words vs. grouped phrases) on that same collaborative task. In both experiments, the relationship of personal characteristics (attentional control and spatial ability) to performance and workload was also measured. In addition to objective performance and self-report of cognitive load, we evaluated different physiological responses in each experiment. Results showed a performance–workload association for directional cues, message type and task load. EEG measures however, proved generally insensitive to such task load manipulations. Where significant EEG effects were observed, right hemisphere amplitude differences predominated, although unexpectedly these latter relationships were negative. Although EEG measures were partially associated with performance, they appear to possess limited utility as measures of workload in association with tactile displays.

Practitioner Summary: As practitioners look to take advantage of innovative tactile displays in complex operational realms like human–robotic interaction, associated performance effects are mediated by cognitive workload. Despite some patterns of association, reliable reflections of operator state can be difficult to discern and employ as the number, complexity and sophistication of these respective measures themselves increase.     

Design,implementation and validation of a stability model for articulated autonomous robotic systems

The use of robots in agriculture and forestry is rapidly growing thanks to the progress in sensors, controllers and mechatronics devices. Especially in hilly and mountainous terrains, the development of (semi-)autonomous systems that could travel safely on uneven terrain and perform many operations is an open field of investigation. One of the most promising mobile robot architectures is the articulated 4-wheeled system that shows an optimal steering capacity, and the possibility to adapt to uneven terrains thanks to a central passive degree of freedom. In this paper, the kinematic and (quasi-)static model for evaluating the phase I instability presented in Baker and Guzzomi(2013) has been firstly extended to allow to threat a generic articulated robotic system and to forecast the instability conditions. Then, the model and the stability conditions have been implemented in a Matlab™ simulator and validated by means of an experimental emulator. Finally, a first prototype for a mechatronic anti-overturning device is discussed.     

Robonaut: a robot designed to work with humans in space

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.     

基于Tag的个人知识管理系统的设计与实现

针对移动互联网时代个人知识管理缺乏简单、灵活的知识管理工具的状况,提出基于Tag的个人知识管理系统设计方案,搭建了适应于Android、iOS、Windows Phone平台的服务器端三层架构,并实现了Android客户端。该系统能满足移动互联网环境下个人知识记录、组织、检索以及分享的需求。     

Acoustic and video sensor integration for object recognition

Through our studies of methods for measuring the shapes of objects in three-dimensional object recognition, we have developed a method for constructing detailed solid object images that employs the fusion of the data from acoustic sensors and a charge-coupled device (CCD) camera. This method uses a matrix of ultrasonic sensors to obtain data on the position and height of the object. These data are used to automatically extract the two-dimensional images of the object from gray-scale camera images. By combining the results with distance information, a detailed solid image of the object is obtained. This method produces markedly better resolution than using acoustic data alone. Thus, by using it in combination with a neural network recognition mechanism, it is possible to automatically recognize small objects that are difficult to distinguish by means of acoustic sensing alone, even if they can be detected. This paper reports the newly developed sensor fusion mechanism, presents the results of experiments on an experimental system, and discusses the features of the method.     

Concept and model experiments on automatic shoveling of rocks from the rock piles

This paper is concerned with the robotics of the shovel dozer. One methodology to distinguish between the rock pile and the huge rock was proposed in this study. The concept of this method is based on the difference of the time history of the force acting on the lift arms of the shovel dozer model. By using this model, two kinds of experiment on shoveling the rocks were carried out with changing the RPM of the motor. It was confirmed that stable shoveling was conducted.     

基于GSM网络的人体生命体征远程监护系统的研究与实现

随着移动通讯技术的迅猛发展,利用移动通讯技术实现远程控制已经有着越来越广阔的理论和实践方面的研究价值,本文通过对现代通讯方式的讨论,提出了利用现有GSM网络的短消息业务实现的远程通讯的种种优势,并将这种优势应用于人体特征信息的远程监控上。采用先进的M22通讯模块和单片机互连的终端系统,通过AT指令,实现了个人心率、血压和体温等生命信息的远程监护。     

可变形灾难救援机器人控制站系统的设计与实现

针对灾难救援应用领域具体需求,提出了控制站系统的设计原则.基于人机交互技术,设计了可变形灾难救援机器人控制站系统,该系统具有感知信息完整、操控灵活、界面友好、交互性强等特点.通过灾难救援模拟环境进行实验,验证丁该控制站系统可以实现机器人在复杂环境中的运动控制、多通道信息交互等功能,在灾难救援等领域具有可行性及有效性.     

Remote Interaction between Human and Humanoid Robot

The last few years have been characterized by the continuous development of information and communication technologies, robotics technologies, and home automation technologies. The number of application areas for such technologies is increasing, especially in fields rather outside the pure industrial scenario, often identified as service applications. These are healthcare, public service provisions, social services for disadvantaged citizens, technical aids for promoting the independence of disabled and elderly people, and many others.With this joint research Scuola Superiore Sant'Anna and Waseda University, starting from the current availability of several mechatronic prototypes in their research laboratories, intend to validate different telecommunication tools for the remote control of mechatronic systems by demonstrating the feasibility and potential benefits deriving from the integration of such technologies.     

基于工控机的多线切割机床电气控制系统设计

提出了基于工控机的多线切割机床电气控制系统设计方案,设计了基于PCI总线的I/O卡电路,包括伺服电机脉冲信号电路、张力信号处理电路、PCI总线接口电路等,设计了相应的交互操作界面和PID控制器算法,最后在SJQ-380型多线切割机上进行了实验,结果表明所设计的工控机控制系统在走线速度为600 m/min、线张力为30 N条件下,其恒张力控制性能要优于传统的PLC控制系统。     

Proposal on personal identifiers generated from the STR information of DNA

The individual differences in the repeat count of several bases, short tandem repeat (STR), among all of the deoxyribonucleic acid (DNA) base sequences, can be used as unique DNA information for a personal identification (ID). We propose a method to generate a personal identifier (hereafter referred to as a “DNA personal ID”) by specifying multiple STR locations (called “loci”) and then sequencing the repeat count information. We also conducted a validation experiment to verify the proposed principle based on actual DNA data. We verified that the matching probability of DNA personal IDs becomes exponentially smaller, to about 10^-n, as n stages of loci are used and that no correlation exists among the loci. Next, we considered the various issues that will be encountered when applying DNA personal IDs to information security systems, such as biometric personal authentication systems. Published online: 9 April 2002     

基于3D Widgets的三维人机交互平台的设计与实现

随着人机交互技术的不断发展,对三维人机交互的支持在三维图形软件中占有越来越重要的地位,而在医学影像处理与分析领域,它对于更方便、准确地使用可视化的结果辅助医生进行诊断具有重要意义。该文针对医学影像处理与分析领域中三维交互的需求与特点,设计并实现了一个基于3D Widgets的三维人机交互软件平台,包括以3D Widgets为核心的交互框架、各功能模块以及一些实用的Widgets的设计和实现,并给出了一组应用实例。其最终目的是为医学影像处理与分析领域提供一个灵活可靠和可扩展的三维交互平台。     

Using adjustable autonomy and human-machine cooperation to make a human-machine system resilient - Application to a ground robotic system

This study concerns autonomous ground vehicles performing missions of observation or surveillance. These missions are accomplished under the supervision of human operators, who can also remotely control the unmanned vehicle. This kind of human-machine system is likely to face perturbations in a dynamic natural environment. However, human operators are not able to manage perturbations due to overload. The objective of this study is to provide such systems with ways to anticipate, react and recover from perturbations. In other words, these works aim at improving system resilience so that it can better manage perturbations. This paper presents a model of human-robot cooperative control that helps to improve the resilience of the human-machine system by making the level of autonomy adjustable. A formalism of agent autonomy is proposed according to the semantic aspects of autonomy and the agent’s activity levels. This formalism is then used to describe the activity levels of the global human-machine system. Hierarchical decision-making methods and planning algorithms are also proposed to implement these levels of activity. Finally, an experimental illustration on a micro-world is presented in order to evaluate the feasibility and application of the proposed model.     

Using dialog and human observations to dictate tasks to a learning robot assistant

Robot assistants need to interact with people in a natural way in order to be accepted into people’s day-to-day lives. We have been researching robot assistants with capabilities that include visually tracking humans in the environment, identifying the context in which humans carry out their activities, understanding spoken language (with a fixed vocabulary), participating in spoken dialogs to resolve ambiguities, and learning task procedures. In this paper, we describe a robot task learning algorithm in which the human explicitly and interactively instructs a series of steps to the robot through spoken language. The training algorithm fuses the robot’s perception of the human with the understood speech data, maps the spoken language to robotic actions, and follows the human to gather the action applicability state information. The robot represents the acquired task as a conditional procedure and engages the human in a spoken-language dialog to fill in information that the human may have omitted.