A Gesture Based Interface for Human-Robot Interaction

Service robotics is currently a highly active research area in robotics, with enormous societal potential. Since service robots directly interact with people, finding natural and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are equipped with flexible user interfaces that permit controlling the robot by natural means. This paper describes a gesture interface for the control of a mobile robot equipped with a manipulator. The interface uses a camera to track a person and recognize gestures involving arm motion. A fast, adaptive tracking algorithm enables the robot to track and follow a person reliably through office environments with changing lighting conditions. Two alternative methods for gesture recognition are compared: a template based approach and a neural network approach. Both are combined with the Viterbi algorithm for the recognition of gestures defined through arm motion (in addition to static arm poses). Results are reported in the context of an interactive clean-up task, where a person guides the robot to specific locations that need to be cleaned and instructs the robot to pick up trash.     

An alternative method for controlling two-output DC-to-DCconverters using saturable core inductor

The method proposed in this paper is an alternative to the use of a conventional magnetic amplifier in the control of a second output in buck derived DC-to-DC power converters. This method avoids the use of linear devices in the magnetic amplifier and improves the power converter dynamic response. It is very simple and it is based on the use of a saturable core and in the double switching frequency and duty cycle modulation in the power transistor     

Synopses of some recent published studies of the design process and designer behaviour

This series of synopses first appeared as Appendix II in ‘Design decision making and recommendations for design aids’ a report commissioned by the British Building Research Establishment. It was felt that this special issue on Designing for Behaviour provided a unique opportunity to republish these extremely relevant summaries to reach a wider audience of interested and involved parties. These synopses might also reveal to environmental design human behaviour researchers some of the problems that designers have in incorporating findings in their design processes and may perhaps suggest ways in which research publications might overcome these barriers to the transfer of information.     

Steering molecular organization and host-guest interactions using two-dimensional nanoporous coordination systems

Metal-organic coordination networks (MOCNs) have attracted wide interest because they provide a novel route towards porous materials that may find applications in molecular recognition, catalysis, gas storage and separation. The so-called rational design principle-synthesis of materials with predictable structures and properties-has been explored using appropriate organic molecular linkers connecting to metal nodes to control pore size and functionality of open coordination networks. Here we demonstrate the fabrication of surface-supported MOCNs comprising tailored pore sizes and chemical functionality by the modular assembly of polytopic organic carboxylate linker molecules and iron atoms on a Cu(100) surface under ultra-high-vacuum conditions. These arrays provide versatile templates for the handling and organization of functional species at the nanoscale, as is demonstrated by their use to accommodate C(60) guest molecules. Temperature-controlled studies reveal, at the single-molecule level, how pore size and chemical functionality determine the host-guest interactions.     

Gas-liquid equilibria in mixtures of hydrogen and thianaphthene

Gas-liquid equilibrium conditions in binary mixtures of hydrogen and thianaphthene were experimentally determined at temperatures of 190 to 430°C and pressures to 250 atm in a flow apparatus. The same apparatus was also employed to measure the vapor pressure of thianaphthene. Comparisons of the new mixture data with Chao-Seader and Grayson-Streed correlations show that both correlations predict the thianaphthene equilibrium ratios well but are in error by up to about 45 and 35% respectively for K-values of hydrogen.     

Molecular weight characteristics of humic substances from different environments as determined by size exclusion chromatography and their statistical evaluation

Recorded molecular weights (MWs) for humic substances (HS) range from a few hundred to millions of daltons. For purposes of defining HS as a specific class of chemical compounds, it is of particular importance to ascertain if this broad range of MWs can be attributed to actual variability in molecular properties or is simply an artifact of the analytical techniques used to characterize HS. The main objectives of this study were (1)to establish if a preferential range of MWs exists for HS and (2) to determine any consistent MW properties of HS. To reach the goal, we have undertaken an approach to measure under standardized conditions the MW characteristics of a large set of HS from different natural environments. Seventy-seven humic materials were isolated from freshwater, soil, peat, and coal, such that each possessed a different fractional composition: humic acid (HA), fulvic acid (FA), and a nonfractionated mixture of HA and FA (HF). Size exclusion chromatography (SEC) was used as the analytical technique to determine molecular weight characteristics. The MW distributions were characterized by number (Mn) and weight (Mw) average MW, and by polydispersity. The complete range of Mw values varied within 4.7-30.4 kDa. The maximum Mw values were observed for peat HF and soil HA, whereas the smallest weights were measured for river water HF. Maximum values of polydispersity (3.5-4.4) were seen for peat HF and soil HA, while much lower values (1.6-3.1) were found for all preparations isolated with XAD-resins. Statistical evaluation showed consistent Mw and Mn variations with the HS source, while polydispersity was mostly a function of the isolation procedure used. A conclusion was made that HS have a preferential range of MW values that could characterize them as a specific class of chemical compounds.     

Equivalence of backpropagation and contrastive Hebbian learning in a layered network

Backpropagation and contrastive Hebbian learning are two methods of training networks with hidden neurons. Backpropagation computes an error signal for the output neurons and spreads it over the hidden neurons. Contrastive Hebbian learning involves clamping the output neurons at desired values and letting the effect spread through feedback connections over the entire network. To investigate the relationship between these two forms of learning, we consider a special case in which they are identical: a multilayer perceptron with linear output units, to which weak feedback connections have been added. In this case, the change in network state caused by clamping the output neurons turns out to be the same as the error signal spread by backpropagation, except for a scalar prefactor. This suggests that the functionality of backpropagation can be realized alternatively by a Hebbian-type learning algorithm, which is suitable for implementation in biological networks.     

Electron-beam treatment of aromatic hydrocarbons that can be air-stripped from contaminated groundwater. 2. Gas-phase studies

The electron-beam (EB) degradation of volatile aromatics (benzene, toluene, ethylbenzene, xylenes: BTEX) in groundwater strip gas, which in the present work has been modeled by the introduction of the desired aromatic(s) to a stream of air or another gas, such as oxygen, is initiated essentially by the addition of *OH radicals to the aromatic ring, giving rise to hydroxycyclohexadienyl radicals, which form the corresponding peroxyl radicals upon addition of oxygen. As studied in some detail with benzene as a BTEX representative, various reactions of these lead to numerous oxidation products in a cascade of reactions, including the decomposition of products under the prevailing conditions of high turnover of the initial aromatic. Importantly, hydroxycyclohexadienylperoxyl radical formation is partly reversible, and the reactions of the hydroxycyclohexadienyl radicals, which thus have a significant presence in these systems, must therefore also be taken into consideration. In the gas phase, in contrast to the aqueous phase (see Part 1), the reactions of the hydroxycyclohexadienyl radicals lead to oligomeric products that appear to contribute, in addition to ionic clusters, to nucleation for the aerosols observed. Various nitrated products, among them nitrophenols, are observed when air is used for the stripping. However, these studies did not clear the pilot plant stage, since BTEX degradation using a bioreactor carried out in parallel was so successful that the EB technology was judged to be noncompetitive. As for the latter, expensive equipment consisting of a stripper, the EB machine, and an aerosol precipitator would be required. The condensed aerosols are biorefractory and would require further treatment for detoxification.