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.     

DASHER--an efficient writing system for brain-computer interfaces?

DASHER is a human-computer interface for entering text using continuous or discrete gestures. Through its use of an internal language model, DASHER efficiently converts bits received from the user into text, and has been shown to be a competitive alternative to existing text-entry methods in situations where an ordinary keyboard cannot be used. We propose that DASHER would be well-matched to the low bit-rate, noisy output obtained from brain-computer interfaces (BCIs), and discuss the issues surrounding the use of DASHER with BCI systems.     

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.     

Looking, recalling, and GSR as a function of defense.

10 pictures were viewed for 10 sec. each, during which the eye fixations were photographed and GSR was recorded. An independent assessment was made for each of 16 Ss of the defenses of isolation and repression. The defense of isolation was strikingly associated with venturing to look around more, and the defense of repression with looking around less: in contrast to repressors, isolators looked at the "ground" as well as the figure; they scattered their fixations and they made bigger jumps from 1 fixation to the next. Isolation was better than repression for the recall of sexual content. No strong trends emerged from correlations of GSR and defense ratings. Some looking measures correlated significantly with standard Rorschach scores. The findings seem consistent with results for cognitive styles as well as with clinical understanding of the defenses. (22 ref.) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

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.     

Microcontact printing of DNA molecules

The controlled placement of DNA molecules onto solid surfaces is the first step in the fabrication of DNA arrays. The sequential deposition of tiny drops containing the probe DNA fragments using arrays of spotting needles or ink jet nozzles has become a standard. However, a caveat of liquid spotting is the drying of the deposited drop because this creates the typical inhomogeneities, i.e., rims around the spot. Another drawback is that each DNA array is an original and has to be fabricated individually. Microcontact printing is a versatile technique to place proteins onto different target surfaces in uniformly patterned monolayers with high lateral resolution. Here, we show for the first time that DNA can also be printed with equally high resolution in the submicrometer range using an elastomeric stamp with chemically tailored surface. Two regimes for the transfer of the molecules were observed. Finally, microcontact printing of an array of DNA probes onto a solid support and its use in a subsequent hybridization assay was demonstrated.     

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.