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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

Interactive text response for assistive robotics in the home

Ajulo, Morenike 18 May 2010 (has links)
In a home environment, there are many tasks that a human may need to accomplish. These activities, which range from picking up a telephone to clearing rooms in the house, all have the common trend of fetching. These tasks can only be completed correctly with the consideration of many things including an understanding of what the human wants, recognition of the correct item from the environment, and manipulation and grasping of the object of interest. The focus of this work is on addressing one aspect of this problem, decomposing an image scene such that a task-specific object of interest can be identified. In this work, communication between human and robot is represented using a feedback formalism. This involves the back-and-forth transfer of textual information between the human and the robot such that the robot receives all information necessary to recognize the task-specific object of interest. We name this new communication mechanism Interactive Text Response (ITR), which we believe will provide a novel contribution to the field of Human Robot Interaction. The methodology employed involves capturing a view of the scene that contains an object of interest. Then, the robot makes inquiries based on its current understanding of the scene to disambiguate between objects in the scene. In this work, we discuss development of ITR in human-robot interaction, and understanding of variability, ease of recognition, clutter, and workload needed to develop an interactive robot system.

"Sorry, what was your name again?" : How to Use a Social Robot to Simulate Alzheimer’s Disease and Exploring the Effects on its Interlocutors

Kanov, Maria January 2017 (has links)
Machines are designed to be infallible, but what happens if they are suddenly struck by chronic mental decline such as dementia? In this research, a social robot has been transformed into a mild-stage Alzheimer’s patient. The ultimate goal is to use it as a training tool for caregivers and medical students, as well as to raise general awareness for the disease. In particular, the study aimed to identify how to simulate Alzheimer’s with a social robot and what the effects are on its conversation partners. Thanks to its properties, the back-projected robotic head Furhat was the ideal candidate to adopt the role of Max. The sources of inspiration derived from interviews and observations. A Wizard of Oz setup enabled a conversation between the character and the user, who was given the task of asking about the robot’s life. To allow for in-between subject comparisons, the set of 20 participants was a mixture of medical and non- medical students, as well as people who knew someone with dementia closely and those who never met any. The experience was evaluated through pre- and post-interviews along with user observations. The results indicate that the patient simulation was convincing, leading the users to treat the machine as a human being and develop an emotional bond to it. They remained patient in spite of the robot’s symptoms, which affirms its potential for educational use. After all, this project aims to inspire researchers to find solutions in unconventional ways.

Augmenting communication channels toward the evolution of autonomous construction sites

Winqvist, David January 2016 (has links)
Context In the last centuries, we have been generating and building infrastructure at a faster pace than ever before. Simultaneously the costs for labor and construction sectors as road and house building is increasing. This provides room for autonomous machines. The development of infrastructure is accomplished through highly efficient and productive construction machinery that progressively modernizes to form the society. In order to increase the pace of development, both cars and industry are getting more and more automated. Volvo Construction Equipment is exploring the autonomous vehicle space. The new machines complement and perfect the human work with efficiency, reliability, and durability. There is however, a question of trust between the human workers and the autonomous machines, I will in this thesis investigate methods on how to develop trust through communication systems with autonomous machines.   Objectives To create recommendations and solutions for products that build trust between human and automated machines on a construction site.   Method Outcome is reached through a case study exploration with validated learning, meaning that it will incorporate learnings through prototype iterations.   Results The result evaluates how trust could be developed between humans and autonomous machinery at a construction site and how communication methods between these parties could be implemented while maintaining high levels of efficiency and safety.   Conclusion Findings in this thesis indicates that trust is developed over time with reliable systems that provide colleagues with updated information available at any time. The results can be introduced in both today’s and tomorrow’s construction sites at various levels of advanced technology. / Sammanhang De senaste hundra åren har vi gett upphov till att bygga infrastruktur i en snabbare takt än någonsin tidigare. Samtidigt ökar kostnaderna för både arbetskraft och byggsektorer som väg- och bostadsbyggnader. Denna situation ger utrymme för autonoma maskiner. Utvecklingen av infrastruktur sker genom effektiva och produktiva konstruktionsmaskiner som successivt moderniseras för att forma samhället. För att öka utvecklingstakten moderniseras både bilar och industri för att möta en mer automatiserad vardag.  Volvo Construction Equipment undersöker det autonoma fordonsutrymmet för nästa generations maskiner. Automationen kompletterar de nya maskinerna och fulländar det mänskliga arbetet med effektivitet, tillförlitlighet och hållbarhet.   Det finns dock en fråga om relationen mellan mänskliga arbetare och autonoma maskiner, jag kommer i denna avhandling undersöka metoder för hur man kan utveckla tillit genom kommunikationssystem mellan arbetare och autonoma maskiner.   Mål Att skapa rekommendationer och lösningar för produkter som bygger tillit mellan mänskliga och automatiserade maskiner på en byggarbetsplats.   Metod Resultatet uppnås genom användandet av fallstudie forskning kombinerat med validerande lärande. Detta innebär lärdomar med hjälp av en iterativ process utav prototyper som testas och valideras.   Resultat Resultatet utvärderar hur förtroende kan utvecklas mellan människor och autonoma maskiner på en byggarbetsplats. Hur kommunikationsmetoder mellan dessa parter skulle kunna genomföras samtidigt som hög effektivitet och säkerhet upprätthålls .   Slutsats Lärandet i denna avhandling tyder på att förtroendet utvecklas över tid med tillförlitliga system som ger medarbetare uppdaterad nödvändig information tillgänglig när som helst. Resultaten kan införas i både dagens och framtidens anläggningsplatser på olika nivåer av avancerad teknik. / <p>Vissa delar är borttagan på grund av konfidentialitet.</p> / ME310 Design Innovation at Stanford University

“Do you want to take a short survey?” : Evaluating and improving the UX and VUI of a survey skill in the social robot Furhat: a qualitative case study

Bengtsson, Camilla, Englund, Caroline January 2018 (has links)
The purpose of this qualitative case study is to evaluate an early stage survey skill developed for the social robot Furhat, and look into how the user experience (UX) and voice user interface (VUI) of that skill can be improved. Several qualitative methods have been used: expert evaluations using heuristics for human-robot interaction (HRI), user evaluations including observations and interviews, as well as a quantitative questionnaire (RoSAS – Robot Social Attribution Scale). The empirical findings have been classified into the USUS Evaluation Framework for Human-Robot Interaction. The user evaluations were performed in two modes, one group of informants talked and interacted with Furhat with the support of a graphical user interface (GUI), and the other group without the GUI. A positive user experience was identified in both modes, showing that the informants found interacting with Furhat a fun, engaging and interesting experience. The mode with the supportive GUI could be suitable in noisy environments, and for longer surveys with many response alternatives to choose from, whereas the other mode could work better for less noisy environments and for shorter surveys. General improvements that can contribute to a better user experience in both modes were found; such as having the robot adopt a more human-like character when it comes to the dialogue and the facial expressions and movements, along with addressing a number of technical and usability issues. / Syftet med den här kvalitativa fallstudien är att utvärdera en enkätskill för den sociala roboten Furhat. Förutom utvärderingen av denna skill, som är i ett tidigt skede av utvecklingen, är syftet även att undersöka hur användarupplevelsen (UX) och röstgränssnittet (VUI) kan förbättras. Olika kvalitativa metoder har använts: expertutvärderingar med heuristik för MRI (människa-robot-interaktion), användarutvärderingar bestående av observationer och intervjuer, samt ett kvantitativt frågeformulär (RoSAS – Robot Social Attribution Scale). Resultaten från dessa har placerats in i ramverket USUS Evaluation Framework for Human- Robot Interaction. Användarutvärderingarna utfördes i två olika grupper: en grupp pratade och interagerade med Furhat med stöd av ett grafiskt användargränssnitt (GUI), den andra hade inget GUI. En positiv användarupplevelse konstaterades i båda grupperna: informanterna tyckte att det var roligt, engagerande och intressant att interagera med Furhat. Att ha ett GUI som stöd kan passa bättre för bullriga miljöer och för längre enkäter med många svarsalternativ att välja bland, medan ett GUI inte behövs för lugnare miljöer och kortare enkäter. Generella förbättringar som kan bidra till att höja användarupplevelsen hittades i båda grupperna; till exempel att roboten bör agera mer människolikt när det kommer till dialogen och ansiktsuttryck och rörelser, samt att åtgärda ett antal tekniska problem och användbarhetsproblem.

Signalling of ciclyn o complexes through EIF2alpha phosphorylation

Ortet Cortada, Laura 04 June 2010 (has links)
We have identified a novel Cyclin, called Cyclin O, which is able to bind and activate Cdk2 in response to intrinsic apoptotic stimuli. We have focused on the study of Cyclin O&#945; and Cyclin O&#946;, alternatively spliced products of the gene. Upon treatment with different stress stimuli, transfected Cyclin O&#945; accumulates in dense aggregations in the cytoplasm compatible with being Stress Granules (SGs). Furthermore, we have seen that Cyclin O&#946; and a point mutant of the N-terminal part of the protein constitutively localize to the SGs. Although both alpha and beta isoforms are proapoptotic, only Cyclin O&#945; can bind and activate Cdk2. On the other hand, we have demonstrated that Cyclin O is upregulated by Endoplasmic Reticulum (ER) stress and is necessary for ER stress-induced apoptosis. Cyclin O activates specifically the PERK pathway and interacts with the PERK inhibitor protein p58IPK. Moreover, Cyclin O participates in the activation of other eIF2&#945; kinases. We have also observed that a pool of Cyclin O is located in active mitochondria, suggesting a function of the protein linked to oxidative metabolism.Hemos identificado una nueva Ciclina, llamada Ciclina O, que es capaz de unirse y activar Cdk2 en respuesta a estímulos apoptóticos intrínsecos. Nos hemos centrado en el estudio de la Ciclina O&#945; y la Ciclina O&#946;, productos de splicing alternativo del gen. En respuesta a diferentes tipos de estrés, la Ciclina O&#945; se acumula en agregaciones citoplásmicas densas que podrían corresponder a Gránulos de Estrés (SGs). Además, hemos visto que la Ciclina O&#946; y un mutante puntual de la parte N-terminal de la proteína se localizan constitutivamente en los SGs. Aunque las dos isoformas alfa y beta son proapoptóticas, solo la Ciclina O&#945; es capaz de unirse y activar Cdk2. Por otro lado, hemos demostrado que los niveles de Ciclina O se incrementan en respuesta al estrés de Retículo Endoplásmico (RE) y que esta proteína es necesaria para la inducción de apoptosis dependiente de estrés de RE. La Ciclina O activa específicamente la vía de PERK e interacciona con la proteína inhibidora de PERK p58IPK. Además, la Ciclina O participa en la activación de otras quinasas de eIF2&#945;. La Ciclina O se localiza en mitocondrias activas, lo que sugiere una función de la proteína ligada al metabolismo oxidativo.


Marpaung, Andreas 31 January 2009 (has links)
In this thesis, we aim at modeling some aspects of the functional role of emotions on an autonomous embodied agent. We begin by describing our robotic prototype, Cherry--a robot with the task of being a tour guide and an office assistant for the Computer Science Department at the University of Central Florida. Cherry did not have a formal emotion representation of internal states, but did have the ability to express emotions through her multimodal interface. The thesis presents the results of a survey we performed via our social informatics approach where we found that: (1) the idea of having emotions in a robot was warmly accepted by Cherry's users, and (2) the intended users were pleased with our initial interface design and functionalities. Guided by these results, we transferred our previous code to a human-height and more robust robot--Petra, the PeopleBot&#153;--where we began to build a formal emotion mechanism and representation for internal states to correspond to the external expressions of Cherry's interface. We describe our overall three-layered architecture, and propose the design of the sensory motor level (the first layer of the three-layered architecture) inspired by the Multilevel Process Theory of Emotion on one hand, and hybrid robotic architecture on the other hand. The sensory-motor level receives and processes incoming stimuli with fuzzy logic and produces emotion-like states without any further willful planning or learning. We will discuss how Petra has been equipped with sonar and vision for obstacle avoidance as well as vision for face recognition, which are used when she roams around the hallway to engage in social interactions with humans. We hope that the sensory motor level in Petra could serve as a foundation for further works in modeling the three-layered architecture of the Emotion State Generator. / M.S. / School of Computer Science / Engineering and Computer Science / Computer Science

Learning Continuous Human-Robot Interactions from Human-Human Demonstrations

Vogt, David 02 March 2018 (has links) (PDF)
In der vorliegenden Dissertation wurde ein datengetriebenes Verfahren zum maschinellen Lernen von Mensch-Roboter Interaktionen auf Basis von Mensch-Mensch Demonstrationen entwickelt. Während einer Trainingsphase werden Bewegungen zweier Interakteure mittels Motion Capture erfasst und in einem Zwei-Personen Interaktionsmodell gelernt. Zur Laufzeit wird das Modell sowohl zur Erkennung von Bewegungen des menschlichen Interaktionspartners als auch zur Generierung angepasster Roboterbewegungen eingesetzt. Die Leistungsfähigkeit des Ansatzes wird in drei komplexen Anwendungen evaluiert, die jeweils kontinuierliche Bewegungskoordination zwischen Mensch und Roboter erfordern. Das Ergebnis der Dissertation ist ein Lernverfahren, das intuitive, zielgerichtete und sichere Kollaboration mit Robotern ermöglicht.

Social Dimensions of Robotic versus Virtual Embodiment, Presence and Influence

Thellman, Sam January 2016 (has links)
Robots and virtual agents grow rapidly in behavioural sophistication and complexity. They become better learners and teachers, cooperators and communicators, workers and companions. These artefacts – whose behaviours are not always readily understood by human intuition nor comprehensibly explained in terms of mechanism – will have to interact socially. Moving beyond artificial rational systems to artificial social systems means having to engage with fundamental questions about agenthood, sociality, intelligence, and the relationship between mind and body. It also means having to revise our theories about these things in the course of continuously assessing the social sufficiency of existing artificial social agents. The present thesis presents an empirical study investigating the social influence of physical versus virtual embodiment on people's decisions in the context of a bargaining task. The results indicate that agent embodiment did not affect the social influence of the agent or the extent to which it was perceived as a social actor. However, participants' perception of the agent as a social actor did influence their decisions. This suggests that experimental results from studies comparing different robot embodiments should not be over-generalised beyond the particular task domain in which the studied interactions took place.

Learning Continuous Human-Robot Interactions from Human-Human Demonstrations

Vogt, David 02 March 2018 (has links)
In der vorliegenden Dissertation wurde ein datengetriebenes Verfahren zum maschinellen Lernen von Mensch-Roboter Interaktionen auf Basis von Mensch-Mensch Demonstrationen entwickelt. Während einer Trainingsphase werden Bewegungen zweier Interakteure mittels Motion Capture erfasst und in einem Zwei-Personen Interaktionsmodell gelernt. Zur Laufzeit wird das Modell sowohl zur Erkennung von Bewegungen des menschlichen Interaktionspartners als auch zur Generierung angepasster Roboterbewegungen eingesetzt. Die Leistungsfähigkeit des Ansatzes wird in drei komplexen Anwendungen evaluiert, die jeweils kontinuierliche Bewegungskoordination zwischen Mensch und Roboter erfordern. Das Ergebnis der Dissertation ist ein Lernverfahren, das intuitive, zielgerichtete und sichere Kollaboration mit Robotern ermöglicht.

Towards Socially Intelligent Robots in Human Centered Environment / Vers des robots socialement intelligents en environnement humain

Pandey, Amit kumar 20 June 2012 (has links)
Bientôt, les robots ne travailleront plus de manière isolée mais avec nous. Ils entrent peu à peu dans notre vie de tous les jours pour coopérer, assister, aider, servir, apprendre, enseigner ou même jouer avec l'homme. Dans ce contexte, nous considérons que ce ne doit pas être à l'homme de s'adapter au robot. Au contraire, le robot doit être capable d'intégrer, dans ses stratégies de planification et de décision, différents facteurs d'effort et de confort et de prendre en compte les préférences et désirs de l'homme ainsi que les normes sociales de son environnement. Tout en respectant les principes de sécurité réglementaire, le robot doit se comporter, naviguer, manipuler, communiquer et apprendre d'une manière qui soit pertinente, acceptée et compréhensible par l'homme. Cette thèse explore et définit les ingrédients clés nécessaires au robot pour développer une telle intelligence socio-cognitive. Elle définit également un cadre pour l'interaction homme-robot permettant de s'attaquer à ces challenges dans le but de rendre le robot socialement intelligent / Robots will no longer be working isolated from us. They are entering into our day-to-day life to cooperate, assist, help, serve, learn, teach and play with us. In this context, it is important that because of the presence of robots, the human should not be on compromising side. To achieve this, beyond the basic safety requirements, robots should take into account various factors ranging from human’s effort, comfort, preferences, desire, to social norms, in their various planning and decision making strategies. They should behave, navigate, manipulate, interact and learn in a way, which is expected, accepted, and understandable by us, the human. This thesis begins by exploring and identifying the basic yet key ingredients of such socio-cognitive intelligence. Then we develop generic frameworks and concepts from HRI perspective to address these additional challenges, and to elevate the robots capabilities towards being socially intelligent

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