Improvements in autonomous systems technology and a growing demand within military operations are spurring a revolution in Human-Robot Interaction (HRI). These mixed-initiative human-robot teams are enabled by Multi-Modal Communication (MMC), which supports redundancy and levels of communication that are more robust than single mode interaction. (Bischoff & Graefe, 2002; Partan & Marler, 1999). Tactile communication via vibrotactile displays is an emerging technology, potentially beneficial to advancing HRI. Incorporation of tactile displays within MMC requires developing messages equivalent in communication power to speech and visual signals used in the military. Toward that end, two experiments were performed to investigate the feasibility of a tactile language using a lexicon of standardized tactons (tactile icons) within a sentence structure for communication of messages for robot to human communication. Experiment one evaluated tactons from the literature with standardized parameters grouped into categories (directional, dynamic, and static) based on the nature and meaning of the patterns to inform design of a tactile syntax. Findings of this experiment revealed directional tactons showed better performance than non-directional tactons, therefore syntax for experiment two composed of a non-directional and a directional tacton was more likely to show performance better than chance. Experiment two tested the syntax structure of equally performing tactons identified from experiment one, revealing participants’ ability to interpret tactile sentences better than chance with or without the presence of an independent work imperative task. This finding advanced the state of the art in tactile displays from one to two word phrases facilitating inclusion of the tactile modality within MMC for HRI

<p>Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP&nbsp / and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which&nbsp / a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA&nbsp / provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA&rsquo / s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle&nbsp / management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided&nbsp / or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that&nbsp / approach of using Application Server (JSLEE) integration should be&nbsp / sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be&nbsp / &nbsp / &nbsp / integrated into an NGN.</p>

<p>Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP&nbsp / and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which&nbsp / a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA&nbsp / provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA&rsquo / s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle&nbsp / management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided&nbsp / or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that&nbsp / approach of using Application Server (JSLEE) integration should be&nbsp / sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be&nbsp / &nbsp / &nbsp / integrated into an NGN.</p>