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نتیجه جستجو - Human-robot interaction

تعداد مقالات یافته شده: 11
ردیف عنوان نوع
1 Improving user verification in human-robot interaction from audio or image inputs through sample quality assessment
بهبود تأیید کاربر در تعامل انسان و روبات از طریق ورودی های صوتی یا تصویری از طریق ارزیابی کیفیت نمونه-2021
In this paper, we tackle the task of improving biometric verification in the context of Human-Robot Interaction (HRI). A robot that wants to identify a specific person to provide a service can do so by either image verification or, if light conditions are not favourable, through voice verification. In our approach, we will take advantage of the possibility a robot has of recovering further data until it is sure of the identity of the person. The key contribution is that we select from both image and audio signals the parts that are of higher confidence. For images we use a system that looks at the face of each person and selects frames in which the confidence is high while keeping those frames separate in time to avoid using very similar facial appearance. For audio our approach tries to find the parts of the signal that contain a person talking, avoiding those in which noise is present by segmenting the signal. Once the parts of interest are found, each input is described with an independent deep learning architecture that obtains a descriptor for each kind of input (face/voice). We also present in this paper fusion methods that improve performance by combining the features from both face and voice, results to validate this are shown for each independent input and for the fusion methods.© 2021 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Keywords: Biometric verification | Audiovisual verification | Human robot interaction
مقاله انگلیسی
2 Reinforcement learning for facilitating human-robot-interaction in manufacturing
یادگیری تقویتی برای تسهیل تعامل انسان و ربات در تولید-2020
For many contemporary manufacturing processes, autonomous robotic operators have become ubiquitous. Despite this, the number of human operators within these processes remains high, and as a consequence, the number of interactions between humans and robots has increased in this context. This is a problem, as human beings introduce a source of disturbance and unpredictability into these processes in the form of performance variation. Despite the natural human aptitude for flexibility, their presence remains a source of disturbance within the system and make modelling and optimization of these systems considerably more challenging, and in many cases impossible. Improving the ability of robotic operators to adapt their behaviour to variations in human task performance is, therefore, a significant challenge to be overcome to enable many ideas in the larger intelligent manufacturing paradigm to be realised. This work presents the development of a methodology to effectively model these systems and a reinforcement learning agent capable of autonomous decision-making. This decision-making provides the robotic operators with greater adaptability, by enabling its behaviour to change based on observed information, both of its environment and human colleagues. The work extends theoretical knowledge on how learning methods can be implemented for robotic control, and how the capabilities that they enable may be leveraged to improve the interaction between robots and their human counterparts. The work further presents a novel methodology for the implementation of a reinforcement learning-based intelligent agent which enables a change in behavioural policy in robotic operators in response to performance variation in their human colleagues. The development and evaluation are supported by a generalized simulation model, which is parameterized to enable appropriate variation in human performance. The evaluation demonstrates that the reinforcement agent can effectively learn to make adjustments to its behaviour based on the knowledge extracted from observed information, and balance the task demands to optimise these adjustments.
Keywords: Intelligent manufacturing | Reinforcement learning | Human-robot interaction | Human factors | Adaptability
مقاله انگلیسی
3 Robots, standards and the law: Rivalries between private standards and public policymaking for robot governance
روبات ها ، استانداردها و قانون: رقابت بین استانداردهای خصوصی و سیاست گذاری عمومی برای حاکمیت ربات ها-2019
This article explains the complex intertwinement between public and private regulators in the case of robot technology. Public policymaking ensures broad multi-stakeholder pro- tected scope, but its abstractness often fails in intelligibility and applicability. Private standards, on the contrary, are more concrete and applicable, but most of the times they are voluntary and reflect industry interests. The ‘better regulation’ approach of the EU may increase the use of evidence to inform policy and lawmaking, and the involvement of different stakeholders. Current hard-lawmaking instruments do not appear to take advantage of the knowledge produced by standard-based regulations, virtually wasting their potential benefits. This fact affects the legal certainty with regards to a fast-paced changing environment like robotics. In this paper, we investigate the challenges of overlapping public/private reg- ulatory initiatives that govern robot technologies in general, and in the concrete of healthcare robot technologies. We wonder until what extent robotics should be governed only by standards. We also reflect on how public policymaking could increase their technical understanding of robot technology to devise an applicable and comprehensive framework for this technology. In this respect, we propose different ways to integrate the technical know-how into policymaking (e.g., collecting the data/knowledge generated from the im-pact assessments in shared data repositories, and using it for evidence-based policies) and to strengthen the legitimacy of standards.
Keywords: Standard | Standardization | Lawmaking | Robots | Artificial intelligence | Policy | Human-robot interaction | Private actors | Public regulatory bodies
مقاله انگلیسی
4 Simulation modeling of pedestrian behavior in the presence of unmanned mobile robots
مدل سازی شبیه سازی رفتار عابر پیاده در حضور ربات های متحرک بدون سرنشین-2017
Article history:Received 12 August 2016Revised 3 March 2017Accepted 29 March 2017Available online 10 April 2017Keywords: Pedestrian behavior Microsimulation Mobile robotInteractions between pedestrians and robots are becoming more commonplace. In public areas, for example, robots may be used for information dissemination, security, or patrol tasks. Based upon existing literature in the field of human-robot interaction, the ISAPT simulation system was revised to model individual pedestrian behavior in the presence of a mobile robot. Using an agent-based modeling approach, pedestrians are statistically assigned one of six reported behaviors when a robot is encountered: interact, watch, curi- ous, ignore, cautious, and avoid. The modeling methods for incorporating these behaviors include modifying a pedestrian’s existing agenda and/or their perception of the threat rep- resented by the non-humanoid robot, while the pedestrian continues to make navigation decisions based on their overall utility function. This paper discusses the implementation of this capability and presents results on ISAPT’s ability to reproduce the different behav- iors reported in the literature. Data collected in a field study are used to further validate the system by comparing measures from observed behaviors to simulation output. Valida- tion measures included lateral distance to robot and lateral path deviation. These results illustrate this approach is an effective means for adding this capability to microsimulation modeling systems.© 2017 Elsevier B.V. All rights reserved.
Keywords: Pedestrian behavior | Microsimulation | Mobile robot
مقاله انگلیسی
5 A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots
معماری برنامه ریزی سه لایه برای کنترل مستقل درمان های توانبخشی مبتنی بر ربات های اجتماعی-2017
This manuscript focuses on the description of a novel cognitive architecture called NAOTherapist, which provides a social robot with enough autonomy to carry out a non-contact upper limb rehabilitation therapy for patients with physical impairments, such as cerebral palsy and obstetric brachial plexus palsy. NAOTherapist comprises three levels of Automated Planning. In the high-level planning, the physician establishes the parameters of the therapy such as the scheduling of the sessions, the therapeutic objectives to be achieved and certain constraints based on the medical records of the patient. This information is used to establish a customized therapy plan. The objective of the medium-level planning is to execute and monitor every previous planned session with the humanoid robot. Finally, the low-level planning involves the execution of path-planning actions by the robot to carry out different low-level instructions such as performing poses. The technical evaluation shows an accurate definition and monitoring of the therapies and sessions and a fluent interaction with the robot. This automated process is expected to save time for the professionals while guaranteeing the medical criteria.‌© 2016 Elsevier B.V. All rights reserved.
Keywords: Robotic architecture | Human-Robot Interaction | Rehabilitation therapies | Automated Planning | Socially Assistive Robotics
مقاله انگلیسی
6 Shopping with a robotic companion
خرید با یک همراه رباتیک-2017
In this paper, we present a robotic shopping assistant, designed with a cognitive architecture, grounded in machine learning systems, in order to study how the human-robot interaction (HRI) is changing the shopping behavior in smart technological stores. In the software environment of the NAO robot, con- nected to the Internet with cloud services, we designed a social-like interaction where the robot carries out actions with the customer. In particular, we focused our design on two main skills the robot has to learn: the first is the ability to acquire social input communicated by relevant clues that humans provide about their emotional state (emotions, emotional speech), or collected in the Social Media (such as, information on the customers tastes, cultural background, etc.). The second is the skill to express in turn its own emotional state, so that it can affect the customer buying decision, refining in the user the sense of interacting with a human-like companion. By combining social robotics and machine learning systems the potential of robotics to assist people in real life situations will increase, providing a gentle customers acceptance of advanced technologies.© 2017 Elsevier Ltd. All rights reserved.
Keywords:Social robotics | Human Robot Interaction (HRI) | Emotion and Gesture Recognition | Machine learning | Smart retail settings
مقاله انگلیسی
7 Perceiving emotions in robot body language: Acute stress heightens sensitivity to negativity while attenuating sensitivity to arousal
درک احساسات در زبان بدن ربات: استرس حاد حساسیت به منفی را افزایش می دهد در حالی که احساس حساسیت به آرامش را کاهش می دهد-2017
Reliance on socioemotional assistive robots is projected to increase, yet little is known about how our ability to perceive their emotional expression is impacted by psychological factors. In high-risk and high- tension domains such as emergency services and healthcare, how might the cognitive and physiological stress we are experiencing influence how we read a humanoid robots nonverbally conveyed emotions? Using a novel paradigm, we asked participants under experimentally-induced acute stress vs. low stress to evaluate a set of normed emotional body language poses conveyed by a physically-present vs. virtually-instantiated humanoid robot. Participants rated each pose for emotional valence (negativity/ positivity) and arousal (calm/excited). Acute stress increased the perception of negative valence in negative high arousal poses, consistent with stress-induced hypervigilance. Surprisingly, stress dimin- ished the perception of arousal in high arousal poses, whereas repeated presentation of the low arousal poses increased perception of arousal. Participants rated emotion similarly for the physically-present vs. virtually-present robot, although positively-valenced poses conveyed by the physical robot were perceived as more positive and more animate. We propose that perceptions of emotional arousal may be especially vulnerable to context effects and misattribution. These findings have implications for how assistive robots can best be designed for high-risk and high-tension contexts.© 2017 Elsevier Ltd. All rights reserved.
Keywords:Human-robot interaction | Emotion perception | Nonverbal communication | Acute stress | Social robots | Virtual reality
مقاله انگلیسی
8 The effects of cognitive biases and imperfectness in long-term robot-human interactions: Case studies using five cognitive biases on three robots
اثرات تعصبات شناختی و ناکارآمدی در تعاملات ربات انسانها در طولانی مدت: مطالعات موردی با استفاده از پنج تعصب شناختی در سه ربات-2017
The research presented in this paper demonstrates a model for aiding human-robot companionship based on the principle of ‘human’ cognitive biases applied to a robot. The aim of this work was to study how cognitive biases can affect human-robot companionship in long-time. In the current paper, we show comparative results of the experiments using five biased algorithms in three different robots such as ERWIN, MyKeepon and MARC. The results were analysed to determine what difference if any of biased vs unbiased interaction has on the interaction with the robot and if the participants were able to form any kind of ‘preference’ towards the different algorithms. The experimental presented show that the participants have more of a preference towards the biased algorithm interactions than the robot without the bias.© 2016 Elsevier B.V. All rights reserved.
Keywords: Human-robot interaction | Human-robot long-term interactions | Humanoid robot | Cognitive bias | Imperfect robots
مقاله انگلیسی
9 Metrics and benchmarks in human-robot interaction: Recent advances in cognitive robotics
متریک و معیار در تعامل انسان و ربات: پیشرفت های اخیر در رباتیک شناختی-2017
Robots are having an important growing role in human social life, which requires them to be able to behave appropriately to the context of interaction so as to create a successful long-term human-robot relationship. A major challenge in developing intelligent sys- tems, which could enhance the interactive abilities of robots, is defining clear metrics and benchmarks for the different aspects of human- robot interaction, like human and robot skills and performances, which could facilitate comparing between systems and avoid application-biased evaluations based on particular measures. The point of evaluating robotic systems through metrics and benchmarks, in addition to some recent frameworks and technologies that could endow robots with advanced cognitive and communicative abilities, are discussed in this technical report that covers the outcome of our recent workshop on current advances in cognitive robotics: Towards Intelligent Social Robots - Current Advances in Cognitive Robotics, in conjunction with the 15th IEEE-RAS Humanoids Conference- Seoul - South Korea - 2015 (https://intelligent-robots-ws.ensta-paristech.fr/). Additionally, a summary of an interactive discussion ses- sion between the workshop participants and the invited speakers about different issues related to cognitive robotics research is reported.© 2016 Elsevier B.V. All rights reserved.
Keywords: Metrics | Benchmarks | System evaluation | Intelligent robot technologies
مقاله انگلیسی
10 Interactive Scenario Development of Robot-assisted Therapy for Cerebral Palsy: A Face Validation Survey
توسعه سناریوی تعاملی درمان رباتی برای فلج مغزی: بررسی اعتبارسنجی صورت-2017
Humanoids have potential in the augmentation of rehabilitation programme for children with cerebral palsy. To make the humanoid programme applicable and clinically compliant, correct interactive scenarios had to be developed. Development of Human Robot Interaction (HRI) scenario is the main focus of this study. Through discussions with clinicians and therapists, four interactive scenarios have been formulated. The researchers have designed and developed the interactive scenarios concerning the suitability of measuring items in the Gross Motor Function Measure (GMFM) that is suitable to be applied by humanoid robot NAO. Choregraphe software, a programming tool that allows programmer to create and compile the behavior of the robot was used in this study. Choregraphe Suite is a multi-platform desktop application, to create animations, behaviors and dialogs. The developed interactive scenario had undergone a face validity process. This method of validation is used to confirm through peer reviews that the content of the interactive scenario is suitable to be used for children with cerebral palsy. Thirty peer reviewers, made up by a group of physiotherapists and occupational therapists validated the suitability of the interactive scenario. The result of the validation will be explained in this paper.© 2016 The Authors. Published by Elsevier B.V.Peer-review under responsibility of organizing committee of the 2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS 2016).© 2017 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).Peer-review under responsibility of organizing committee of the 2016 IEEE International Symposium on Robotics and Intelligent Sensors(IRIS 2016).
Keywords: Human-robot interaction | humanoid robot | cerebral palsy | rehabilitation robot | social robot
مقاله انگلیسی
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