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PhubPalliator：ファビング状態から対面対話に引き戻すための視覚表現メディア
Get PDFスマートフォンの普及により，作業をスマートフォンで行うことが増加し，その依存性が高まった．その結果，他人と対面でコミュニケーションを行っている最中でもスマートフォンを操作するファビング（phubbing）という行為がみられるようになった．ファビングによる悪影響については多く研究されているが，それを緩和する手段に関する研究はあまり行われていない．そこで，本研究では，対面コミュニケーションでのファビングを緩和し，対面コミュニケーションを誘発させるような両面ディスプレイスマートフォンを活用したシステム「PhubPalliator」を提案する．実験の結果，PhubPalliator は，ファビングした人の興味を引きつけ，対面コミュニケーションを取ろうという意思を喚起させることで，ファビングを緩和させることを確認した．The widespread use of smartphones has led to an increase in the use of smartphones to perform tasks and an increased dependence on them. As a result, “phubbing”, in which people operate their smartphones even while communicating face-to-face with others, has been observed. Phubbing behavior has been studied extensively, but few studies have been conducted on how to mitigate it. In our study, we propose “PhubPalliator”, a system using a double-sided display smartphone that mitigates phubbing in face-to-face communication and induces face-to-face communication. Experimental results show that the “PhubPalliator” can mitigate phubbing by attracting the interest of people who have engaged in phubbing behavior and arousing their intention to communicate
On the Generality and Application of Mason’s Voting Theorem to Center of Mass Estimation for Pure Translational Motion
Get PDFObject rearrangement is widely demanded in many of the manipulation tasks performed by industrial and service robots. Rearranging an object through planar pushing is deemed energy efficient and safer compared with the pick-and-place operation. However, due to the unknown physical properties of the object, re-arranging an object toward the target position is difficult to accomplish. Even though robots can benefit from multi-modal sensory data for estimating novel object dynamics, the exact estimation error bound is still unknown. In this work, firstly, we demonstrate a way to obtain an error bound on the center of mass (CoM) estimation for the novel object only using a position-controlled robot arm and a vision sensor. Specifically, we extend Mason’s Voting Theorem (MVT) to object CoM estimation in the absence of accurate information on friction and object shape. The probable CoM locations are monotonously narrowed down to a convex region, and the Extended Voting Theorems (EVT’s) guarantee that the convex region contains the CoM ground truth in the presence of contact normal estimation error and pushing execution error. For the object translation task, existing methods generally assume that the pusher-object system’s physical properties and full-state feedback are available, or utilize iterative pushing executions, which limits the application of planar pushing to real-world settings. In this work, assuming a nominal friction coefficient between the pusher and object through contact normal error bound analysis, we leverage the estimated convex region and the Zero Moment Two Edge Pushing (ZMTEP) method [1] to select the contact configurations for object pure translation. It is ensured that the selected contact configurations are capable of tolerating the CoM estimation error. The experimental results show that the object can be accurately translated to the target position with only two controlled pushes at most
