1,721,068 research outputs found
Gaze-based human-robot interaction and task learning
No full textAbstract: Human gazes reveal the information of attention during the process of completing a task. Eye tracking glasses provide the human gaze in real time. It allows humans to communicate with robots by eyes. This enables the robots have the possibility to interpret the human intention via gaze information and react to it. The gaze intention can further help the robots to understand the human actions and tasks so that robots could help the humans to complete the actions and tasks. This thesis focuses on the gaze-based Human-Robot Interaction (HRI). First, we address the problem of predicting the human visual intention and recognizing gaze gesture for the application in HRI scenarios. Additionally, we use gaze as an additional modality to recognize human actions and develop an approach to predict what task or activity a human is performing. Furthermore, we consider one of the safety issues in HRI. We introduce a method based on artificial intelligence for human hands avoidance when a human is closely working around a robot. It allows the robot to move away from human hands when they are too close to the robot and keep the efficiency of the robotic task at the same time
Visual servoing of moving targets through fractional control : a feasibility study
No full textAbstract: In this paper, a control strategy based on fractional order approach for visual servoing systems is investigated. The proposed image-based control strategy is a fractional-order PI which takes into account the point features. In order to evaluate the designed control strategy, a visual servoing simulator consisting of a manipulator robot with 6 degrees of freedom (d.o.f.) and an eye-in-hand camera configuration was considered. The validity of the visual based controllers is shown by the simulation results which demonstrate that the proposed approach based on a fractional-order controller has a stable and convergent behavior when dealing with visual servoing applications. Simulations have been performed and the results revealed that the image-based fractional-order PI controller outperforms the conventional image-based integer-order PI controller
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
A graphical-oriented approach to improve the programmability of a robotic system
No full textAbstract: Industrial manufacturers are constantly looking to increase the degree of automation of their plants by searching for valid alternatives and supports for human workers. One of the most important aspects is the interaction between robot and its environment and implicit the flexibility/modularity of robot programming. Although the new type of robots (i.e. collaborative robots) are designed to physically interact with humans while still providing a safe environment, the robot programing still requires experts and a-priori knowledge in order to complete the programming work. Due to the increasing need for automated and flexible manufacturing in the last few years, tremendous research is carried out to simplify the robot programming and to reduce the expertise required in robot programming. Learning from demonstration is one popular flexible robot programming approach in which the robot end effector is dragged manually by an operator to desired waypoints in order to teach the tasks. Although the process of learning by demonstration is efficient, it was designed particularly for collaborative robots. However, more than 80% of the manufacturing industry makes use of the industrial robots and therefore a solution available for all type of robots is needed. A key to improve the programmability of the control code is to investigate the possibility of robot programming by using drawings or images. In fact, using a graphic oriented programming method can save programming time and allow to perform highly elaborated trajectories. The main idea introduced here is to compute a goal-path for the robot using visual features extracted from an image. Using object features from an image is an extremely powerful tool to improve the degree of automation of a robotic system and to enable a 'free' motion planning phase
Safety control in robotic manipulator visual servoing system
No full textAbstract: Industrial tasks where cooperation between human operators and robots is required in order to execute a task is still a challenging research area. In most cases the industrial robots are isolated in areas where the human operator is not allowed to enter. This is to avoid the possible collision and this type of configuration does not allow the development of more flexible industrial tasks achieved by the cooperation between humans and robots. Such a collaboration would have several advantages since complementary features of both entities could be employed in the task execution. Industrial robots can perform repetitive tasks (which can be tedious and exhausting for a human operator) while human operator can execute specialized tasks which demand intelligence and dexterity. To ensure a good collaboration between robots and humans safety control has to be included in the control algorithms. In this paper an overview of the image based control techniques and how including safety in the scheme will improve the performance of task execution
Dispelling the Myths Behind First-author Citation Counts
Full text linkWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
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