关键词： Biometrics   Beer quality   Artificial intelligence   Visual consumer test   Artificial neural networks  

摘要： Foam-related parameters greatly influence other sensory attributes of beer such as aromas, flavors and mouthfeel;therefore, the visual assessment of beers is one of the most important quality traits, since it creates the first impression of consumers in determining the willingness to taste the product and perceived quality. Sensory analysis has been extensively used to assess consumers acceptability;however, this can only obtain their self-reported conscious responses Therefore, biometric techniques have been used to assess the subconscious responses, which provide more information from consumers when integrated with sensory evaluation questionnaires. In this study, non-invasive biometrics along with a sensory questionnaire were used to assess consumers perception to visual attributes of 15 beers from pouring videos obtained using the RoboBEER (automatic robotic pourer). The sensory session was conducted with 30 participants using an integrated camera system, which consists of an infrared thermal camera and video recording coupled with a Bio-sensory computer application (App) and an eye tracking device. Objective physical parameters from beer pouring were obtained using the RoboBEER and computer vision algorithms. Results from the Just About Right (JAR) and acceptance tests showed that consumers preferred top fermentation beers, which have a medium foam height and stability, and tend to highly penalize bottom fermentation beers with lower foam. The principal components analysis explained a total of 52% of data variability. A correlation matrix was developed to assess significant correlations between the conscious, subconscious and physical data such as the positive correlation between perceived quality and heart rate, and the negative correlation between foam stability liking and foam drainage. Furthermore, an artificial neural network model (ANN) with 82% accuracy was developed using 28 parameters from the subconscious and objective physical data as inputs to class

关键词： human-robot interaction (HRI)   user experience (UX)   human-computer interaction (HCI)   user centred design   HCI for HRI   UX methods   social robots  

摘要： Over the last few decades, semi-autonomous machine's technology started to promote awareness towards the importance of human-robot interaction (HRI) for improving daily activities. More affordable social robots are being commercially released and in order to implement viable applications of HRI, a combination human-computer interaction and user experience methodologies could play a pivotal role in assessing new scenarios and evaluating new investigations. However, literature shows that it is still challenging to reach an optimal user experience with robotic companions. The aim of the study was to determine the chance to enhance the user experience with a semi-autonomous social robot, using user experience and human-computer interaction methodologies. In this study, a social robotic companion has been developed and prototyped in order to be adopted in a specific public environment such as a company workspace. The challenges emerged from this peculiar environment triggered the need for a more productive and comfortable office for the employees, and, at the same time, the usability, acceptance and likeability of the robotic companion have been evaluated. The results emphasize that, since HRI is highly interdisciplinary, the benefits of combining approaches from other fields could positively benefit from a meaningful social interaction with the users.

关键词： Interactive learning environments   Human-computer interface   Human-robot interaction  

关键词： Embodied Cognitive Robotics   Internal Models   sensorimotor schemes   Embodied Cognition  

摘要： Embodied Cognitive Robotics focuses its attention on the design of artificial agents capable of performing cognitive tasks autonomously. A central issue in this consists in studying process by which agents learn through interaction with their environment. Embodied Cognitive Robotics aims to implement models of cognitive processes coming from Cognitive Sciences. The guidelines in this research area are a direct response to the shortcomings of Classical Artificial Intelligence, where high-level tasks and behaviors were studied. This article describes the work carried out in the Cognitive Robotics Laboratory at the Universidad Autonoma del Estado de Morelos (UAEM). Our work is based on the concept of low-level sensorimotor schemes coded by Internal Models, thus falling as a matter of course within the tenets of Embodied Cognition, particularly with the idea that cognition must be understood as occurring in agents that have a body with which they interact in a specific environment. It is through this interaction that learning emerges laying the ground for cognitive processes. Our research includes theoretical work laying the foundations of Embodied Cognitive Robotics, as well as work with artificial and with natural agents.

关键词： Task allocation   Distributed robotics   Multi-robot systems   Multi-objective optimisation  

摘要： We consider the problem of assigning software processes (or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware configurations. Task variants facilitate the trade-off of functional quality versus the requisite capacity and type of target execution processors. We formalise the problem of assigning task variants to processors as a mathematical model that incorporates typical constraints found in robotics applications;the model is a constrained form of a multi-objective, multi-dimensional, multiple-choice knapsack problem. We propose and evaluate three different solution methods to the problem: constraint programming, a constructive greedy heuristic and a local search metaheuristic. Furthermore, we demonstrate the use of task variants in a real instance of a distributed interactive multi-agent navigation system, showing that our best solution method (constraint programming) improves the system's quality of service, as compared to the local search metaheuristic, the greedy heuristic and a randomised solution, by an average of 16, 31 and 56% respectively.

关键词： Contact dynamics   Space robotics   Robotic capture  

摘要： Capture of a free-floating space object in orbit is a challenging task especially when the object is tumbling. In this paper, the contact dynamics modeling and control problem for capturing a fast tumbling target object by a space robot are investigated. A generic frictional contact model is developed to represent the contact forces between the robot's end-effector and the target object. The frictional contact formulation is based on the compliance contact force and bristle friction model which can simulate intermittent frictional contact situations involving multiple-point contacts between contact interfaces with complex geometries. A resolved motion admittance control method is designed to realize a good tracking for a tumbling target object while increasing the compliance of the space robot. A simulation example of a 7-joint manipulator capturing a tumbling object in three dimensions is presented. The simulation results revealed that various contact scenarios during the capture process can be well simulated with the developed contact model and a good performance of the designed control method for capturing a fast tumbling target object.

关键词： Actuator   electrorheological (ER) fluid   impedance control   robotics   stroke rehabilitation  

摘要： Transitioning rehabilitation robots from the clinic environment to the home could significantly increase the intensity and accessibility of therapy to stroke survivors. Home-based rehabilitation robots must become smaller and cheaper. In this paper, we consider a novel proof-of-concept actuator for human-machine interaction. The actuator incorporates a prototype electrorheological fluid developed to address issues previously reported in the literature. Two electrorheological fluid clutches are antagonistically arranged in a differential mechanism. The fluid clutches uncouple the output from the intrinsically high impedance of a geared dc motor. Mathematical modeling of predicted torque was compared with torque measurements. The clutches can transfer approximately 1.1 N.m at an electric field strength of 3 kV/mm. A testbed was also developed to study variable impedance control with the device where motion feedback was used to modulate the output impedance. An empirically derived model was used to program voltages/torques in response to perturbations in position. A benefit of the proposed design is the ability to statically coactivate both clutches to increase output impedance, which could potentially have benefits for training. We also discuss the advantages and disadvantages of electrorheological fluid actuators for human rehabilitation robotics.

关键词： 机器人教育   青少年   论坛   共存   选拔   竞赛   教师进修学校   北京理工大学  

摘要： 8月17日下午，“青少年机器人教育”分论坛邀请到了8位高校、中小学校长、科技教师和机器人教育企业代表出席活动并发言。论坛由北京理工大学机电学院副院长陈军和北京市海淀教师进修学校信息与技术中心副主任钟建业主持。