http://hdl.handle.net/10453/208 2013-05-24T03:22:25Z 2013-05-24T03:22:25Z Kirchner Nathan Alempijevic Alen Dissanayake Gamini http://hdl.handle.net/10453/19211 2012-10-12T03:36:22Z 2011-01-01T00:00:00Z

Nonverbal Robot-Group Interaction Using an Imitated Gaze Cue Kirchner Nathan; Alempijevic Alen; Dissanayake Gamini Billard, A;Kahn, P;Adams, J.A.;Trafton, J.G Ensuring that a particular and unsuspecting member of a group is the recipient of a salient-item hand-over is a complicated interaction. The robot must effectively, expediently and reliably communicate its intentions to advert any tendency within the group towards antinormative behaviour. In this paper, we study how a robot can establish the participant roles of such an interaction using imitated social and contextual cues. We designed two gaze cues, the first was designed to discourage antinormative behaviour through individualising a particular member of the group and the other to the contrary. We designed and conducted a feld experiment (456 participants in 64 trials) in which small groups of people (between 3 and 20 people) assembled in front of the robot, which then attempted to pass a salient object to a particular group member by presenting a physical cue, followed by one of two variations of a gaze cue. Our re-sults showed that presenting the individualising cue had a significant (z=3.733, p=0.0002 ) effect on the robot's ability to ensure that an arbitrary group member did not take the salient object and that the selected participant did.

2011-01-01T00:00:00Z O'Callaghan Simon Singh Surya Alempijevic Alen Ramos Fabio http://hdl.handle.net/10453/19212 2012-10-12T03:36:22Z 2011-01-01T00:00:00Z

Learning Navigational Maps by Observing Human Motion Patterns O'Callaghan Simon; Singh Surya; Alempijevic Alen; Ramos Fabio Bicchi, A; Abstract¿Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian positional traces. A continuous probabilistic function is determined using Gaussian process learning and used to infer the direction a robot should take in different parts of the environment. The approach learns and filters noise in the data producing a smooth underlying function that yields more natural movements. Our method combines prior conventional planning strategies with most probable trajectories followed by people in a principled statistical manner, and adapts itself online as more observations become available. The use of learning methods are automatic and require minimal tuning as compared to potential fields or spline function regression. This approach is demonstrated testing in cluttered office and open forum environments using laser and vision sensing modalities. It yields paths that are similar to the expected human behaviour without any a priori knowledge of the environment or explicit programming.

2011-01-01T00:00:00Z Er Michael Lawrence Elaine http://hdl.handle.net/10453/19214 2012-10-12T03:36:22Z 2011-01-01T00:00:00Z

Using Activity Theory to Examine Information Systems for Supporting Mobile Work Er Michael; Lawrence Elaine - An information system delivers support for decision making; however the physical constraints associated with mobile work often means that such support is limited. Despite the limitations, mobile workers manage to get work done. A broader review of a mobile worker's information system use reveals information sources that are outside the usual analysis of the technology and data. Decision making in mobile work would benefit from the development of these alternative information sources. A comprehensive description of the existing information system of mobile workers is a vital step in supporting technology development. This paper considers two different mobile workers, their information system and how they interact with that system. To assist in presenting a holistic view of the case studies, Activity Theory is used as a lens of interpretation.

2011-01-01T00:00:00Z Nguyen Sinh Sandrasegaran Kumbesan Madani Faisal http://hdl.handle.net/10453/19213 2012-10-12T03:36:22Z 2011-01-01T00:00:00Z

Modelling and Simulation of Packet Scheduling in the Downlink LTE-Advanced Nguyen Sinh; Sandrasegaran Kumbesan; Madani Faisal Mahamod Ismail, Hafizal Mohamad, Bohanuddin Mohaman Ali, Duratul Ain Yahya LTE-Advanced, the true 4G technology of 3GPP family, is a complex radio access technology with co-existence of many types of user equipments. As it is a new technology, there are few published research focusing on modeling and simulation of LTE-Advanced system. A simulation tool is indispensable for research relating to Radio Resource Management mechanisms such as packet scheduling. This paper presents detailed descriptions of a computer simulation tool that can effectively model packet scheduling, as well as describes some of its simulation results.

2011-01-01T00:00:00Z