http://hdl.handle.net/2117/3353 2013-05-24T15:12:43Z http://hdl.handle.net/2117/19376 Title: BoVDW: Bag-of-Visual-and-Depth-Words for gesture recognition Authors: Hernandez Vela, Antonio; Bautista, Miguel Angel; Perez-Sala, Xavier; Ponce, Víctor; Baró, Xavier; Pujol, Oriol; Angulo Bahón, Cecilio; Escalera, Sergio Abstract: We present a Bag-of-Visual-and-Depth-Words (BoVDW) model for gesture recognition, an extension of the Bag-of-Visual-Words (BoVW) model, that benefits from the multimodal fusion of visual and depth features. State-of-the-art RGB and depth features, including a new proposed depth descriptor, are analysed and combined in a late fusion fashion. The method is integrated in a continuous gesture recognition pipeline, where Dynamic Time Warping (DTW) algorithm is used to perform prior segmentation of gestures. Results of the method in public data sets, within our gesture recognition pipeline, show better performance in comparison to a standard BoVW model. 2013-05-23T07:28:50Z http://hdl.handle.net/2117/18359 Title: Pain and anxiety treatment based on social robot interaction with children to improve patient experience. Ongoing research Authors: Angulo Bahón, Cecilio; Garriga Berga, Carles; Luaces, Carlos; Perez Payarols, Jaume; Albo-Canals, Jordi; Díaz Boladeras, Marta Abstract: A major focus for children’s quality of life programs in hospitals is improving their experiences during procedures. In anticipation of treatment, children may become anxious and during procedures pain appears. The aim of this article is to introduce a proposal to design pioneering techniques based on the use of social robots to improve the patient experience by eliminating or minimizing pain and anxiety. According to this proposed challenge, this research aims to design and develop specific human-social robot interaction with pet robots. Robot interactive behavior will be designed based on modular skills using soft-computing paradigms. 2013-03-18T08:15:50Z http://hdl.handle.net/2117/18239 Title: External force estimation for textile grasp detection Authors: Colomé Figueras, Adrià; Pardo Ayala, Diego Esteban; Alenyà Ribas, Guillem; Torras, Carme Abstract: Our current work on external force estimation without end-effector force sensor is resented.To verify if a grasp of a textile has been successful, the external wrench applied on the robot is computed online, with a state observer based on a LWPR [3] model of a task. 2013-03-12T17:45:58Z http://hdl.handle.net/2117/17652 Title: AoL: Action Learning: A methodology to capture expertise in adjustment tasks Authors: Ruiz Vegas, Francisco Javier; Samà Monsonís, Albert; Raya Giner, Cristóbal; Agell Jané, Núria Abstract: It is well known that some people can perform a task with greater precision and accuracy than others: they are experts. In the past, experts were interviewed to find out why they have this expertise, but this was not always completely effective because often experts "don't know what they know". In this paper we propose a model of the process of making decisions performed by experts in the final adjustment of products task. Based on this model, we also propose a system based on a machine learning module that facilitates the capture of these expert skills. We give an example to illustrate the process proposed. 2013-02-12T12:10:49Z http://hdl.handle.net/2117/17450 Title: Dynamically consistent probabilistic model for robot motion learning Authors: Pardo Ayala, Diego Esteban; Rozo Castañeda, Leonel; Alenyà Ribas, Guillem; Torras, Carme Abstract: This work presents a probabilistic model for learning robot tasks from human demonstrations using kinesthetic teaching. The difference with respect to previous works is that a complete state of the robot is used to obtain a consistent representation of the dynamics of the task. The learning framework is based on hidden Markov models and Gaussian mixture regression, used for coding and reproducing the skills. Benefits of the proposed approach are shown in the execution of a simple self-crossing trajectory by a 7-DoF manipulator. 2013-01-21T17:15:49Z http://hdl.handle.net/2117/17153 Title: Human - Humanoid Robot Interaction: The 20Q Game Authors: Pardo Ayala, Diego Esteban; Franco Genís, Oscar; Sàez Pons, Joan; Andrés, Amara; Angulo Bahón, Cecilio Abstract: This article introduces the development of a human-robot interaction’s system. The NAO humanoid robot has been programmed to play the popular 20 questions (20Q) game. The system includes modules for both, speech recognition and text-to-speech as mechanisms for exchanging information with the humanoid robot. The system has been tested with non-expert volunteers to analyse which kind of interaction is obtained. 2012-12-19T12:27:50Z http://hdl.handle.net/2117/17120 Title: The Impact of Introducing Therapeutic Robots in Hospital's Organization Authors: Chung Chang, Cecilia Yu; Díaz Boladeras, Marta; Angulo Bahón, Cecilio Abstract: The introduction of robots in health and wellbeing services could mean a great improvement in patients’ life, but also implies a huge change in hospital’s organization. This work introduces a empirical study that investigates the factors influencing the process of adoption of robots in hospitals. Interviews have been completed in a health organization leading this change. Learned lessons lead to define a balance of facilitators and barriers that should help to apply the innovation. This process has been completed from Kotter’s leading change approach, since it would be the roadmap for the whole procedure. 2012-12-12T13:11:40Z http://hdl.handle.net/2117/16808 Title: Survey on 2D and 3D human pose recovery Authors: Perez Sala, Xavier; Escalera Guerrero, Sergio; Angulo Bahón, Cecilio Abstract: Human Pose Recovery approaches have been studied in the eld of Computer Vision for the last 40 years. Several approaches have been reported, and signi cant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we de ne a global taxonomy to group the model based methods and discuss their main advantages and drawbacks. 2012-10-29T11:03:42Z http://hdl.handle.net/2117/16758 Title: Experiencia interuniversitaria en el diseño de sistemas interactivos automatizados Authors: Chacón, Alejandro; Ponsa Asensio, Pere; Pérez, Àlex; Vilanova, Ramon Abstract: Este trabajo presenta una experiencia colaborativa en el ambito de la aplicaci6n del diseno de sistemas interactivos automatizados. EI seguimiento de directrices de diseno de interfaces ha perrnitido disminuir la complejidad de la interfaz de supervisi6n y facilitar el acceso a la gesti6n de las alarmas del sistema. 2012-10-19T10:46:37Z http://hdl.handle.net/2117/16750 Title: A study of the human-system interface complexity sources in wastewater treatment plants Authors: Ponsa Asensio, Pere; Pérez, Àlex; Gámiz Caro, Javier Francisco; Manresa-Yee, Cristina; Vilanova, Ramon Abstract: In human-automation interaction it is necessary to define methods and tools to assess the human-system interface complexity. In a first assessment, the use of an evaluation questionnaire aiming at detecting complexity sources in the human supervisory control room tasks in wastewater treatment plants (WWTP) is presented in this paper. The first results show that the elicitation of complexity sources can be useful to improve the interaction between humans and safety-critical systems in the industrial domain. 2012-10-18T09:53:19Z http://hdl.handle.net/2117/16581 Title: A field study with primary school children on perception of social presence and interactive behavior with a pet robot Authors: Heerink, Marcel; Díaz Boladeras, Marta; Albo-Canals, Jordi; Angulo Bahón, Cecilio; Barco, Alex; Casacuberta Bagó, Judit; Garriga Berga, Carles Abstract: This paper presents a study on measuring (1) how children experience a pet robot, (2) how they play with it and (3) how children’s perceptions on and interaction with pet robots are interrelated. The study features different types of subjective and objective techniques to assess the degree of perceived social entity from self-reports (i.e. questionnaires) and observed behavior. Three short questionnaires and an ad hoc code scheme of 15 low-level micro-behaviors were developed. 28 scholars aged 8 to 12 were observed at school during a play period with a Pleo robot and asked to answer the questionnaires. We found that the different questionnaire based methods were in line each other. Therefore, anyone of them can be used to measure the experience of a social entity. Play analyses showed that the two most prevalent behaviors were clearly social: petting the robot and showing it objects to engage in interaction. Moreover, children spent on average less than one per cent of the session time treating the robot as an artifact. However, significant covariation between the experience of a social entity and observed behavior could not be established. 2012-09-26T10:47:54Z http://hdl.handle.net/2117/15629 Title: The Use of Role Playing in Engineering Curricula: a Case Study in Human-Automation Systems Authors: Ponsa Asensio, Pere; Vilanova, Ramón; Amante García, Beatriz Abstract: This communication presents a collaborative experience between four Spanish centers: the School of Engineering (ETSE) and the Sports Services Area (SAF) both from the Universitat Autònoma de Barcelona (UAB) jointly with two centers of the Technical University of Catalonia, the high school from Vilanova i la Geltru (EPSEVG) and the high school in Terrassa (ETSEIAT). The idea behind this collaboration is to explore the possibility of role engineering education and project development for engineering students. The basic principle of such projects is the identification of the corresponding roles associated with the different parts that can be found on current social/industrial activity. 2012-03-21T10:03:05Z http://hdl.handle.net/2117/14901 Title: Prototipo sostenible para laboratorio remoto Authors: Ballesteros, Anderson; Costa Castelló, Ramon; Galcerán Saez, Jesus Martin; Angulo Bahón, Cecilio Abstract: El art´ıculo describe los trabajos y dise˜nos realizados para construir una maqueta pensada para la realizaci´on de pr´acticas remotas en el ´ambito de la autom´atica. El dise˜no tiene en cuenta diferentes aspectos de sostenibilidad y simplificaci´on del desarrollo del laboratorio remoto. 2012-02-01T11:33:42Z http://hdl.handle.net/2117/14859 Title: Gait recognition by using spectrum analysis on state space reconstruction Authors: Samà Monsonís, Albert; Ruiz Vegas, Francisco Javier; Pérez López, Carlos; Català Mallofré, Andreu Abstract: This paper describes a method for identifying a person while walking by means of a triaxial accelerometer attached to the waist. Human gait is considered as a dynamical system whose attractor is reconstructed by time delay vectors. A Spectral Analysis on the state space reconstruction is used to characterize the attractor. The method is compared to other common methods used in gait recognition tasks through a preliminary test. 2012-01-30T08:14:54Z http://hdl.handle.net/2117/14852 Title: Gait identification by using spectrum analysis on state space reconstruction Authors: Ruiz Vegas, Francisco Javier; Samà Monsonís, Albert; Pérez López, Carlos; Català Mallofré, Andreu Abstract: This paper describes a method for identifying a person while walking by means of a triaxial accelerometer attached to the waist. Human gait is considered as a dynamical system whose attractor is reconstructed by time delay vectors. A Spectral Analysis on the state space reconstruction is used to characterize the attractor. Parameters involved in the reconstruction and characterization process are evaluated to examine the effect in gait identification. The method is tested in five volunteers, obtaining an overall accuracy of 92%. 2012-01-27T13:16:04Z