Journal articles: 'Physical HRI'

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Aspragathos, Nikos, Vassilis Moulianitis, and Panagiotis Koustoumpardis. "Special Issue on Human–Robot Interaction (HRI)." Robotica 38, no. 10 (October 2020): 1715–16. http://dx.doi.org/10.1017/s0263574720000946.

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Human–robot interaction (HRI) is one of the most rapidly growing research fields in robotics and promising for the future of robotics technology. Despite the fact that numerous significant research results in HRI have been presented during the last years, there are still challenges in several critical topics of HRI, which could be summarized as: (i) collision and safety, (ii) virtual guides, (iii) cooperative manipulation, (iv) teleoperation and haptic interfaces, and (v) learning by observation or demonstration. In physical HRI research, the complementarity of the human and the robot capabilities is carefully considered for the advancement of their cooperation in a safe manner. New advanced control systems should be developed so the robot will acquire the ability to adapt easily to the human intentions and to the given task. The possible applications requiring co-manipulation are cooperative transportation of bulky and heavy objects, manufacturing processes such as assembly and surgery.

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Vallverdú, J., D. Casacuberta, T. Nishida, Y. Ohmoto, S. Moran, and S. Lázare. "From Computational Emotional Models to HRI." International Journal of Robotics Applications and Technologies 1, no. 2 (July 2013): 11–25. http://dx.doi.org/10.4018/ijrat.2013070102.

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During the previous stage of our research we developed a computer simulation (called ‘The Panic Room’ or, more simply, ‘TPR’) dealing with synthetic emotions. The authors were developing the first steps towards an evolutionary machine, defining the key elements involved in the development of complex actions (that is, creating a physical intuitive ontology, from a bottom-up approach). After the successful initial results of TPR, the authors considered that it would be necessary to develop a new simulation (which the authors will call “TPR 2.0.”), more complex and with better visualisation characteristics. After this, the authors created a simulation on emotions evolution with genetic algorithms (Game Of Emotions, GOE) which results on the value of specific emotions into social domains were applied to HRI real robotic environments at Nishidalab (Japan), focused into the notions of empathy and proxemics. There the authors performed an experiment that involved humans from two different native-speaking cultures and one robot introduced as three different machines. The final HRI obtained data was analyzed under several research field perspectives: psychology, philosophy, robotic sciences and anthropology.

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Bonarini, Andrea. "Communication in Human-Robot Interaction." Current Robotics Reports 1, no. 4 (August 27, 2020): 279–85. http://dx.doi.org/10.1007/s43154-020-00026-1.

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Abstract Purpose of Review To present the multi-faceted aspects of communication between robot and humans (HRI), putting in evidence that it is not limited to language-based interaction, but it includes all aspects that are relevant in communication among physical beings, exploiting all the available sensor channels. Recent Findings For specific purposes, machine learning algorithms could be exploited when data sets and appropriate algorithms are available. Summary Together with linguistic aspects, physical aspects play an important role in HRI and make the difference with respect to the more limited human-computer interaction (HCI). A review of the recent literature about the exploitation of different interaction channels is presented. The interpretation of signals and the production of appropriate communication actions require to consider psychological, sociological, and practical aspects, which may affect the performance. Communication is just one of the functionalities of an interactive robot and, as all the others, will need to be benchmarked to support the possibility for social robots to reach a real market.

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Ikemoto, Shuhei, Takashi Minato, and Hiroshi Ishiguro. "Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help." Applied Bionics and Biomechanics 5, no. 4 (2008): 213–23. http://dx.doi.org/10.1155/2008/360304.

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In this paper, we investigate physical human–robot interaction (PHRI) as an important extension of traditional HRI research. The aim of this research is to develop a motor learning system that uses physical help from a human helper. We first propose a new control system that takes advantage of inherent joint flexibility. This control system is applied on a new humanoid robot called CB2. In order to clarify the difference between successful and unsuccessful interaction, we conduct an experiment where a human subject has to help the CB2robot in its rising-up motion. We then develop a new measure that demonstrates the difference between smooth and non-smooth physical interactions. An analysis of the experiment’s data, based on the introduced measure, shows significant differences between experts and beginners in human–robot interaction.

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Ferland, François, Aurélien Reveleau, Francis Leconte, Dominic Létourneau, and François Michaud. "Coordination mechanism for integrated design of Human-Robot Interaction scenarios." Paladyn, Journal of Behavioral Robotics 8, no. 1 (December 20, 2017): 100–111. http://dx.doi.org/10.1515/pjbr-2017-0006.

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Abstract The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA’s generic coordination mechanism of behavior-producing modules, which allows to address a wide range or cognitive capabilities ranging from assisted teleoperation to selective attention and episodic memory. Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal teleoperation with physical guidance interaction, fetching-and delivering and tour-guiding.

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Fuentetaja, Raquel, Angel García-Olaya, Javier García, José Carlos González, and Fernando Fernández. "An Automated Planning Model for HRI: Use Cases on Social Assistive Robotics." Sensors 20, no. 22 (November 14, 2020): 6520. http://dx.doi.org/10.3390/s20226520.

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Using Automated Planning for the high level control of robotic architectures is becoming very popular thanks mainly to its capability to define the tasks to perform in a declarative way. However, classical planning tasks, even in its basic standard Planning Domain Definition Language (PDDL) format, are still very hard to formalize for non expert engineers when the use case to model is complex. Human Robot Interaction (HRI) is one of those complex environments. This manuscript describes the rationale followed to design a planning model able to control social autonomous robots interacting with humans. It is the result of the authors’ experience in modeling use cases for Social Assistive Robotics (SAR) in two areas related to healthcare: Comprehensive Geriatric Assessment (CGA) and non-contact rehabilitation therapies for patients with physical impairments. In this work a general definition of these two use cases in a unique planning domain is proposed, which favors the management and integration with the software robotic architecture, as well as the addition of new use cases. Results show that the model is able to capture all the relevant aspects of the Human-Robot interaction in those scenarios, allowing the robot to autonomously perform the tasks by using a standard planning-execution architecture.

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Story, Matthew, Cyril Jaksic, Sarah R. Fletcher, Philip Webb, Gilbert Tang, and Jonathan Carberry. "Evaluating the use of human aware navigation in industrial robot arms." Paladyn, Journal of Behavioral Robotics 12, no. 1 (January 1, 2021): 379–91. http://dx.doi.org/10.1515/pjbr-2021-0024.

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Abstract Although the principles followed by modern standards for interaction between humans and robots follow the First Law of Robotics popularized in science fiction in the 1960s, the current standards regulating the interaction between humans and robots emphasize the importance of physical safety. However, they are less developed in another key dimension: psychological safety. As sales of industrial robots have been increasing over recent years, so has the frequency of human–robot interaction (HRI). The present article looks at the current safety guidelines for HRI in an industrial setting and assesses their suitability. This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics. This article highlights limitations in current research, where the relationships established in mobile robotics have not been carried over to industrial robot arms. To understand this, it is necessary to focus less on how a robot arm avoids humans and more on how humans react when a robot is within the same space. Currently, the safety guidelines are behind the technological advance, however, with further studies aimed at understanding HRI and applying it to newly developed path finding and obstacle avoidance methods, science fiction can become science fact.

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Engels, D., N. Bade, J. Studt, and H. Fink. "ROSAT Selected Interacting Galaxies with Narrow Emission Lines." Symposium - International Astronomical Union 159 (1994): 372. http://dx.doi.org/10.1017/s0074180900175655.

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In the context of an identification program of sources from the ROSAT All-Sky Survey (RASS) on Schmidt objective prism plates (Bade et al. 1992a, b) we discovered two galaxy pairs, which contain a narrow-line Seyfert 1 component with an X-ray luminosity of Lx ∼ 1044 erg s−1 and an HII–region galaxy. Apparently they are interacting. Their redshifts are 0.1 < z < 0.3 and their brightnesses 17.5 < B < 19.5. A third one was found among EINSTEIN sources. Typical separations between the components are 10″. Near the pairs other galaxies were found, and although their physical association is not confirmed spectroscopically it is quite probable that they form a small cluster of galaxies. ROSAT HRI observations indicate that the X-ray emission is not extended and originate from the AGN alone. It is remarkable that the AGN in all physical pairs identified so far have rather narrow permitted emission lines with linewidths ≤ 1500 km s−1.

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Khan, Said G., Guido Herrmann, Alexander Lenz, Mubarak Al Grafi, Tony Pipe, and Chris Melhuish. "Compliance Control and Human–Robot Interaction: Part II — Experimental Examples." International Journal of Humanoid Robotics 11, no. 03 (September 2014): 1430002. http://dx.doi.org/10.1142/s0219843614300025.

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Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom (DOF) of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot's body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment.

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Adamides, George, Christos Katsanos, Yisrael Parmet, Georgios Christou, Michalis Xenos, Thanasis Hadzilacos, and Yael Edan. "HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer." Applied Ergonomics 62 (July 2017): 237–46. http://dx.doi.org/10.1016/j.apergo.2017.03.008.

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Kim, Deok Ha, Dongun Lee, Yeongjin Kim, Sungjun Kim, and Dongjun Shin. "A Power Assistant Algorithm Based on Human–Robot Interaction Analysis for Improving System Efficiency and Riding Experience of E-Bikes." Sustainability 13, no. 2 (January 14, 2021): 768. http://dx.doi.org/10.3390/su13020768.

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As robots are becoming more accessible in our daily lives, the interest in physical human–robot interaction (HRI) is rapidly increasing. An electric bicycle (E-bike) is one of the best examples of HRI, because a rider simultaneously actuates the rear wheel of the E-bike in close proximity. Most commercially available E-bikes employ a control methodology known as a power assistant system (PAS). However, this type of system cannot offer fully efficient power assistance for E-bikes since it does not account for the biomechanics of riders. In order to address this issue, we propose a control algorithm to increase the efficiency and enhance the riding experience of E-bikes by implementing the control parameters acquired from analyses of human leg kinematics and muscular dynamics. To validate the proposed algorithm, we have evaluated and compared the performance of E-bikes in three different conditions: (1) without power assistance, (2) assistance with a PAS algorithm, and (3) assistance with the proposed algorithm. Our algorithm required 5.09% less human energy consumption than the PAS algorithm and 11.01% less energy consumption than a bicycle operated without power assistance. Our algorithm also increased velocity stability by 11.89% and acceleration stability by 27.28%, and decreased jerk by 12.36% in comparison to the PAS algorithm.

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Tao, Hai, Md Arafatur Rahman, Wang Jing, Yafeng Li, Jing Li, Ahmed Al-Saffar, Renrui Zhang, and Sinan Q. Salih. "Interaction modeling and classification scheme for augmenting the response accuracy of human-robot interaction systems." Work 68, no. 3 (March 26, 2021): 903–12. http://dx.doi.org/10.3233/wor-203424.

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BACKGROUND: Human-robot interaction (HRI) is becoming a current research field for providing granular real-time applications and services through physical observation. Robotic systems are designed to handle the roles of humans and assist them through intrinsic sensing and commutative interactions. These systems handle inputs from multiple sources, process them, and deliver reliable responses to the users without delay. Input analysis and processing is the prime concern for the robotic systems to understand and resolve the queries of the users. OBJECTIVES: In this manuscript, the Interaction Modeling and Classification Scheme (IMCS) is introduced to improve the accuracy of HRI. This scheme consists of two phases, namely error classification and input mapping. In the error classification process, the input is analyzed for its events and conditional discrepancies to assign appropriate responses in the input mapping phase. The joint process is aided by a linear learning model to analyze the different conditions in the event and input detection. RESULTS: The performance of the proposed scheme shows that it is capable of improving the interaction accuracy by reducing the ratio of errors and interaction response by leveraging the information extraction from the discrete and successive human inputs. CONCLUSION: The fetched data are analyzed by classifying the errors at the initial stage to achieve reliable responses.

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Turp, Mısra, José Carlos González, José Carlos Pulido, and Fernando Fernández. "Developing a Robot-Guided Interactive Simon Game for Physical and Cognitive Training." International Journal of Humanoid Robotics 16, no. 01 (February 2019): 1950003. http://dx.doi.org/10.1142/s0219843619500038.

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Enveloping cognitive or physical rehabilitation into a game highly increases the patients’ commitment with their treatment. Specially with children, keeping them motivated is a very time-consuming work, so therapists are demanding tools to help them with this task. NAOTherapist is a generic robotic architecture that uses Automated Planning techniques to autonomously drive noncontact upper-limb rehabilitation sessions for children with a humanoid NAO robot. Our aim is to develop more robotic games for this platform to enrich its variability and possibilities of interaction. The goal of this work is to present our first attempt to develop a different, more complex game that reuses the previous architecture. We contribute with the design description of a novel robotic Simon game that employs upper-limb poses instead of colors and could qualify as a cognitive and physical training. Statistics of evaluation tests with 14 adults and 56 children are displayed and the outcomes are analyzed in terms of human–robot interaction (HRI) quality. The results demonstrate the application-domain generalization capabilities of the NAOTherapist architecture and give an insight to further analyze the therapeutic benefits of the new developed Simon game.

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Koskinopoulou, Maria, Michail Maniadakis, and Panos Trahanias. "Speed Adaptation in Learning from Demonstration through Latent Space Formulation." Robotica 38, no. 10 (October 17, 2019): 1867–79. http://dx.doi.org/10.1017/s0263574719001449.

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SUMMARYPerforming actions in a timely manner is an indispensable aspect in everyday human activities. Accordingly, it has to be present in robotic systems if they are going to seamlessly interact with humans. The current work addresses the problem of learning both the spatial and temporal characteristics of human motions from observation. We formulate learning as a mapping between two worlds (the observed and the action ones). This mapping is realized via an abstract intermediate representation termed “Latent Space.” Learned actions can be subsequently invoked in the context of more complex human–robot interaction (HRI) scenarios. Unlike previous learning from demonstration (LfD) methods that cope only with the spatial features of an action, the formulated scheme effectively encompasses spatial and temporal aspects. Learned actions are reproduced under the high-level control of a time-informed task planner. During the implementation of the studied scenarios, temporal and physical constraints may impose speed adaptations in the reproduced actions. The employed latent space representation readily supports such variations, giving rise to novel actions in the temporal domain. Experimental results demonstrate the effectiveness of the proposed scheme in the implementation of HRI scenarios. Finally, a set of well-defined evaluation metrics are introduced to assess the validity of the proposed approach considering the temporal and spatial consistency of the reproduced behaviors.

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Butler, Rebecca, Zoe Pruitt, and Eva Wiese. "The Effect of Social Context on the Mind Perception of Robots." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 63, no. 1 (November 2019): 230–34. http://dx.doi.org/10.1177/1071181319631010.

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As social robots are increasingly introduced into our everyday lives, an emphasis on improving the human-robot interaction (HRI), particularly through increased mind perception, is necessary. Substantial research has been conducted that demonstrates how manipulations to a robot’s physical appearance or behavior increases mind perception, yet little has been done to examine the effects of the social environment. This study aims to identify the impact of social context on mind perception by comparing mind perception ratings assigned to robots viewed in a human context with those assigned to robots viewed in a robot context. Participants were assigned to one of the two contexts in which they viewed images of 5 control robots with either 15 humans or 15 robots and answered questions that measured the degree to which they ascribed mind to the agents. A t-test comparing the overall average mind ratings of the control robots between contexts showed a significant difference between the two, with the robots in the robot context having a higher average rating than those in the human context. This result demonstrates a need to consider the social context in which the HRI will take place when designing for the best interaction. Considering that most robots in the foreseeable future will be viewed in a human context, this result also calls for additional research on ways to further increase mind perception to combat the negative effect of the most likely social environment.

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Roussou, Konstantina, Alexandros K. Nikolaidis, Fani Ziouti, Aristidis Arhakis, Konstantinos Arapostathis, and Elisabeth A. Koulaouzidou. "Cytotoxic Evaluation and Determination of Organic and Inorganic Eluates from Restorative Materials." Molecules 26, no. 16 (August 13, 2021): 4912. http://dx.doi.org/10.3390/molecules26164912.

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Over the last years, diverse commercial resin-based composites have dominated as dental filling materials. The purpose of the present study was to determine organic and inorganic eluates from five restorative materials using GC/MS and ICP–OES and to compare the effect on cell survival of human gingival fibroblasts of a conventional and a bioactive resin. Five commercially available restorative materials were employed for this study: ActivaTM Bioactive Restorative, ENA HRi, Enamel plus HRi Biofunction, Fuji II LC Capsule, and Fuji IX Capsule. Disks that were polymerized with a curing LED light or left to set were immersed in: 1 mL methanol or artificial saliva for GC/MS analysis, 5mL deionized water for ICP–OES, and 5mL of culture medium for cell viability. Cell viability was investigated with a modified staining sulforhodamine B assay.The following organic substances were detected: ACP, BHT, BPA, 1,4-BDDMA, CQ, DBP, DMABEE, HEMA, MCE, MeHQ, MOPA, MS, TMPTMA, and TPSb and the ions silicon, aluminum, calcium, sodium, and barium. Activa Bioactive Restorative was found to be biocompatible. Elution of organic substances depended on material’s composition, the nature of the solvent and the storage time. Ions’ release depended on material’s composition and storage time. The newly introduced bioactive restorative was found to be more biocompatible.

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Khan, Said G., Guido Herrmann, Mubarak Al Grafi, Tony Pipe, and Chris Melhuish. "Compliance Control and Human–Robot Interaction: Part 1 — Survey." International Journal of Humanoid Robotics 11, no. 03 (September 2014): 1430001. http://dx.doi.org/10.1142/s0219843614300013.

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Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

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Walden, Justin, Eun Hwa Jung, S. Shyam Sundar, and Ariel Celeste Johnson. "Mental models of robots among senior citizens." Interaction Studies 16, no. 1 (August 17, 2015): 68–88. http://dx.doi.org/10.1075/is.16.1.04wal.

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An emerging topic in robot design and scholarly research is socially assistive robots (SAR) for senior citizens. Compared to robots in other sectors, SARs can augment their assistive-utilitarian functions by offering social, emotional, and cognitive support to seniors. This study draws upon interviews with 45 senior citizens to understand this group’s expectations for human-robot interactions (HRI) and their anticipated needs for robots. Our grounded theory analysis suggests that senior citizens expect robots to meet three types of needs: physical, informational, and interactional. Furthermore, they seek assurances that they will have complete control over interactions with robots. Findings show that seniors’ mental models about robots are shaped by their recent experiences with advanced communications technologies and mediated representations of robots in popular culture. Findings are discussed in light of practical design considerations and two theoretical perspectives.

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GORIS, KRISTOF, JELLE SALDIEN, BRAM VANDERBORGHT, and DIRK LEFEBER. "MECHANICAL DESIGN OF THE HUGGABLE ROBOT PROBO." International Journal of Humanoid Robotics 08, no. 03 (September 2011): 481–511. http://dx.doi.org/10.1142/s0219843611002563.

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This paper reports on the mechanical design of the huggable robot Probo. Its intentions include human–robot interaction (HRI), both physical and cognitive, with a special focus on children. Since most of the communication passes through nonverbal cues and since people rely on face-to-face communication, the focus of Probo's communicative skills lies initially on facial expressions. The robot has 20 high-precision motors in its head and body. They are used to actuate the ears, eyebrows, eyelids, eyes, trunk, mouth, and neck. To build safety aspects intrinsically in the robot's hardware, all the motors are linked with flexible components. In case of a collision, the robot will be elastic and safety will be ensured. The mechanics of Probo are covered by protecting plastic shells, foam, and soft fur. This gives Probo's animal-like look and makes the robot huggable.

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Kędzierski, Jan, Paweł Kaczmarek, Michał Dziergwa, and Krzysztof Tchoń. "Design for a Robotic Companion." International Journal of Humanoid Robotics 12, no. 01 (March 2015): 1550007. http://dx.doi.org/10.1142/s0219843615500073.

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We can learn from the history of robotics that robots are getting closer to humans, both in the physical as well as in the social sense. The development line of robotics is marked with the triad: industrial — assistive — social robots, that leads from human–robot separation toward human–robot interaction. A social robot is a robot able to act autonomously and to interact with humans using social cues. A social robot that can assist a human for a longer period of time is called a robotic companion. This paper is devoted to the design and control issues of such a robotic companion, with reference to the robot FLASH designed at the Wroclaw University of Technology within the European project LIREC, and currently developed by the authors. Two HRI experiments with FLASH demonstrate the human attitude toward FLASH. A trial testing of the robot's emotional system is described.

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Goudfrooij, Paul, and Ginevra Trinchieri. "The Nature of the Dusty Ionized Gas in NGC 5846: (And Other Elliptical Galaxies ?)." Symposium - International Astronomical Union 186 (1999): 199. http://dx.doi.org/10.1017/s0074180900112598.

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We present new optical imagery and ROSAT HRI X-ray imagery of the elliptical galaxy NGC 5846. A filamentary dust lane is detected in its central region, with a morphology strikingly similar to that observed for the optical nebulosity and the X-ray emission (cf. Fig. 1). A physical connection between the different phases of the interstellar medium therefore seems likely. The energy deposited from the hot gas into heating of the dust grains is consistent with the temperature distribution of the X-ray-emitting gas, which is found to be lowest in the dusty regions. The optical extinction of the dust is consistent with the Galactic extinction curve. We argue that the dust as well as the optical nebulosity are products of an interaction with a small, gas-rich galaxy, not remnants of a cooling flow. A full account of this work is currently in press in Astronomy and Astrophysics, and a preprint is available through http://www.stsci.edu/science/preprints/prep1191/prep1191.html.

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Mitchell, Daxton, HeeSun Choi, and Justin M. Haney. "Safety Perception and Behaviors during Human-Robot Interaction in Virtual Environments." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 64, no. 1 (December 2020): 2087–91. http://dx.doi.org/10.1177/1071181320641506.

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Virtual Reality (VR) technology is increasingly used to simulate and study human-robot interaction (HRI) because of its low cost and minimal risk to participants. The current study investigated whether perceived safety and safety-related behaviors during human-robot interaction can be adequately examined in virtual environments. Two prior studies that examined perceived safety and proxemics behavior during human-robot interaction in real environments were replicated in virtual environments using Head-Mounted Display (HMD) VR. Our results indicated that although perceived safety during virtual human-robot interaction is higher than during physical interaction in some situations, the virtual simulation of robots induced safety perception and behaviors comparable to those found in real environments and some of the findings of the previous human-robot interaction studies were replicable in a virtual environment. These findings suggest that VR simulation is a valid and useful method for research and worker training; however, it may be less sensitive than real environments.

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Nawaz, Ayesha, Sana Basheer, Awais Masood Ahmed, Haroon Rashid, Abdul Nasir, and Shamim Umer. "HEALTH RISK ASSESSMENT OF HEAVY METALS DUE TO UNTREATED WASTEWATER IRRIGATED VEGETABLES." Earth Sciences Pakistan 4, no. 1 (March 16, 2020): 25–33. http://dx.doi.org/10.26480/esp.01.2020.25.33.

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The present research study was conducted on Health risk assessment of heavy metals due to untreated wastewater irrigated vegetables in Faisalabad city. Samples of soil, groundwater, wastewater and vegetables were collected from different regions of the city where wastewater irrigation was in practice. The ground water and wastewater samples were analyzed for all the basic physical and chemical parameters and heavy metals like (Nickel, Lead, Cadmium, Zinc, Copper and Chromium). Most of the chemical parameters where in access to standard limits of USEPA. It was found that the majority the heavy metal concentrations in soil are deteriorated because of wastewater. Analysis of heavy metals in Vegetables that their concentrations in vegetables were in the order of Zn>Ni>Cr>Cu>Pb>Cd. The concentration of heavy metals like (Zn, Ni, Cr and Cu) in vegetables were above the safe limit. While TF was lower for all metals except Cd. HRI was maximum for Pb and Ni in all vegetables. HQ was maximum for Ni, Pb and Cd. The vegetables tested were not safe for human use, especially those directly consumed by human beings

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Kim, Dongjin, Seungyong Han, Taewi Kim, Changhwan Kim, Doohoe Lee, Daeshik Kang, and Je-Sung Koh. "Design of a Sensitive Balloon Sensor for Safe Human–Robot Interaction." Sensors 21, no. 6 (March 19, 2021): 2163. http://dx.doi.org/10.3390/s21062163.

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As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged.

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Kumar Shastha, Tejas, Maria Kyrarini, and Axel Gräser. "Application of Reinforcement Learning to a Robotic Drinking Assistant." Robotics 9, no. 1 (December 18, 2019): 1. http://dx.doi.org/10.3390/robotics9010001.

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Meal assistant robots form a very important part of the assistive robotics sector since self-feeding is a priority activity of daily living (ADL) for people suffering from physical disabilities like tetraplegia. A quick survey of the current trends in this domain reveals that, while tremendous progress has been made in the development of assistive robots for the feeding of solid foods, the task of feeding liquids from a cup remains largely underdeveloped. Therefore, this paper describes an assistive robot that focuses specifically on the feeding of liquids from a cup using tactile feedback through force sensors with direct human–robot interaction (HRI). The main focus of this paper is the application of reinforcement learning (RL) to learn what the best robotic actions are, based on the force applied by the user. A model of the application environment is developed based on the Markov decision process and a software training procedure is designed for quick development and testing. Five of the commonly used RL algorithms are investigated, with the intention of finding the best fit for training, and the system is tested in an experimental study. The preliminary results show a high degree of acceptance by the participants. Feedback from the users indicates that the assistive robot functions intuitively and effectively.

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Bennett, Casey. "Emergent Robotic Personality Traits via Agent-Based Simulation of Abstract Social Environments." Information 12, no. 3 (February 28, 2021): 103. http://dx.doi.org/10.3390/info12030103.

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This paper discusses the creation of an agent-based simulation model for interactive robotic faces, built based on data from physical human–robot interaction experiments, to explore hypotheses around how we might create emergent robotic personality traits, rather than pre-scripted ones based on programmatic rules. If an agent/robot can visually attend and behaviorally respond to social cues in its environment, and that environment varies, then idiosyncratic behavior that forms the basis of what we call a “personality” should theoretically be emergent. Here, we evaluate the stability of behavioral learning convergence in such social environments to test this idea. We conduct over 2000 separate simulations of an agent-based model in scaled-down, abstracted forms of the environment, each one representing an “experiment”, to see how different parameters interact to affect this process. Our findings suggest that there may be systematic dynamics in the learning patterns of an agent/robot in social environments, as well as significant interaction effects between the environmental setup and agent perceptual model. Furthermore, learning from deltas (Markovian approach) was more effective than only considering the current state space. We discuss the implications for HRI research, the design of interactive robotic faces, and the development of more robust theoretical frameworks of social interaction.

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Nakagawa, Toshiyuki, and Kazunori Ohta. "Quercetin Regulates the Integrated Stress Response to Improve Memory." International Journal of Molecular Sciences 20, no. 11 (June 5, 2019): 2761. http://dx.doi.org/10.3390/ijms20112761.

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The initiation of protein synthesis is suppressed under several stress conditions, inducing phosphorylation of the α-subunit of the eukaryotic initiation factor 2 (eIF2α), thereby inactivating the GTP-GDP recycling protein eIF2B. By contrast, the mammalian activating transcription factor 4 (ATF4, also known as cAMP response element binding protein 2 (CREB2)) is still translated under stress conditions. Four protein kinases (general control nonderepressible-2 (GCN2) kinase, double-stranded RNA-activated protein kinase (PKR), PKR-endoplasmic reticulum (ER)-related kinase (PERK), and heme-regulated inhibitor kinase (HRI)) phosphorylate eIF2α in the presence of stressors such as amino acid starvation, viral infection, ER stress, and heme deficiency. This signaling reaction is known as the integrated stress response (ISR). Here, we review ISR signaling in the brain in a mouse model of Alzheimer’s disease (AD). We propose that targeting ISR signaling with quercetin has therapeutic potential, because it suppresses amyloid-β (Aβ) production in vitro and prevents cognitive impairments in a mouse model of AD.

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Wolniakowski, Adam, Charalampos Valsamos, Kanstantsin Miatliuk, Vassilis Moulianitis, and Nikos Aspragathos. "Optimization of Dynamic Task Location within a Manipulator’s Workspace for the Utilization of the Minimum Required Joint Torques." Electronics 10, no. 3 (January 26, 2021): 288. http://dx.doi.org/10.3390/electronics10030288.

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The determination of the optimal position of a robotic task within a manipulator’s workspace is crucial for the manipulator to achieve high performance regarding selected aspects of its operation. In this paper, a method for determining the optimal task placement for a serial manipulator is presented, so that the required joint torques are minimized. The task considered comprises the exercise of a given force in a given direction along a 3D path followed by the end effector. Given that many such tasks are usually conducted by human workers and as such the utilized trajectories are quite complex to model, a Human Robot Interaction (HRI) approach was chosen to define the task, where the robot is taught the task trajectory by a human operator. Furthermore, the presented method considers the singular free paths of the manipulator’s end-effector motion in the configuration space. Simulation results are utilized to set up a physical execution of the task in the optimal derived position within a UR-3 manipulator’s workspace. For reference the task is also placed at an arbitrary “bad” location in order to validate the simulation results. Experimental results verify that the positioning of the task at the optimal location derived by the presented method allows for the task execution with minimum joint torques as opposed to the arbitrary position.

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Mimura, Junsei, Atsushi Inose-Maruyama, Shusuke Taniuchi, Kunio Kosaka, Hidemi Yoshida, Hiromi Yamazaki, Shuya Kasai, et al. "Concomitant Nrf2- and ATF4-activation by Carnosic Acid Cooperatively Induces Expression of Cytoprotective Genes." International Journal of Molecular Sciences 20, no. 7 (April 5, 2019): 1706. http://dx.doi.org/10.3390/ijms20071706.

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: Carnosic acid (CA) is a phytochemical found in some dietary herbs, such as Rosmarinus officinalis L., and possesses antioxidative and anti-microbial properties. We previously demonstrated that CA functions as an activator of nuclear factor, erythroid 2 (NF-E2)-related factor 2 (Nrf2), an oxidative stress-responsive transcription factor in human and rodent cells. CA enhances the expression of nerve growth factor (NGF) and antioxidant genes, such as HO-1 in an Nrf2-dependent manner in U373MG human astrocytoma cells. However, CA also induces NGF gene expression in an Nrf2-independent manner, since 50 μM of CA administration showed striking NGF gene induction compared with the classical Nrf2 inducer tert-butylhydroquinone (tBHQ) in U373MG cells. By comparative transcriptome analysis, we found that CA activates activating transcription factor 4 (ATF4) in addition to Nrf2 at high doses. CA activated ATF4 in phospho-eIF2α- and heme-regulated inhibitor kinase (HRI)-dependent manners, indicating that CA activates ATF4 through the integrated stress response (ISR) pathway. Furthermore, CA activated Nrf2 and ATF4 cooperatively enhanced the expression of NGF and many antioxidant genes while acting independently to certain client genes. Taken together, these results represent a novel mechanism of CA-mediated gene regulation evoked by Nrf2 and ATF4 cooperation.

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Sakai, Takahiro, Ryosuke Kurokawa, Shin-ichi Hirano, and Jun Imai. "Hydrogen Indirectly Suppresses Increases in Hydrogen Peroxide in Cytoplasmic Hydroxyl Radical-Induced Cells and Suppresses Cellular Senescence." International Journal of Molecular Sciences 20, no. 2 (January 21, 2019): 456. http://dx.doi.org/10.3390/ijms20020456.

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Bacteria inhabiting the human gut metabolize microbiota-accessible carbohydrates (MAC) contained in plant fibers and subsequently release metabolic products. Gut bacteria produce hydrogen (H2), which scavenges the hydroxyl radical (•OH). Because H2 diffuses within the cell, it is hypothesized that H2 scavenges cytoplasmic •OH (cyto •OH) and suppresses cellular senescence. However, the mechanisms of cyto •OH-induced cellular senescence and the physiological role of gut bacteria-secreted H2 have not been elucidated. Based on the pyocyanin-stimulated cyto •OH-induced cellular senescence model, the mechanism by which cyto •OH causes cellular senescence was investigated by adding a supersaturated concentration of H2 into the cell culture medium. Cyto •OH-generated lipid peroxide caused glutathione (GSH) and heme shortage, increased hydrogen peroxide (H2O2), and induced cellular senescence via the phosphorylation of ataxia telangiectasia mutated kinase serine 1981 (p-ATMser1981)/p53 serine 15 (p-p53ser15)/p21 and phosphorylation of heme-regulated inhibitor (p-HRI)/phospho-eukaryotic translation initiation factor 2 subunit alpha serine 51 (p-eIF2α)/activating transcription factor 4 (ATF4)/p16 pathways. Further, H2 suppressed increased H2O2 by suppressing cyto •OH-mediated lipid peroxide formation and cellular senescence induction via two pathways. H2 produced by gut bacteria diffuses throughout the body to scavenge cyto •OH in cells. Therefore, it is highly likely that gut bacteria-produced H2 is involved in intracellular maintenance of the redox state, thereby suppressing cellular senescence and individual aging. Hence, H2 produced by intestinal bacteria may be involved in the suppression of aging.

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Harris, D. E., J. D. Silverman, G. Hasinger, and I. Lehmann. "Spatial corrections of ROSAT HRI observations." Astronomy and Astrophysics Supplement Series 133, no. 3 (December 1998): 431–36. http://dx.doi.org/10.1051/aas:1998333.

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Vermeij, R., and J. M. van der Hulst. "The physical structure of Magellanic Cloud HII regions." Astronomy & Astrophysics 391, no. 3 (August 9, 2002): 1081–95. http://dx.doi.org/10.1051/0004-6361:20020864.

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Vermeij, R., F. Damour, J. M. van der Hulst, and J-.P. Baluteau. "The physical structure of Magellanic Cloud HII regions." Astronomy & Astrophysics 390, no. 2 (July 12, 2002): 649–65. http://dx.doi.org/10.1051/0004-6361:20020424.

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Xia, Shuai, Wei Xu, Qian Wang, Cong Wang, Chen Hua, Weihua Li, Lu Lu, and Shibo Jiang. "Peptide-Based Membrane Fusion Inhibitors Targeting HCoV-229E Spike Protein HR1 and HR2 Domains." International Journal of Molecular Sciences 19, no. 2 (February 6, 2018): 487. http://dx.doi.org/10.3390/ijms19020487.

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Sung, Hyun-Il. "MODELING FOR PROBING THE PHYSICAL STATES OF HII REGIONS." Publications of The Korean Astronomical Society 26, no. 1 (March 31, 2011): 25–35. http://dx.doi.org/10.5303/pkas.2011.26.1.025.

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Goradnova, K., Lj Kllsarova, and A. Simov. "Physical Characterization and Dissolution Properties of Verapamil. HCI Coprecipitates." Drug Development and Industrial Pharmacy 21, no. 3 (January 1995): 383–91. http://dx.doi.org/10.3109/03639049509048119.

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Gemson, Donald H., and Richard P. Sloan. "Efficacy of Computerized Health Risk Appraisal as Part of a Periodic Health Examination at the Worksite." American Journal of Health Promotion 9, no. 6 (July 1995): 462–66. http://dx.doi.org/10.4278/0890-1171-9.6.462.

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Purpose. To evaluate the efficacy of computerized health risk appraisal (HRA) when it is incorporated into a periodic health examination at the worksite. Design. A randomized, controlled trial comparing change in health behaviors for a 6-month follow-up period was conducted. Setting. A large financial services firm in New York City. Subjects. A total of 161 employees who volunteered for a worksite periodic health examination. Intervention. All employees received a physician-based history and physical examination, including laboratory tests, and were counseled on the basis of the results. Half the employees were randomly assigned, to receive an HRA report, with counseling from the 1984 version of the Centers for Disease Control HRA, whereas the other half completed the HRA questionnaire but received no HRA report or counseling. Measures. Blood pressure, cholesterol, and weight were measured by project staff physical activity and seatbelt use were measured by self-report, and change in computerized appraised age was calculated by the HRA program. Results. Evaluation of the 90 participants who returned for follow-up revealed a statistically significant improvement in computerized appraised age and physical activity in those who had received the HRA report and counseling compared with those who had not (p <.05), and also showed trends toward greater improvement in blood pressure, weight, and seatbelt use. Conclusions. Results provide support for the efficacy of HRA when incorporated into a periodic health examination at the worksite.

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Triggs-Raine, Barbara L., and Peter C. Loewen. "Physical characterization of katG, encoding catalase HPI of Escherichia coli." Gene 52, no. 2-3 (January 1987): 121–28. http://dx.doi.org/10.1016/0378-1119(87)90038-2.

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Shimakawa, Rhythm, Tadayuki Kodama, Masao Hayashi, Ken-ichi Tadaki, Tomoko L. Suzuki, Yusei Koyama, Ichi Tanaka, and Moegi Yamamoto. "Toward unveiling internal properties of Hii regions and their connections at the cosmic noon era." Proceedings of the International Astronomical Union 11, S319 (August 2015): 53. http://dx.doi.org/10.1017/s1743921315010030.

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AbstractThe redshift interval z = 2–3 is known as the cosmic noon that is the most active era of star formation across the Universe (Hopkins & Beacom 2006). In the past decade, many authors have investigated global properties of star-forming (SF) galaxies in this turbulent era, such as gas fractions and gaseous metallicities (e.g. Erb et al. 2006). With those achievements, we are going on to the next stage to understand more details i.e. those physical parameters in star-forming regions. Recent advent of near-infrared instruments typified by MOSFIRE on the Keck telescope, enable us with identifying the physical parameters of Hii regions in ‘typical’ SF galaxies individually (Steidel et al. 2014). Recent highlights suggest higher electron densities, higher ionization parameters, and harder UV radiation fields may be common.In order to know how galaxy evolution physically correlates with the natures of their star-forming regions, we have explored relationships between the electron density (ne) of ionized gas from the oxygen line ratio and other physical properties, based on the deep spectra of Hα emitters at z = 2.5 by the MOSFIRE. MOSFIRE for the first time provides ne of the galaxies at high-z with a high level of confidence. The result shows the specific star formation rate (sSFR) and the SFR surface density (ΣSFR) are correlated with ne (Shimakawa et al. 2015). The ne-ΣSFR relation could be linked to the star formation law in Hii regions if we assume that hydrogen in Hii regions is fully-ionized. Otherwise, more active star formation per unit area (higher ΣSFRs), may cause higher ionization states. However, we need some specific concerns that obtained physical parameters should depend on the scale dependence, since typical size of Hii region is only <100 pc despite that we study physical states of entire galaxies. Thus we obtain surface-brightness-weighted and ensemble averaged line fluxes for the entire galaxy or the part that falls into the slit width (a few kpc scale size). The thirty meter telescope (TMT) is a powerful instrument to resolve such a difficulty, since its spatial resolution reaches <100 pc on the physical scale at z ~ 2 by AO assistance.

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Feagan, B., S. Lee, G. Lichtenstein, E. Loftus, D. Binion, J. Guzman, R. Bloomfield, and D. Wolf. "Patient self-assessed HBI correlates highly with physician-assessed HBI in the SECURE registry." Inflammatory Bowel Diseases 17, suppl_1 (January 1, 2011): S45. http://dx.doi.org/10.1093/ibd/17.supplement1.s45a.

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Feagan, Brian, Scott Lee, Gary Lichtenstein, Edward Loftus, David Binion, Juan Pablo Guzman, Ralph Bloomfield, and Douglas Wolf. "Patient Self-assessed HBI Correlates Highly with Physician-Assessed HBI in the Secure Registry." American Journal of Gastroenterology 105 (October 2010): S417. http://dx.doi.org/10.14309/00000434-201010001-01151.

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Ikeno, Tooru, Tetsuya Fukushima, Katsuya Sugimoto, Hideyuki Yamamoto, Hideki Uesaka, and Hiroyuki Komuro. "267. Physical Characteristics And Clinical Evaluation of Super HRC Film (Fuji)." Japanese Journal of Radiological Technology 46, no. 8 (1990): 1239. http://dx.doi.org/10.6009/jjrt.kj00003322390.

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Catalano, A., P. Ade, Y. Atik, A. Benoit, E. Bréele, J. J. Bock, P. Camus, et al. "Characterization and Physical Explanation of Energetic Particles on Planck HFI Instrument." Journal of Low Temperature Physics 176, no. 5-6 (February 25, 2014): 773–86. http://dx.doi.org/10.1007/s10909-014-1116-6.

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Guo, Huili, Fulin Shang, Yongmei Zhang, Zhaoyang Tian, Yan Chen, Yong Yu, Shunping Yan, and Yabin Yan. "Physically-based strain hardening rule for HR2 alloy." Materials Science and Engineering: A 760 (July 2019): 231–45. http://dx.doi.org/10.1016/j.msea.2019.05.116.

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Deivasigamani, Ravi, Gene Sheu, Aanand, Shao Wei Lu, Syed Sarwar Imam, Chiu-Chung Lai, and Shao-Ming Yang. "Study of HCI Reliability for PLDMOS." MATEC Web of Conferences 201 (2018): 02001. http://dx.doi.org/10.1051/matecconf/201820102001.

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In this paper, we demonstrate electrical degradation due to hot carrier injection (HCI) stress for PLDMOS device. The lower gate current and the IDsat degradation at low gate voltage (VGS) and high drain voltage (VDS) is investigated. Hot Electrons, generated by impact ionization during stress, are injected into the gate oxide, creating negative fixed oxide charges and interface-states above the accumulation region and the channel. Increase of the drain-source current is induced by the negative fixed oxide charges. The physical model of the degradation has been proven combining experimental data and TCAD simulations.

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Vorálková, Jitka, Viléma Novotná, and Iveta Šimůnková. "Gymnastická hra jako podnět k modernizaci výuky gymnastiky ve školní tělesné výchově." Studia sportiva 7, no. 2 (December 2, 2013): 111–16. http://dx.doi.org/10.5817/sts2013-2-13.

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Gymnastics is included in the physical education at all school levels. Gymnastic skills learned in the gymnastic games may specifically contribute to the development of pupils’ skills, promote physical literacy level, contribute to the development of selected components of physical fitness and stimulate movement creativity. Nowadays the concept of gymnastics as an apparatus exercises, is not enough included in school physical education programs. The reasons are: unsatisfactory range of teachers preparation, traditional teaching methods or no equipment and apparatus at school gyms. One possible significant changes in the approach of teaching is to use gymnastic games and newly designed types of equipment and programs created under the concept of curriculum Gymnastics for all (GFA).Gymnastic games along with modern apparatus are attractive, appealing and inspiring for specific movement skills. They improve safety of training, and expand the range of creativity. We assume that the modernization and inovation of teaching gymnastics through gymnastic games will develop pupils’ competence,increase the level of physical literacy, increase the number of skills and becomes an important motivation for lifelong physical activity leading to a healthy lifestyle.

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Barreira, Tiago V., Stephanie T. Broyles, Catrine Tudor-Locke, Jean-Philippe Chaput, Mikael Fogelholm, Gang Hu, Rebecca Kuriyan, et al. "Epidemiological Transition in Physical Activity and Sedentary Time in Children." Journal of Physical Activity and Health 16, no. 7 (July 1, 2019): 518–24. http://dx.doi.org/10.1123/jpah.2018-0546.

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Background: To determine if children’s moderate to vigorous physical activity (MVPA) and sedentary time varied across levels of household income in countries at different levels of Human Development Index (HDI), consistent with the theory of epidemiological transition. Methods: Data from 6548 children (55% girls) aged 9–11 years from 12 countries at different HDI levels are used in this analysis to assess MVPA and sedentary time (measured using ActiGraph accelerometers) across levels of household income. Least-square means are estimated separately for boys and girls at the estimated 10th, 50th, and 90th percentiles of HDI for the sample. Results: For boys, time in MVPA is negatively associated with income at the 10th and 50th percentiles of HDI (both P < .002). For girls, time in MVPA is negatively associated with income at the 10th and 50th percentiles of HDI (all P < .01) and positively related with income at the 90th percentile (P = .04). Sedentary time is positively associated with income at the 10th percentile of HDI for boys (P = .03), but not for girls. Conclusions: Results support the possibility of an epidemiological transition in physical activity, with lower levels of MVPA observed at opposite levels of income depending on the HDI percentile. This phenomenon was not observed for sedentary time.

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Zaman, M. J. S., and M. Jemni. "South Asians, physical exercise and heart disease." Heart 97, no. 8 (December 13, 2010): 607–9. http://dx.doi.org/10.1136/hrt.2010.214908.

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Bocchino, F., M. Barbera, and S. Sciortino. "An optimized time screening algorithm for ROSAT PSPC and HRI observations." Astronomy and Astrophysics Supplement Series 129, no. 3 (May 1998): 647–55. http://dx.doi.org/10.1051/aas:1998212.

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Libster, Dima, Abraham Aserin, Ellen Wachtel, Gil Shoham, and Nissim Garti. "An HII liquid crystal-based delivery system for cyclosporin A: Physical characterization." Journal of Colloid and Interface Science 308, no. 2 (April 2007): 514–24. http://dx.doi.org/10.1016/j.jcis.2006.12.084.

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Journal articles on the topic 'Physical HRI'

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