| 41. |
- Frid, Emma, et al.
(författare)
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Perception of Mechanical Sounds Inherent to Expressive Gestures of a NAO Robot - Implications for Movement Sonification of Humanoids
- 2018
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Ingår i: Proceedings of the 15th Sound and Music Computing Conference. - Limassol, Cyprus. - 9789963697304
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a pilot study carried out within the project SONAO. The SONAO project aims to compen- sate for limitations in robot communicative channels with an increased clarity of Non-Verbal Communication (NVC) through expressive gestures and non-verbal sounds. More specifically, the purpose of the project is to use move- ment sonification of expressive robot gestures to improve Human-Robot Interaction (HRI). The pilot study described in this paper focuses on mechanical robot sounds, i.e. sounds that have not been specifically designed for HRI but are inherent to robot movement. Results indicated a low correspondence between perceptual ratings of mechanical robot sounds and emotions communicated through ges- tures. In general, the mechanical sounds themselves ap- peared not to carry much emotional information compared to video stimuli of expressive gestures. However, some mechanical sounds did communicate certain emotions, e.g. frustration. In general, the sounds appeared to commu- nicate arousal more effectively than valence. We discuss potential issues and possibilities for the sonification of ex- pressive robot gestures and the role of mechanical sounds in such a context. Emphasis is put on the need to mask or alter sounds inherent to robot movement, using for exam- ple blended sonification.
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| 42. |
- Frid, Emma, 1988-, et al.
(författare)
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Perceptual Evaluation of Blended Sonification of Mechanical Robot Sounds Produced by Emotionally Expressive Gestures : Augmenting Consequential Sounds to Improve Non-verbal Robot Communication
- 2021
-
Ingår i: International Journal of Social Robotics. - : Springer Nature. - 1875-4791 .- 1875-4805.
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents two experiments focusing on perception of mechanical sounds produced by expressive robot movement and blended sonifications thereof. In the first experiment, 31 participants evaluated emotions conveyed by robot sounds through free-form text descriptions. The sounds were inherently produced by the movements of a NAO robot and were not specifically designed for communicative purposes. Results suggested no strong coupling between the emotional expression of gestures and how sounds inherent to these movements were perceived by listeners; joyful gestures did not necessarily result in joyful sounds. A word that reoccurred in text descriptions of all sounds, regardless of the nature of the expressive gesture, was “stress”. In the second experiment, blended sonification was used to enhance and further clarify the emotional expression of the robot sounds evaluated in the first experiment. Analysis of quantitative ratings of 30 participants revealed that the blended sonification successfully contributed to enhancement of the emotional message for sound models designed to convey frustration and joy. Our findings suggest that blended sonification guided by perceptual research on emotion in speech and music can successfully improve communication of emotions through robot sounds in auditory-only conditions.
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| 43. |
- Latupeirissa, Adrian Benigno, et al.
(författare)
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Exploring emotion perception in sonic HRI
- 2020
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Ingår i: 17th Sound and Music Computing Conference. - Torino : Zenodo. ; , s. 434-441
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Konferensbidrag (refereegranskat)abstract
- Despite the fact that sounds produced by robots can affect the interaction with humans, sound design is often an overlooked aspect in Human-Robot Interaction (HRI). This paper explores how different sets of sounds designed for expressive robot gestures of a humanoid Pepper robot can influence the perception of emotional intentions. In the pilot study presented in this paper, it has been asked to rate different stimuli in terms of perceived affective states. The stimuli were audio, audio-video and video only and contained either Pepper’s original servomotors noises, sawtooth, or more complex designed sounds. The preliminary results show a preference for the use of more complex sounds, thus confirming the necessity of further exploration in sonic HRI.
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| 44. |
- Aramrattana, Maytheewat, 1988-, et al.
(författare)
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Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016
- 2018
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Ingår i: IEEE transactions on intelligent transportation systems (Print). - Piscataway, N.J. : Institute of Electrical and Electronics Engineers Inc.. - 1524-9050 .- 1558-0016. ; 19:4, s. 1248-1261
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Tidskriftsartikel (refereegranskat)abstract
- This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car’s control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.
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| 45. |
- David, I., et al.
(författare)
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Blended modeling in commercial and open-source model-driven software engineering tools: A systematic study
- 2023
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Ingår i: Software and Systems Modeling. - : Springer Science and Business Media LLC. - 1619-1366 .- 1619-1374. ; 22, s. 415-447
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Tidskriftsartikel (refereegranskat)abstract
- Blended modeling aims to improve the user experience of modeling activities by prioritizing the seamless interaction with models through multiple notations over the consistency of the models. Inconsistency tolerance, thus, becomes an important aspect in such settings. To understand the potential of current commercial and open-source modeling tools to support blended modeling, we have designed and carried out a systematic study. We identify challenges and opportunities in the tooling aspect of blended modeling. Specifically, we investigate the user-facing and implementation-related characteristics of existing modeling tools that already support multiple types of notations and map their support for other blended aspects, such as inconsistency tolerance, and elevated user experience. For the sake of completeness, we have conducted a multivocal study, encompassing an academic review, and grey literature review. We have reviewed nearly 5000 academic papers and nearly 1500 entries of grey literature. We have identified 133 candidate tools, and eventually selected 26 of them to represent the current spectrum of modeling tools.
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| 46. |
- Hujainah, Fadhl Mohammad Omar, 1987, et al.
(författare)
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SRPTackle: A semi-automated requirements prioritisation technique for scalable requirements of software system projects
- 2021
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Ingår i: Information and Software Technology. - : Elsevier BV. - 0950-5849. ; 131
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Tidskriftsartikel (refereegranskat)abstract
- Context Requirement prioritisation (RP) is often used to select the most important system requirements as perceived by system stakeholders. RP plays a vital role in ensuring the development of a quality system with defined constraints. However, a closer look at existing RP techniques reveals that these techniques suffer from some key challenges, such as scalability, lack of quantification, insufficient prioritisation of participating stakeholders, overreliance on the participation of professional expertise, lack of automation and excessive time consumption. These key challenges serve as the motivation for the present research. Objective This study aims to propose a new semiautomated scalable prioritisation technique called ‘SRPTackle’ to address the key challenges. Method SRPTackle provides a semiautomated process based on a combination of a constructed requirement priority value formulation function using a multi-criteria decision-making method (i.e. weighted sum model), clustering algorithms (K-means and K-means++) and a binary search tree to minimise the need for expert involvement and increase efficiency. The effectiveness of SRPTackle is assessed by conducting seven experiments using a benchmark dataset from a large actual software project. Results Experiment results reveal that SRPTackle can obtain 93.0% and 94.65% as minimum and maximum accuracy percentages, respectively. These values are better than those of alternative techniques. The findings also demonstrate the capability of SRPTackle to prioritise large-scale requirements with reduced time consumption and its effectiveness in addressing the key challenges in comparison with other techniques. Conclusion With the time effectiveness, ability to scale well with numerous requirements, automation and clear implementation guidelines of SRPTackle, project managers can perform RP for large-scale requirements in a proper manner, without necessitating an extensive amount of effort (e.g. tedious manual processes, need for the involvement of experts and time workload).
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| 47. |
- Lidstrom, D, et al.
(författare)
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Agent based match racing simulations : Starting practice
- 2022
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Ingår i: SNAME 24th Chesapeake Sailing Yacht Symposium, CSYS 2022. - : Society of Naval Architects and Marine Engineers.
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Konferensbidrag (refereegranskat)abstract
- Match racing starts in sailing are strategically complex and of great importance for the outcome of a race. With the return of the America's Cup to upwind starts and the World Match Racing Tour attracting young and development sailors, the tactical skills necessary to master the starts could be trained and learned by means of computer simulations to assess a large range of approaches to the starting box. This project used game theory to model the start of a match race, intending to develop and study strategies using Monte-Carlo tree search to estimate the utility of a player's potential moves throughout a race. Strategies that utilised the utility estimated in different ways were defined and tested against each other through means of simulation and with an expert advice on match racing start strategy from a sailor's perspective. The results show that the strategies that put greater emphasis on what the opponent might do, perform better than those that did not. It is concluded that Monte-Carlo tree search can provide a basis for decision making in match races and that it has potential for further use.
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| 48. |
- Mahmood, Wardah, 1992, et al.
(författare)
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Effects of variability in models: a family of experiments
- 2022
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Ingår i: Empirical Software Engineering. - : Springer Science and Business Media LLC. - 1382-3256 .- 1573-7616. ; 27:3
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Tidskriftsartikel (refereegranskat)abstract
- The ever-growing need for customization creates a need to maintain software systems in many different variants. To avoid having to maintain different copies of the same model, developers of modeling languages and tools have recently started to provide implementation techniques for such variant-rich systems, notably variability mechanisms, which support implementing the differences between model variants. Available mechanisms either follow the annotative or the compositional paradigm, each of which have dedicated benefits and drawbacks. Currently, language and tool designers select the used variability mechanism often solely based on intuition. A better empirical understanding of the comprehension of variability mechanisms would help them in improving support for effective modeling. In this article, we present an empirical assessment of annotative and compositional variability mechanisms for three popular types of models. We report and discuss findings from a family of three experiments with 164 participants in total, in which we studied the impact of different variability mechanisms during model comprehension tasks. We experimented with three model types commonly found in modeling languages: class diagrams, state machine diagrams, and activity diagrams. We find that, in two out of three experiments, annotative technique lead to better developer performance. Use of the compositional mechanism correlated with impaired performance. For all three considered tasks, the annotative mechanism was preferred over the compositional one in all experiments. We present actionable recommendations concerning support of flexible, tasks-specific solutions, and the transfer of established best practices from the code domain to models.
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| 49. |
- Memedi, Mevludin, 1983-, et al.
(författare)
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Automatic Spiral Analysis for Objective Assessment of Motor Symptoms in Parkinson's Disease
- 2015
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Ingår i: Sensors. - : MDPI AG. - 1424-8220. ; 15:9, s. 23727-23744
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Tidskriftsartikel (refereegranskat)abstract
- A challenge for the clinical management of advanced Parkinson's disease (PD) patients is the emergence of fluctuations in motor performance, which represents a significant source of disability during activities of daily living of the patients. There is a lack of objective measurement of treatment effects for in-clinic and at-home use that can provide an overview of the treatment response. The objective of this paper was to develop a method for objective quantification of advanced PD motor symptoms related to off episodes and peak dose dyskinesia, using spiral data gathered by a touch screen telemetry device. More specifically, the aim was to objectively characterize motor symptoms (bradykinesia and dyskinesia), to help in automating the process of visual interpretation of movement anomalies in spirals as rated by movement disorder specialists. Digitized upper limb movement data of 65 advanced PD patients and 10 healthy (HE) subjects were recorded as they performed spiral drawing tasks on a touch screen device in their home environment settings. Several spatiotemporal features were extracted from the time series and used as inputs to machine learning methods. The methods were validated against ratings on animated spirals scored by four movement disorder specialists who visually assessed a set of kinematic features and the motor symptom. The ability of the method to discriminate between PD patients and HE subjects and the test-retest reliability of the computed scores were also evaluated. Computed scores correlated well with mean visual ratings of individual kinematic features. The best performing classifier (Multilayer Perceptron) classified the motor symptom (bradykinesia or dyskinesia) with an accuracy of 84% and area under the receiver operating characteristics curve of 0.86 in relation to visual classifications of the raters. In addition, the method provided high discriminating power when distinguishing between PD patients and HE subjects as well as had good test-retest reliability. This study demonstrated the potential of using digital spiral analysis for objective quantification of PD-specific and/or treatment-induced motor symptoms.
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| 50. |
- Penzenstadler, Birgit, 1981, et al.
(författare)
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Bots in Software Engineering
- 2022
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Ingår i: IEEE Software. - 1937-4194 .- 0740-7459. ; 39:5, s. 101-104
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Forskningsöversikt (refereegranskat)
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