With the increasing presence of robots in our daily lives, it is crucial to design interaction interfaces that are natural, easy to use and meaningful for robotic tasks. This is important not only to enhance the user experience but also to increase the task reliability by providing supplementary information. Motivated by this, we propose a multi-modal framework consisting of multiple independent modules. These modules take advantage of multiple sensors (e.g., image, sound, depth) and can be used separately or in combination for effective human–robot collaborative interaction. We identified and implemented four key components of an effective human robot collaborative setting, which included determining object location and pose, extracting intricate information from verbal instructions, resolving user(s) of interest (UOI), and gesture recognition and gaze estimation to facilitate the natural and intuitive interactions. The system uses a feature–detector–descriptor approach for object recognition and a homography-based technique for planar pose estimation and a deep multi-task learning model to extract intricate task parameters from verbal communication. The user of interest (UOI) is detected by estimating the facing state and active speakers. The framework also includes gesture detection and gaze estimation modules, which are combined with a verbal instruction component to form structured commands for robotic entities. Experiments were conducted to assess the performance of these interaction interfaces, and the results demonstrated the effectiveness of the approach.

Understanding Activities and Intentions for Human-Robot Interaction | InTechOpen, Published on: 2010-02-01. Authors: Richard Kelley, Alireza Tavakkoli, Christopher King, et

DNA matching is a crucial step in sequence alignment. Since sequence alignment is an approximate matching process there is a need for good approximate algorithms. The process of matching in sequence alignment is generally finding longest common subsequences. However, finding a longest common subsequence may not be the best solution for either a database match or an assembly. An optimal alignment of subsequences is based on several factors, such as quality of bases, length of overlap, etc. Factors such as quality indicate if the data is an actual read or an experimental error. Fuzzy logic allows tolerance of inexactness or errors in sub sequence matching. We propose fuzzy logic for approximate matching of subsequences. Fuzzy characteristic functions are derived for parameters that influence a match. We develop a prototype for a fuzzy assembler. The assembler is designed to work with low quality data which is generally rejected by most of the existing techniques. We test the assembler on sequences from two genome projects namely, Drosophila melanogaster and Arabidopsis thaliana. The results are compared with other assemblers. The fuzzy assembler successfully assembled sequences and performed similar and in some cases better than existing techniques