PhD Document - Universidad de Las Palmas de Gran Canaria

More documents

Recommendations

Info

Gobierno de Canarias, Ministerio de Ciencia y Tecnología and Universidad de Las Palmas de Gran Canaria. I am personally indebted to Universidad de Las Palmas de Gran Canaria, and specially to the research and academic staff vice-chancellors, who have supported me since I got a research grant back in 2000. Finally, I want to thank the person who’s holding this document right now for showing interest in my work. I hope to be back soon. It is my hope that CASIMIRO’s abilities will be expanded in the future. I’ve always thought that the most important thing is not the destination, but the journey itself. In itinere sumus.
Contents Abstract xi 1 Introduction 1 1.1 Previous Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 The Case of Social Robotics 11 2.1 The Savant Syndrome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.2 Unconscious Mental Processes . . . . . . . . . . . . . . . . . . . . . . . . 15 2.3 The Reason why Social Robots may not be Robust . . . . . . . . . . . . . 19 3 Approach and Architecture 25 3.1 Analysis vs Synthesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.2 Niches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.3 Design and Niche Spaces . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.4 Design Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.5 Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4 Hardware Overview 45 4.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.2 Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5 Perception 55 5.1 Omnidirectional Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5.2 Sound Localization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.2.1 Previous Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 5.2.2 A Study on Feature Extraction for Sound Localization . . . . . . . 62 i
Page 1: Departamento de Informática y Sist
Page 7: To my family and Gloria
Page 12 and 13: 5.2.3 Implementation . . . . . . .
Page 15 and 16: List of Figures 1.1 Abilities vs. l
Page 17 and 18: 5.13 T means tracking and CS Candid
Page 19 and 20: List of Tables 1.1 The eight human
Page 21 and 22: Abstract A relatively new area for
Page 23 and 24: Publications This thesis is based o
Page 25 and 26: Chapter 1 Introduction "Man is by n
Page 27 and 28: CHAPTER 1. INTRODUCTION characteris
Page 29 and 30: CHAPTER 1. INTRODUCTION robots: ➔
Page 31 and 32: CHAPTER 1. INTRODUCTION respect to
Page 33 and 34: CHAPTER 1. INTRODUCTION attention,
Page 35 and 36: Chapter 2 The Case of Social Roboti
Page 37 and 38: CHAPTER 2. THE CASE OF SOCIAL ROBOT
Page 49 and 50: Chapter 3 Approach and Architecture
Page 51 and 52: CHAPTER 3. APPROACH AND ARCHITECTUR
Page 61 and 62:
CHAPTER 3. APPROACH AND ARCHITECTUR
Page 63 and 64:
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Chapter 4 Hardware Overview "Your f
Page 71 and 72:
CHAPTER 4. HARDWARE OVERVIEW 4.1 Ha
Page 73 and 74:
CHAPTER 4. HARDWARE OVERVIEW Figure
Page 75 and 76:
CHAPTER 4. HARDWARE OVERVIEW Figure
Page 77 and 78:
CHAPTER 4. HARDWARE OVERVIEW Each m
Page 79 and 80:
Chapter 5 Perception "I’ve seen t
Page 81 and 82:
CHAPTER 5. PERCEPTION Figure 5.1: T
Page 83 and 84:
CHAPTER 5. PERCEPTION Figure 5.3: E
Page 85 and 86:
CHAPTER 5. PERCEPTION we could dist
Page 87 and 88:
CHAPTER 5. PERCEPTION themaximum is
Page 89 and 90:
CHAPTER 5. PERCEPTION Figure 5.7: E
Page 91 and 92:
CHAPTER 5. PERCEPTION Classify cues
Page 93 and 94:
CHAPTER 5. PERCEPTION Figure 5.10:
Page 95 and 96:
CHAPTER 5. PERCEPTION 5.3 Audio-Vis
Page 97 and 98:
CHAPTER 5. PERCEPTION modules, inst
Page 99 and 100:
CHAPTER 5. PERCEPTION each angle we
Page 101 and 102:
Page 103 and 104:
CHAPTER 5. PERCEPTION hypothesis is
Page 105 and 106:
CHAPTER 5. PERCEPTION M4.- Pattern
Page 107 and 108:
Page 109 and 110:
CHAPTER 5. PERCEPTION nods and shak
Page 111 and 112:
CHAPTER 5. PERCEPTION effect of thi
Page 113 and 114:
CHAPTER 5. PERCEPTION effects of am
Page 115 and 116:
CHAPTER 5. PERCEPTION image decreas
Page 117 and 118:
CHAPTER 5. PERCEPTION with an incre
Page 119 and 120:
CHAPTER 5. PERCEPTION However, we a
Page 121 and 122:
CHAPTER 5. PERCEPTION where y0 is t
Page 123 and 124:
CHAPTER 5. PERCEPTION be distinguis
Page 125 and 126:
CHAPTER 5. PERCEPTION in the sense
Page 127 and 128:
CHAPTER 5. PERCEPTION a) b) c) d) F
Page 129 and 130:
CHAPTER 5. PERCEPTION the habituati
Page 131 and 132:
Chapter 6 Action "CHRISTOF: We’ve
Page 133 and 134:
CHAPTER 6. ACTION Expression: "Surp
Page 135 and 136:
CHAPTER 6. ACTION 6.1.3 Implementat
Page 137 and 138:
CHAPTER 6. ACTION Figure 6.3: Facia
Page 139 and 140:
CHAPTER 6. ACTION c α error 0 o 0.
Page 141 and 142:
CHAPTER 6. ACTION fear anger sorrow
Page 143 and 144:
CHAPTER 6. ACTION However, we belie
Page 145 and 146:
Chapter 7 Behaviour "A good name, l
Page 147 and 148:
CHAPTER 7. BEHAVIOUR used defines t
Page 149 and 150:
CHAPTER 7. BEHAVIOUR step environme
Page 151 and 152:
CHAPTER 7. BEHAVIOUR Predicate Desc
Page 153 and 154:
CHAPTER 7. BEHAVIOUR Action Descrip
Page 155 and 156:
CHAPTER 7. BEHAVIOUR Name Action to
Page 157 and 158:
CHAPTER 7. BEHAVIOUR ➔ Basic emot
Page 159 and 160:
CHAPTER 7. BEHAVIOUR [Reilly, 1996]
Page 161 and 162:
Chapter 8 Evaluation and Discussion
Page 163 and 164:
CHAPTER 8. EVALUATION AND DISCUSSIO
Page 165 and 166:
Page 167 and 168:
Page 169 and 170:
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Chapter 9 Conclusions and Future Wo
Page 181 and 182:
CHAPTER 9. CONCLUSIONS AND FUTURE W
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
Appendix A CASIMIRO’s Phrase File
Page 191 and 192:
APPENDIX A. CASIMIRO’S PHRASE FIL
Page 193 and 194:
Page 195 and 196:
Page 197 and 198:
Bibliography [Adams et al., 2000] B
Page 199 and 200:
BIBLIOGRAPHY [Bruce et al., 2001] A
Page 201 and 202:
BIBLIOGRAPHY [Driscoll et al., 1998
Page 203 and 204:
BIBLIOGRAPHY [Hernández et al., 20
Page 205 and 206:
BIBLIOGRAPHY [Kjeldsen, 2001] R. Kj
Page 207 and 208:
BIBLIOGRAPHY [Martin et al., 2000]
Page 209 and 210:
BIBLIOGRAPHY [Oviatt, 2000] S. Ovia
Page 211 and 212:
BIBLIOGRAPHY [Schulte et al., 1999]
Page 213 and 214:
BIBLIOGRAPHY [Tyrrell, 1993] T. Tyr
Page 215 and 216:
Index absolute pitch, 16 action sel
Page 217:
INDEX proprioception, 39 prosopagno
show all

PhD Document - Universidad de Las Palmas de Gran Canaria

Create successful ePaper yourself

Delete template?

Save as template?