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1. MD. GOLAM RASHED. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.

Degree: 博士(学術), 2016, Saitama University / 埼玉大学

主指導教員 : 久野義徳

Dedication iAcknowledgement iiAbstract ivContents viiiList of Figures xiiList of Tables xvi1 Introduction 11.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.2 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.3 Research Contribution . . . . . . . . . . . . . . . . . . . . . . . . 41.4 Organization of Sections . . . . . . . . . . . . . . . . . . . . . . . 52 Interdisciplinary Background 72.1 Definitions of Social Robots . . . . . . . . . . . . . . . . . . . . . 82.1.0.1 Socially Interactive Robots . . . . . . . . . . . . 82.1.0.2 Sociable Robots . . . . . . . . . . . . . . . . . . . 82.1.0.3 Design-Centered Social Robots . . . . . . . . . . 92.1.1 Towards a Definition of Social Robots . . . . . . . . . . . . 92.2 Potential Applications of Social Robots . . . . . . . . . . . . . . . 102.2.1 Guidance Services . . . . . . . . . . . . . . . . . . . . . . . 102.2.2 Informational Services . . . . . . . . . . . . . . . . . . . . 102.2.3 Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . 112.2.4 Entertainment Services and Companionship . . . . . . . . 122.2.5 Autism Therapy . . . . . . . . . . . . . . . . . . . . . . . 122.2.6 Peer, Tool, Tutorship in Education . . . . . . . . . . . . . 132.3 Human Robot Interaction . . . . . . . . . . . . . . . . . . . . . . 132.3.1 Human Detection and Tracking in Spaces . . . . . . . . . . 192.3.1.1 Vision Based System: . . . . . . . . . . . . . . . 192.3.1.2 Laser Based System . . . . . . . . . . . . . . . . 212.3.1.3 3-D Range Based System . . . . . . . . . . . . . 222.3.1.4 Ubiquitous Sensor Based System . . . . . . . . . 222.3.1.5 Different Sensing Modalities in Combination . . . 232.3.1.6 Occlusion Problems and Handling in Human Detection and Tracking . . . . . . . . . . . . . . . . 242.3.2 Human Intention Recognition in HRI . . . . . . . . . . . . 252.3.3 Designing the Social Robot’s Behaviors . . . . . . . . . . . 282.3.4 Interaction Between Humans and Social Robots . . . . . . 312.4 Tracking Human Behaviors in the Museum . . . . . . . . . . . . . 332.5 Museum Guide Robot . . . . . . . . . . . . . . . . . . . . . . . . 342.6 Overall Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 A Vision Based Guide Robot System: Initiating Proactive Social Human Robot Interaction in Museum Scenarios 363.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363.2 Proposed Guide Robot System . . . . . . . . . . . . . . . . . . . . 393.2.1 People Detection and Tracking Framework . . . . . . . . . 403.2.1.1 Target-Person Selection Procedure . . . . . . . . 403.2.1.2 Recognition of Target Person’s VFOA . . . . . 423.2.2 Guide Robot’s Motion Path Planning . . . . . . . . . . . . 433.3 System Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . 453.3.1 Experiment Design . . . . . . . . . . . . . . . . . . . . . . 463.3.2 Experimental Cases . . . . . . . . . . . . . . . . . . . . . . 463.3.3 Measurements . . . . . . . . . . . . . . . . . . . . . . . . . 483.3.3.1 People’s…

Subjects/Keywords: HRI; network enabled sensing system; human behavior tracking; local behavior; global behavior; VFOA; gaze direction; head orientation; walking trajectory patterns; stereotypical movements; network enabled HRI system; museum; visiting styles; animal behaviors; museum guide robot; LIDARs; art gallery visitor; participants impressions; accuracy index; evaluation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

RASHED, M. G. (2016). Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. (Thesis). Saitama University / 埼玉大学. Retrieved from http://sucra.saitama-u.ac.jp/modules/xoonips/detail.php?id=GD0000844

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

RASHED, MD. GOLAM. “Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.” 2016. Thesis, Saitama University / 埼玉大学. Accessed August 14, 2020. http://sucra.saitama-u.ac.jp/modules/xoonips/detail.php?id=GD0000844.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

RASHED, MD. GOLAM. “Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.” 2016. Web. 14 Aug 2020.

Vancouver:

RASHED MG. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. [Internet] [Thesis]. Saitama University / 埼玉大学; 2016. [cited 2020 Aug 14]. Available from: http://sucra.saitama-u.ac.jp/modules/xoonips/detail.php?id=GD0000844.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

RASHED MG. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. [Thesis]. Saitama University / 埼玉大学; 2016. Available from: http://sucra.saitama-u.ac.jp/modules/xoonips/detail.php?id=GD0000844

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. MD., GOLAM RASHED. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.

Degree: 博士(学術), 2017, Saitama University / 埼玉大学

Traditionally, humans have viewed robots as a “mechanical machines”, designed to perform a variety of industrial tasks. But within the last decades, the reality of robots is quite different from the traditional view and has enabled us to start developing social robots to support humans in their daily activities. The concept of the social robot is rapidly emerging and gradually being introduced as a part of human society where interaction among humans and social robots seems to be important to provide mental, communicational, and physical support to humans in society. As a consequence, many social robots have already been deployed in social spaces, where humans interact with reactive services in which social robots wait until the human proactively seeks services. Nevertheless, nowadays we are moving in a direction where we introduce social robots in social spaces with the ability to proactively offer services to humans in which social robots estimate human intentions, and can offer services only to those who would need it. To achieve such capabilities, social robots should have the capacity to observe human behaviors so that they can easily identify humans who are in need. But, observing human behaviors is a challenging task for social robots. This dissertation deals with making human-robot interaction systems capable of observing human behaviors so that social robots can understand their intentions, interests, and preferences concerning surrounding environments. Our findings will help social robots to proactively offer services to those humans who may want to be serviced. In this dissertation, a real life museum guide robot scenario is considered as a testbed for my proactive social robotics research.The first part of the work is on developing a guide robot system which observes people’s interests and intentions towards paintings in museum scenarios and proactively offers guidance to them using a guide robot, if needed. To do that, multiple USB video camera sensors are utilized to support the guide robot in detecting and tracking people’s visual focus of attention (VFOA) toward paintings. Further, each person’s head orientation and profile information and computed importance values are considered as local behavior to identify a target-person that may be interested in a particular painting. After identifying the target-person, the guide robot moves autonomously through an appropriate motion path from the so called public-distance to his/her social-distance to explain details about the painting to which s/he is interested. Furthermore, the viability of the proposed guide robot system is demonstrated by experimenting with the Robovie-R3 as a museum guide robot. Finally, the system is tested to validate its effectiveness. Continuing to improve the recognition of people’s interests, intentions, and preferences concerning paintings in the museum, a network enabled sensing system is designed and implemented by incorporating different sensing modalities in combination where sensors are distributed in the environments as…

Subjects/Keywords: HRI; network enabled sensing system; human behavior tracking; local behavior; global behavior; VFOA; gaze direction; head orientation; walking trajectory patterns; stereotypical movements; network enabled HRI system; museum; visiting styles; animal behaviors; museum guide robot; LIDARs; art gallery visitor; participants impressions; accuracy index; evaluation

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

MD., G. R. (2017). Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. (Thesis). Saitama University / 埼玉大学. Retrieved from http://id.nii.ac.jp/1586/00010426/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

MD., GOLAM RASHED. “Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.” 2017. Thesis, Saitama University / 埼玉大学. Accessed August 14, 2020. http://id.nii.ac.jp/1586/00010426/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

MD., GOLAM RASHED. “Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察.” 2017. Web. 14 Aug 2020.

Vancouver:

MD. GR. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. [Internet] [Thesis]. Saitama University / 埼玉大学; 2017. [cited 2020 Aug 14]. Available from: http://id.nii.ac.jp/1586/00010426/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

MD. GR. Observing People's Behaviors in Public Spaces for Initiating Proactive Human-Robot Interaction by Social Robots : ソーシャルロボットによる能動的なHRIの始動のための公共空間における人々の動きの観察. [Thesis]. Saitama University / 埼玉大学; 2017. Available from: http://id.nii.ac.jp/1586/00010426/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

.