1 / 39

Development of Remote Class Support System and Field Trial using an Android Robot

Development of Remote Class Support System and Field Trial using an Android Robot. 學號 :M9920214 學生 : 高啟瑋 指導教授 : 許毅然. Outline. Abstract Introduction Android Robot SAYA Remote Class Suport System Field Trial Elementary School and Evaluation Conclusion. Abstract.

tasya
Download Presentation

Development of Remote Class Support System and Field Trial using an Android Robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Development of Remote Class Support System and Field Trial using an Android Robot 學號:M9920214 學生:高啟瑋 指導教授:許毅然

  2. Outline • Abstract • Introduction • Android Robot SAYA • Remote Class Suport System • Field Trial Elementary School and Evaluation • Conclusion

  3. Abstract • Android robots that have a human-like appearance have been developed recently. • The purpose of android robots is to realize natural communication between human and robot by implementing human-like behaviors.

  4. Introduction(1) • Since robots might come to be our partners in the near future, the robot that could be a test bed and platform to investigate what kind of mechanisms. • intelligence and functions they should possess for effective communication with human beings.

  5. Introduction(2) • Currently many kinds of communication robots that act and interact with human in our daily lives have been developed actively. • For example, pet type robot AIBO which acts in life space were commercialized and had tongues wagging several years ago.

  6. Fig.1 Android Robot SAYA

  7. Introduction(3) • In humanoid-type robot researches, bodily motions like gestures, nodding , eye-direction, facial expressions . • On are used actively as non-verbal behavior for realizing natural communication with human beings.

  8. Introduction(4) • We propose remote class support system because of the practical point of an android robot. • In this paper, we verify that communication ability and influence of android robot on children by conducting experiment in an elementary school.

  9. II. ANDROID ROBOT SAYA(1) • Anthropomorphic face robots that can express human-like facial expressions have been developed. • In face-to face communication, facial expressions are said to play an important role as non-verbal communication.

  10. ANDROID ROBOT SAYA(2) • In order to generate human-like facial expressions , we referred to FACS (Facial Action Coding System),19 control points on the face are selected according to FACS. • Combining movements of these control points, various facial expressions are realized with the face robot similar to human beings.

  11. Fig. 2 Examples of SAYA's facial expressions

  12. ANDROID ROBOT SAYA(3) • Since the android robot SAYA equips the face robot on a mannequin body as a head part, it looks like a real human as shown in Fig. 1 . • We applied the android robot SAYA to the reception in our university entrance by implementing voice conversation system.

  13. III. REMOTE CLASS SUPPORT SYSTEM(1) • We developed remote class support system with the android robot mentioned above as a roll of a teacher. The detailed system structure is shown in Fig. 5. • Images from CCD camera that is mounted in the left side eye ball are transmitted to "Operation PC".

  14. Fig. 5 System configuration

  15. REMOTE CLASS SUPPORT SYSTEM(2) • The operator can see class room in the robot's view point by replaying these images. The operator also can move the view point of the android robot by controlling its eyes and head direction. • Thus, the operator is able to get overview of the class room and also bring android's eye direction to specific child.

  16. REMOTE CLASS SUPPORT SYSTEM(3) • Moreover a video camera and a microphone are arranged at rearward to obtain overview and sounds of the class room. • The operator controls the robot's behaviors with the use of these videos and sounds.

  17. REMOTE CLASS SUPPORT SYSTEM(4) • Commands from "Operation PC" are delivered to "Control PC" through the network. "Control PC" execute robot's behaviors based on received commands.

  18. IV. FIELD TRIAL AT ELEMENTARY SCHOOL AND EVALUATION(1) • We put the android robot or the speaker in front of the class room as a roll of a teacher. • These systems have functions to explain tasks of seatwork and to indicate to child with recorded voice, and they are able to call child's name.

  19. FIELD TRIAL AT ELEMENTARY SCHOOL AND EVALUATION(2) • Furthermore the system with the android robot can make an eye contact with certain child and express facial expressions (i.e. surprise, fear, disgust, anger, happiness, sadness) corresponding to its utterance.

  20. Experimental environment in each condition.

  21. Overview of experiment in the elementary school

  22. Evaluation method • (1) Did you concentrate in the seatwork ? • (2) Did you feel nervous ? • (3) Did you feel something is wrong in the experiment ? • (4) Was the explanation of the seat work easy to understand? • (5) Were you involved in the class joyfully ? • (6) Do you want to participate again ?

  23. In addition, we also asked children to comment on the class casually. In order to compare differences quantitatively between these systems. • We measured sound pressure level in the class room as shown in Fig. 6 for 15 seconds before and after each system asked children to keep quiet.

  24. Fig. 6 Measurment of sound pressure

  25. Result of questionnaire • Fig. 7 shows the result of questionnaire. It shows the means, the standard deviations and results oft-test. As a result, there are significant difference between two conditions in question (I), (4), (5) and (6).

  26. Fig. 7 Result of questionnaire

  27. Thus, the using android robot as the interface of the remote class support system improves "concentration", "easiness of understanding“ , "pleasantness" and "participation desire". • The following comments were obtained as children's impression in each system.

  28. Result of measuring sound pressure level • We measured sound pressure level in the room for 15 seconds before and after each system warned children to keep quiet when whisper were increased. • Table 2 shows reduction rates between before and after of warnings .

  29. Table 2.Comparison of reduction rates of sound pressure level in both conditions

  30. It is verified that the reduction rates in the case of using the android robot are larger than that of the speaker. • When the android robot warns the child, On the other hand, the speaker just uses a voice without eye contact.

  31. Therefore, it can be said that not only calling child's name but also making eye contact with child have children accept warning easily . • This capability is advantage of the robot ic system compared with using only speaker or existing tele-con ference system.

  32. V. CONCLUSION(1) • We confirmed that the advantage of the android robot in management ability of children . We also confirmed that positive effects and possibility of developed system in educational fields.

  33. CONCLUSION(2) • Our future work is to investigate effectiveness of developed system by conducting field trial for the people at various ages and comparing other existing medium such as tele-conference system. • Furthermore, we believe that this system also can be applied to other remote communication systems like a remote diagnosis.

  34. REFERENCES(1) • [1] M. Fujita, "AIBO: towards the era of digital creatures", International Journal of Robotics Research, Vol. 20, No. 10, pp. 781-794,2001. • [2] K. wada, T. Shibata, T. Saito and K. Tanie, "Analysis of factors that bring mental effects to elderly people in robot assisted activety", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1152-1157,2002. • [3] T. Kanda, H. Ishiguro, M. Imai and T. Ono, "Development and Evaluation of Interactive Humanoid Robots", Proceedings of the IEEE (Special issue on Human Interactive Robot for Psychological Enrichment), Vol. 92, No. 11, pp. 1839-1850,2004.

  35. REFERENCES(2) • [4] D. Sakamoto, T. Kanda, T. Ono, M. Kamashima, M. Imai and H. Ishiguro, "Cooperative embodied communication emerged by interactive humanoid robots", Proceedings of the 13th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN'04), pp. 443-448, 2004. • [5] T. Watanabe, M. Okubo and H. Ogawa, "An Embodied Interaction Robots System Based on Speech", Proceedings of the 8th IEEE International Workshop on Robot and Human Communication (ROMAN‘ 99), pp. 225-230, 1999 • [6] C. Breazeal and B. Scassellati, "How to build robots that make friends and influence people", Proceedings of Inteligent Robots Systems (IROS '99), pp. 858-863,1999.

  36. REFERENCES(3) • [7] H. Kobayashi and F. Hara, "Study on face robot for active human interface-mechanisms of face robot and expression of 6 basic facial expressions", Proceedings of 2nd IEEE International Workshop on Robot and Human Communication (RO-MAN'93), pp. 276-281,1993. • [8] H. Ishiguro, "Android Science -Toward a new cross-interdisciplinary framework-", Proceedings of International Symposium of Robotics Research, 2005. • [9] J. Oh, D. Hanson, W. Kim, I. Han, 1. Kim and I. Park, "Design of Android Type Humanoid Robot Albert HUBO", Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 1428-1433,2006. • [10] D. Matsui, T. Minato, K. F. MacDorman and H. Ishiguro, "Generating natural motion in an android by mapping human motion", Procedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05), pp.3301-3308, 2005.

  37. REFERENCES(4) • [11] D. Sakamoto, T. Kanda, T. Ono, H. Ishiguro, N. Hagita, "Android as a telecommunication medium with a human-like presence", Proceedings of the ACM/IEEE international conference on Human-robot interaction, pp. 193-200,2007. • [12] T. Hashimoto, S. Hiramatsu, T. Tsuji and H. Kobayashi, "Development of the Face Robot SAYA for Rich Facial Expressions", Proceedings of SICE-ICASE International Joint Conference 2006, pp. 5423-5428, 2006. • [13] T. Hashimoto and H. Kobayashi, "Development of the receptionist system with an anthropomorphism face", Proceedings of the 5th Asian Symposium on Applied Electromagnetics And Mechanics, pp. 190-196, 2005. • [14] A. Mehrabian, "Communication without Words", Psychology Today, Vol. 2, No.4, pp.53-55, 1968.

  38. REFERENCES(4) • [15] P. Ekman, and W. V. Friesen, "The Facial Action Coding System", Consulting Psychologists Press, 1978. • [16] C.P. Chou and B. Hannaford, "Measurement and Modeling of McKibben Pneumatic Artificial Muscles", IEEE Transactions on Robotics and Automation, vol. 12, pp. 90-102,1996. • [17] H. F. Schulte, Jr., "The characteristics of the McKibben artificial muscle", In: The Application of external power in prosthetics and orthotics. National Academy of Sciences-National Research Council, Washington D. C., 1961.

  39. Thanks for your attention

More Related