The Therapeutic and Educational Social Robotics Lab ( TESRL). · Isaac Asimov (1920 -1992) Born in...
Transcript of The Therapeutic and Educational Social Robotics Lab ( TESRL). · Isaac Asimov (1920 -1992) Born in...
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ר מרינה פרידין"ד
מרכז אוניברסיטאי אריאל
The Therapeutic and Educational Social Robotics Lab ( TESRL).
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?מה זה רובוט
:מכני-מכשיר אלקטרו
ניתן לתכנות•
רב שימוש•
רגיש לסביבה•
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היסטוריה של רובוטיקה
הומרוס
בית הקברות היהודי העתיק בפרג
Leonardo da Vinci1495 ) )בן אדם מכני
1950- 1960 רובוטים תעשייתיים
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1970 2010
התפתחות של רובוטיקה
שנים
שימוש ברובוטים
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סוגי רובוטים
רובוטים תעשייתיים רובוטים ניידים
דמוי אדם דמוי חיות ללא דימוי רובוטים ביתיים רובוטים רפואיים רובוטים לימודיים רובוטים צבאים רובוטים חברתיים
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דיון על אתיקה ופילוסופיה ברובוטיקה
מודעות
הטעיה\רגשות
בטיחות
סמכות
...........
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Isaac Asimov (1920 -1992) Born in Petrovichi, Russia
Grew up in Brooklyn, New York, from age 8
Earned B.S., M.S., and Ph.D. from Columbia University
Worked for many years as instructor in biochemistry at Boston
University, School of Medicine
Prolific writer of science fiction
1st 19 years: 100 books
Next 10 years: 100 more books
Next 5 years: 100 more books
Lifetime: Over 500 books
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חוקי הרובוטיקה
חוק הראשון(Human safety:) ולא יאפשר על ידי מחדל , לא יפגע הרובוט בכל אדם שהוא
.שייגרם נזק לאדם, מצידו
חוק השני(Robots are slaves:) לבד , ידי בני אדם-ימלא רובוט אחר כל הוראה שתינתן לו על
מאותם המקרים שמילוי הוראה כזאת יעמוד בסתירה לחוק .הראשון
חוק השלישי(Robot survival:) על עוד שמירה עצמית זאת אינה , חייב רובוט לשמור על קיומו
.עומדת בסתירה לחוק הראשון או לחוק השני
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מבנה הרובוט
לחוש
לתכנן
לבצע
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קטגוריות
Control
Computer Science Electrical Engineering
Mechanical Engineering Neuroscience
Psychology Mechanics
Sensors
Motion Planning
Perception
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מרכיבים
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The Uncanny Valley Masahiro Mori (1970)
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רובוטים חברתיים: מוטיבציה
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רובוטים חברתיים Social learning and imitation
Gesture and natural language communication
Emotion
Recognition of interaction
partners
Benign social behavior
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פלטפורמות רובוטיות
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פלטפורמות רובוטיות
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הקונספט
Kindergarten Assistive Robotics
The Therapeutic and Educational Social Robotics Lab ( TESRL).
ניסויים 30 -כ ילדים 100 -כ פרסומים מדעים 15 -כ
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Hello children, Let’s stand up!
Stand up and clamp your hands
דוגמה
Hello Robot!
Catch
the ball
………
Children Personal Information
Task Definition Robot Activation
Look at me and do as I do
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Emotional Status Voice Recognition
Attention This was quick! Give
a hug !
1, 2, 3, 4, 5
Count to five
I am first
Reaction Time Movement Time
Report Next Task
Good, try to bend your needs
I like playing with you. See you tomorrow, bye-bye
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Equip
ment
Pers
onas
מבנה המערכת
Teacher Children
Children’s Parents
KAR
Movements Measurement
Equipment
Private cloud Workload and Data Distributions
Teacher Terminal
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Equip
ment
Pers
onas
In
tera
ctio
ns
מבנה המערכת
Teacher Children
Children’s Parents
KAR
Movements Measurement
Equipment
Private cloud Workload and Data Distributions
Teacher Terminal
Child/Children - KAR
Interaction
Movement Data
Teacher–
Computer
Interaction
Staff - KAR Interaction
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מודולים של מערכת
Low-level Perception • Kinect: Motion processing • Robot’s Video: High color saturation filters Skin-color filters Edge detection Disparity computation • Robot’s Sensors: Data filtering
Motor module • Visual-motor skills • Manipulation skills (reaching/ grasping) • Expressive skills (bodily/facial/vocalizations)
Attention module • Attention on a child with fastest/slowest reactions • Attention on a child defined by physiotherapist
Motivation module • Positive-negative reinforcement • Qualitive and quantative feedback • Empathy and mirroring effect
Behavior module • Behavior selection • Decomposition to the set of operations: body movements, operational vocabulary, sounds, emotional expressions
High-level Perception • Visual: Scene analysis and segmentation Face and eye detection Whole body labeling Subjects identification Gaze direction Emotional Recognition • Kinect: Extremities movement analysis • Sensory Data fusion
Adaptation module • Adjustment to the stage of motor learning • Mood and current success level • Personality matching: hyperactive/passive
Information analysis module • Subject’s motor behavior analysis • Subject’s cognitive behavior analysis • Monitoring of the level of interaction strength • Recognition of subjects attention state
Input • Robot: Sensors data, including Scene video • Kinect: Movement tracking • Physiotherapist: Settings
Personal and Anthropometric data Functional (pathological) restrictions Tasks difficulty Session scenario components
Safety module • Avoid children in robot’s working space
Database
Self-awareness module • Error detection/Success measuring
Locomotion, Falling, Manipulation • Robot localization
Personal Information Pathology characteristics: GMFCS, Altered side, Assistive device Motor functions : Time of sit-stand initiation, Symmetry of holding arms Child-Robot Interaction Measurements: Emotional status, Responsiveness Environment: Place, # participants
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שלב הבאה
Kindergarten Assistive Robotics
The Therapeutic and Educational Social Robotics Lab ( TESRL).
התאמה אישית• פיענוח רגשות\הבעה• הבחון תנועה• אמפתיה• יישום הישגים עדכניים במדעי חינוך והתנהגות•