In this paper we derive a new capability for robots to measure relative direction, or Angle-of-Arrival (AOA), to other robots, while operating in non-line-of-sight and unmapped environments, without requiring external infrastructure. We do so by capturing all of the paths that a WiFi signal traverses as it travels from a transmitting to a receiving robot in the team, which we term as an AOA profile. The key intuition behind our approach is to emulate antenna arrays in the air as a robot moves freely in 2D or 3D space. The small differences in the phase and amplitude of WiFi signals are thus processed with knowledge of a robots’ local displacements (often provided via inertial sensors) to obtain the profile, via a method akin to Synthetic Aperture Radar (SAR). The main contribution of this work is the development of i) a framework to accommodate arbitrary 2D and 3D trajectories, as well as continuous mobility of both transmitting and receiving robots, while computing AOA profiles between them and ii) an accompanying analysis that provides a lower bound on
variance of AOA estimation as a function of robot trajectory geometry that is based on the Cramer Rao Bound and antenna array theory. This is a critical distinction with previous work on SAR that restricts robot mobility to prescribed motion patterns, does not generalize to the full 3D space, and/or requires transmitting robots to be static during data
acquisition periods. In fact, we find that allowing robots to use their full mobility in 3D space while performing SAR, results in more accurate AOA profiles and thus better AOA estimation. We formally characterize this observation as the informativeness of the trajectory; a computable quantity for which we derive a closed form. All theoretical developments are substantiated by extensive simulation and hardware experiments on air/ground robot platforms. Our experimental results bolster our theoretical findings, demonstrating that 3D trajectories provide enhanced and consistent accuracy,
with AOA error of less than 10 deg for 95% of trials. We also show that our formulation can be used with an off-the-shelf trajectory estimation sensor (Intel RealSense T265 tracking camera), for estimating the robots’ local displacements, and we provide theoretical as well as empirical results that show the impact of typical trajectory estimation errors on the
measured AOA. Finally, we demonstrate the performance of our system on a multi-robot task where a heterogeneous air/ground pair of robots continuously measure AOA profiles over a WiFi link to achieve dynamic rendezvous in an unmapped, 300 square meter environment with occlusions.
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Identifying Gender Differences in Information Processing Style, Self-efficacy, and Tinkering for Robot Tele-operation
As robots become more ubiquitous it is important to understand how different groups of people respond to possible ways of interacting with the robot. In this study, we focused on gender differences while users were tele-operating a humanoid robot that was physically co-located with them. We investigated three factors during the human-robot interaction (1) information processing strategy (2) self-efficacy and (3) tinkering or exploratory behavior. Experimental result show that the information on how to use the robot was processed comprehensively by the female participants whereas males processed them selectively (pp<0.001) . Males were more confident when using the robot than females (pp=0.0002) . Males tinkered more with the robot than females (pp=0.0021) . Tinkering might have resulted in greater task success and lower task completion time for males. Similar to existing work on software interface usability, our results show the importance of accounting for gender differences when developing interfaces for interacting with robots.
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- Award ID(s):
- 1730126
- NSF-PAR ID:
- 10097556
- Date Published:
- Journal Name:
- 2018 15th International Conference on Ubiquitous Robots (UR)
- Page Range / eLocation ID:
- 443 to 448
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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In this paper, we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging a robots’ mobility in 3D space. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA), to other robots, while operating in non-line-of-sight unmapped environments and without requiring external infrastructure. We do so by capturing all of the paths that a wireless signal traverses as it travels from a transmitting to a receiving robot in the team, which we term as an AOA profile. The key intuition behind our approach is to enable a robot to emulate antenna arrays as it moves freely in 2D and 3D space. The small differences in the phase of the wireless signals are thus processed with knowledge of robots’ local displacement to obtain the profile, via a method akin to Synthetic Aperture Radar (SAR). The main contribution of this work is the development of (i) a framework to accommodate arbitrary 2D and 3D motion, as well as continuous mobility of both signal transmitting and receiving robots, while computing AOA profiles between them and (ii) a Cramer–Rao Bound analysis, based on antenna array theory, that provides a lower bound on the variance in AOA estimation as a function of the geometry of robot motion. This is a critical distinction with previous work on SAR-based methods that restrict robot mobility to prescribed motion patterns, do not generalize to the full 3D space, and require transmitting robots to be stationary during data acquisition periods. We show that allowing robots to use their full mobility in 3D space while performing SAR results in more accurate AOA profiles and thus better AOA estimation. We formally characterize this observation as the informativeness of the robots’ motion, a computable quantity for which we derive a closed form. All analytical developments are substantiated by extensive simulation and hardware experiments on air/ground robot platforms using 5 GHz WiFi. Our experimental results bolster our analytical findings, demonstrating that 3D motion provides enhanced and consistent accuracy, with a total AOA error of less than 10◦for 95% of trials. We also analytically characterize the impact of displacement estimation errors on the measured AOA and validate this theory empirically using robot displacements obtained using an off-the-shelf Intel Tracking Camera T265. Finally, we demonstrate the performance of our system on a multi-robot task where a heterogeneous air/ground pair of robots continuously measure AOA profiles over a WiFi link to achieve dynamic rendezvous in an unmapped, 300 m2environment with occlusions.
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null (Ed.)Abstract Orangutans show a pronounced sexual dimorphism, with flanged males (i.e., males with fully grown secondary sexual characteristics) reaching twice the size of adult females. Furthermore, adult orangutans show sex-specific dispersal and activity patterns. This study investigates sex differences in adult foraging behavior and sheds light on how these differences develop in immatures. We analyzed 11 years of feeding data on ten adult female, seven flanged male, and 14 immature Bornean orangutans ( Pongo pygmaeus wurmbii ) at Tuanan in Central Kalimantan, Indonesia. We found that the diets of the adult females were significantly broader and required more processing steps before ingestion than the diets of flanged males. We also found evidence for a similar difference in overall diet repertoire sizes. For the immatures, we found that whereas females reached 100% of their mothers’ diet spectrum size by the age of weaning, males reached only around 80%. From the age of 4 years on (i.e., years before being weaned) females had significantly broader daily diets than males. We found no difference in daily or overall diet processing intensity of immature males and females but found preliminary evidence that immature males included fewer items of their mother’s diet in their own diets that were processing-intensive. Overall, our results suggest that by eating a broader variety and more complex to process food items, female orangutans go to greater lengths to achieve a balanced diet than males do. These behavioral differences are not just apparent in adult foraging behavior but also reflected in immature development from an early age on. Significance Statement In many species, males and females have different nutritional needs and are thus expected to show sex-specific foraging behavior. Sex differences in several aspects of foraging behavior have been found in various species, but it remains largely unclear when and how those develop during ontogeny, which is especially relevant for long-lived altricial species that learn foraging skills over many years. In our study, we analyzed a cross-sectional and longitudinal data set containing more than 750,000 feeding events of adult and immature Bornean orangutans ( Pongo pygmaeus wurmbii ). We found that adult females had significantly broader and more complex diets than males. We also found that these differences started to develop during infancy, suggesting that immature orangutans prepare for their sex-specific foraging niches long before those become physiologically relevant while they are still in constant association with their mothers and before being frequently exposed to other role models.more » « less
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Abstract When animals are sick, their physiology and behavior change in ways that can impact their offspring. Research is emerging showing that infection risk alone can also modify the physiology and behavior of healthy animals. If physiological responses to environments with high infection risk take place during reproduction, it is possible that they lead to maternal effects. Understanding whether and how high infection risk triggers maternal effects is important to elucidate how the impacts of infectious agents extend beyond infected individuals and how, in this way, they are even stronger evolutionary forces than already considered. Here, to evaluate the effects of infection risk on maternal responses, we exposed healthy female Japanese quail to either an immune-challenged (lipopolysaccharide [LPS] treated) mate or to a healthy (control) mate. We first assessed how females responded behaviorally to these treatments. Exposure to an immune-challenged or control male was immediately followed by exposure to a healthy male, to determine whether treatment affected paternity allocation. We predicted that females paired with immune-challenged males would avoid and show aggression towards those males, and that paternity would be skewed towards the healthy male. After mating, we collected eggs over a 5-day period. As an additional control, we collected eggs from immune-challenged females mated to healthy males. We tested eggs for fertilization status, embryo sex ratio, as well as albumen corticosterone, lysozyme activity, and ovotransferrin, and yolk antioxidant capacity. We predicted that immune-challenged females would show the strongest changes in the egg and embryo metrics, and that females exposed to immune-challenged males would show intermediate responses. Contrary to our predictions, we found no avoidance of immune-challenged males and no differences in terms of paternity allocation. Immune-challenged females laid fewer eggs, with an almost bimodal distribution of sex ratio for embryos. In this group, albumen ovotransferrin was the lowest, and yolk antioxidant capacity decreased over time, while it increased in the other treatments. No differences in albumen lysozyme were found. Both females that were immune-challenged and those exposed to immune-challenged males deposited progressively more corticosterone in their eggs over time, a pattern opposed to that shown by females exposed to control males. Our results suggest that egg-laying Japanese quail may be able to respond to infection risk, but that additional or prolonged sickness symptoms may be needed for more extensive maternal responses.
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/URAI.2018.8441766
