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We introduceTopological Offsets, a novel approach to generate manifold and self-intersection-free offset surfaces that are topologically equivalent to an offset infinitesimally close to the surface. Our approach, by construction, creates a manifold, watertight, and self-intersection-free offset surface strictly enclosing the input, while doing a best effort to move it to a prescribed distance from the input. Differently from existing approaches, we embed the input in a background mesh and insert a topological offset around the input with purely combinatorial operations. The topological offset is then inflated/deflated to match the user-prescribed distance while enforcing that no intersections or non-manifold configurations are introduced. We evaluate the effectiveness and robustness of our approach on the Thingi10k dataset, and show that topological offsets are beneficial in multiple graphics applications, including (1) converting non-manifold surfaces to manifold ones, (2) creating layered offsets, and (3) reliably computing finite offsets. 

In this work, we present Robots for Social Justice (R4SJ): a framework for an equitable engineering practice of Human-Robot Interaction, grounded in the Engineering for Social Justice (E4SJ) framework for Engineering Education and intended to complement existing frameworks for guiding equitable HRI research. To understand the new insights this framework could provide to the feld of HRI, we analyze the past decade of papers published at the ACM/IEEE International Conference on Human-Robot Interaction, and examine how well current HRI research aligns with the principles espoused in the E4SJ framework. Based on the gaps identifed through this analysis, we make fve concrete recommendations, and highlight key questions that can guide the introspection for engineers, designers, and researchers. We believe these considerations are a necessary step not only to ensure that our engineering education eforts encourage students to engage in equitable and societally benefcial engineering practices (the purpose of E4SJ), but also to ensure that the technical advances we present at conferences like HRI promise true advances to society, and not just to fellow researchers and engineers. 

In this work, we present Robots for Social Justice (R4SJ): a framework for an equitable engineering practice of Human-Robot Interaction, grounded in the Engineering for Social Justice (E4SJ) framework for Engineering Education and intended to complement existing frameworks for guiding equitable HRI research. To understand the new insights this framework could provide to the field of HRI, we analyze the past decade of papers published at the ACM/IEEE International Conference on Human-Robot Interaction, and examine how well current HRI research aligns with the principles espoused in the E4SJ framework. Based on the gaps identified through this analysis, we make five concrete recommendations, and highlight key questions that can guide the introspection for engineers, designers, and researchers. We believe these considerations are a necessary step not only to ensure that our engineering education efforts encourage students to engage in equitable and societally beneficial engineering practices (the purpose of E4SJ), but also to ensure that the technical advances we present at conferences like HRI promise true advances to society, and not just to fellow researchers and engineers. 

Augmented Reality (AR) technologies present an exciting new medium for human-robot interactions, enabling new opportunities for both implicit and explicit human-robot communication. For example, these technologies enable physically-limited robots to execute non-verbal interaction patterns such as deictic gestures despite lacking the physical morphology necessary to do so. However, a wealth of HRI research has demonstrated real benefits to physical embodiment (compared to, e.g., virtual robots on screens), suggesting AR augmentation of virtual robot parts could face challenges.In this work, we present empirical evidence comparing the use of virtual (AR) and physical arms to perform deictic gestures that identify virtual or physical referents. Our subjective and objective results demonstrate the success of mixed reality deictic gestures in overcoming these potential limitations, and their successful use regardless of differences in physicality between gesture and referent. These results help to motivate the further deployment of mixed reality robotic systems and provide nuanced insight into the role of mixed-reality technologies in HRI contexts. 

Abstract Nano-second, capillary discharges (nCDs) are unique plasma sources in their ability to sustain high specific energy deposition ω dep approaching 10 eV/molecule in molecular gases. This high energy loading on short timescales produces both high plasma densities and high densities of molecular exited states. These high densities of electrons and excited states interact with each other during the early afterglow through electron collision quenching and associative ionization. In this paper we discuss results from a two-dimensional computational investigation of a nCD sustained in air at a pressure of 28.5 mbar and with a voltage amplitude 20 kV. Discharges were investigated for two circuit configurations—a floating low voltage electrode and with the low voltage electrode connected to ground through a ballast resistor. The first configuration produced a single ionization wave from the high to low voltage electrode. The second produced converging ionization waves beginning at both electrodes. With a decrease of the tube radius, the velocity of the ionization fronts decreased while the shape of the ionization wave changed from the electron density being distributed smoothly in the radial direction, to being hollow shaped where there is a higher electron density near the tube wall. For sufficiently small tubes, the near-wall maxima merge to have the higher density on the axis of the capillary tube. In the early afterglow, the temporal and radial behavior of the N 2 (C 3 Π u ) density is a sensitive function of ω dep due to electron collision quenching. These trends indicate that starting from ω dep ⩾ 0.3 eV/molecule, it is necessary to take into account interactions of electrons with electronically excited species during the discharge and early afterglow.