Hooman Samani

Kissenger: design of a kiss transmission device

In this paper, we present Kissenger (Kiss Messenger), an interactive device that provides a physical interface for transmitting a kiss between two remotely connected people. Each device is paired to another and can sense and transmit the amount of force that a user applies to a pair of lips which is recreated on the other device using motors. Kissenger was designed to augment already existing remote communication technologies such as video chat. The goal of this work is to promote intimacy between humans in long distance relationships. After presenting the background and motivation for the need of such a device, we describe the design process that consisted of three iteration stages, each with its own focus and evaluation. We then present a preliminary user study performed with seven couples that compare Kissenger to current video chat technology.

Design and Development of a Comprehensive Omni directional Soccer Player Robot

Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, omni directional navigation system, omni-vision system and omni-kick mechanism in such soccer player robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, i.e. a comprehensive omni directional soccer player robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviors such as ball passing or goal keeping. This paper has tried to focus on description of areas such as omni directional mechanisms, mechanical structure, control, optimized odometry system, omni-vision sensor for self localization and other subjects related to soccer player robots software.

Mediating intimacy in long-distance relationships using kiss messaging

Intimate interactions between remotely located individuals are not well supported by conventional communication tools, mainly due to the lack of physical contact. Also, haptic research has not focused on the use of a kiss as a mode of interaction that maintains intimacy in long distance relationships. In this study, we designed and developed a haptic device called Kissenger (Kiss-Messenger) for this issue. Kissenger is an interactive device that provides a physical interface for transmitting a kiss between two remotely connected people. Each device is paired with another and the amount of force and shape of the kiss by the user is sensed and transmitted to another device that is replicated using actuators. Kissenger is designed to augment already existing remote communication technologies. Challenges in the design and development of the system are addressed through an iterative design process involving constant evaluation by users after each stage. The devices are evaluated through a short- and a long-term user study with remotely located couples. The results point to an initial acceptance of the device with feedback from the users on directions to improve the overall experience. This study discusses potential issues that designers should be aware of when prototyping for remote intimate interactions.

Towards a formulation of love in human - robot interaction

Lovotics is a novel field of research that strives to achieve a close relationship between humans and robots by utilizing fundamental concepts from psychology, biology, neuroscience, and robotics to develop a model that effectively imitates human affection process to create an emotionally engaging robotic system with high level of intimacy. We have designed and developed a robotics system that is an active participant in a bi-directional non verbal communication process with humans, and uses audio and touch channels along with internal state parameters in order to establish long standing bonds with individuals. The novel Affective Intelligence system of Lovotics includes an Artificial Endocrine System and an Intimacy Module. These two modules work in tandem to develop intimate interactions between the robot and humans.

Probability of love between robots and humans

In order to develop a close relationship between humans and robots, we proposed a multi-modal sentimental model which considers both long and short term affective parameters of interaction. Our model is inspired from scientific studies of love in humans and aims to generate a bi-directional love between humans and robots. We refer to this sentimental connection as “Lovotics”. We have formulated probabilistic mathematical models for identified factors of love, and aim to provide a clear, distinct and discrete interpretation of the intimacy between humans and robots. Such mathematical models are assembled by a Bayesian Network depicting the relationship between intimacy and the causal factors for love. Furthermore, a novel affective state transition system is proposed which takes into account not only the current state caused by interactions, but also the effects of the previous states and internal factors of the robot. Hence, the robot is capable of acting consistently and naturally. The behavior of the robot is controlled by the above two modules via an Artificial Neural Network to develop a realistic affective communication between a human and a robot.

A Design Process for Lovotics

We refer to human-robot relationships as Lovotics. In this paper a design process for Lovotics is presented. In order to invoke these relationships, technological solutions can only take us so far. Design played an important role in order to engage users to explore the possibilities of bi-directional, human-robot love. We conducted a user-centric study in order to understand these factors and incorporate them into our design. The key issues of design for developing a strong emotional connection between robots and humans are investigated. A questionnaire is proposed and based on the results of this a robot with minimal design is developed.

Design and navigation prospective for wireless power transmission robot

In this paper a novel system is introduced as combination of state of the art in the field of wireless power transmission and mobile robotics. A mobile robot is equipped with wireless charger and navigates in the environment of various battery nodes in order to charge the network in an efficient way. The presented research in this paper illustrates design and development of real functional system with the aim to change the traditional way of carrying the battery to charger into navigating the charger to batteries. Even though some theoretical research on this field was available however the working prototype has been not developed yet hence we focused on the practical application and brought the concept into practice. We initiated the research by reviewing the existing wireless power transmission technologies and later on equipped mobile robots with QI standard compatible WPT. The complete prototype architecture from both the hardware and software aspects is presented in this paper. We believe such architecture can be a useful testbed for bringing such technology from theory to practice.

An Optimal Cross-Layer Framework for Cognitive Radio Network Under Interference Temperature Model

This paper investigates the optimal scheduling of cognitive radio network links under an interference temperature (IT) model. A link layer model based on the IT model has been developed. A mathematical cross-layered model for the cognitive radio network link scheduling problem under the IT model is presented. The proposed cross-layered model optimizes the performance of the cognitive radio network across several network layers. The objective is to activate as many simultaneous primary/secondary links while the IT constraints are satisfied. The IT-based link layer scheduling can potentially increase the network performance. The proposed model advocates the potential benefits of adopting a location-aware and IT-based MAC protocol in modern wireless networks.

A Multidisciplinary Artificial Intelligence Model of an Affective Robot

A multidisciplinary approach to a novel artificial intelligence system for an affective robot is presented in this paper. The general objective of the system is to develop a robotic system which strives to achieve a high level of emotional bond between humans and robot by exploring human love. Such a relationship is a contingent process of attraction, affection and attachment from humans towards robots, and the belief of the vice versa from robots to humans. The advanced artificial intelligence of the system includes three modules, namely Probabilistic Love Assembly (PLA), based on the psychology of love, Artificial Endocrine System (AES), based on the physiology of love, and Affective State Transition (AST), based on emotions. The PLA module employs a Bayesian network to incorporate psychological parameters of affection in the robot. The AES module employs artificial emotional and biological hormones via a Dynamic Bayesian Network (DBN). The AST module uses a novel transition method for handling affective states of the robot. These three modules work together to manage emotional behaviours of the robot.

Active affective facial analysis for human-robot interaction

In this paper, we present an active vision system for human-robot interaction purposes that includes robust face detection, tracking, recognition and facial expression analysis. The system will search for human faces in view, zoom on the face of interest based on the face recognition database, track it and finally analyze the emotion parameters on the face. After detection using Haar-cascade classifiers, the variable parameters of the camera are changed adaptively to track the face of the subject by employing the Camshift algorithm, and to extract the facial features which are used for face recognition and facial expression analysis. Embedded Hidden Markov Model is used for face recognition and nonlinear facial mass-spring model is employed to describe the facial musclepsilas tension. The motion signatures are then classified using Multi-layer Perceptrons for facial expression analysis. This system can be used as a comprehensive and robust vision package for a robot to interact with human beings.