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2016


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Qualitative User Reactions to a Hand-Clapping Humanoid Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 317-327, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

2016


[BibTex]


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Designing and Assessing Expressive Open-Source Faces for the Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 340-350, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Rhythmic Timing in Playful Human-Robot Social Motor Coordination

Fitter, N. T., Hawkes, D. T., Kuchenbecker, K. J.

In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings, 9979, pages: 296-305, Lecture Notes in Artificial Intelligence, Springer International Publishing, November 2016, Oral presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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Using IMU Data to Demonstrate Hand-Clapping Games to a Robot

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 851 - 856, October 2016, Interactive presentation given by Fitter (inproceedings)

hi

[BibTex]

[BibTex]


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ProtonPack: A Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 58-65, 2016, Oral presentation given by Burka (inproceedings)

hi

Project Page [BibTex]

Project Page [BibTex]


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Equipping the Baxter Robot with Human-Inspired Hand-Clapping Skills

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 105-112, 2016 (inproceedings)

hi

[BibTex]

[BibTex]


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Comparison of vibro-acoustic performance metrics in the design and optimization of stiffened composite fuselages

Serhat, G., Basdogan, I.

In Proceedings of International Congress and Exposition of Noise Control Engineering (INTER-NOISE), Hamburg, Germany, August 2016 (inproceedings)

Abstract
In this paper, a comparison of preliminary design methodologies for optimization of stiffened, fiber-reinforced composite fuselages for vibro-acoustic requirements is presented. Fuselage stiffness properties are modelled using lamination parameters and their effect on the vibro-acoustic performance is investigated using two different approaches. First method, only considers the structural model in order to explore the effect of design variables on fuselage vibrations. The simplified estimation of the acoustic behavior without considering fluid-structure interaction brings certain advantages such as reduced modelling effort and computational cost. In this case, the performance metric is chosen as equivalent radiated power (ERP) which is a well-known criterion in the prediction of structure-born noise. Second method, utilizes coupled vibro-acoustic models to predict the sound pressure levels (SPL) inside the fuselage. ERP is calculated both for bay panels and fuselage section and then compared with the SPL results. The response surfaces of each metric are determined as a function of lamination parameters and their overall difference is quantified. ERP approach proves its merit provided that a sufficiently accurate model is used. The results demonstrate the importance of the simplifications made in the modelling and the selection of analysis approach in vibro-acoustic design of fuselages.

hi

[BibTex]

[BibTex]


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Reproducing a Laser Pointer Dot on a Secondary Projected Screen

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages: 1645-1650, 2016, Oral presentation given by Hu (inproceedings)

hi

[BibTex]

[BibTex]


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Effect of Aspect Ratio and Boundary Conditions on the Eigenfrequency Optimization of Composite Panels Using Lamination Parameters

Serhat, G., Basdogan, I.

In Proceedings of the ASMO UK International Conference on Numerical Optimisation Methods for Engineering Design, pages: 160–168, Munich, Germany, July 2016 (inproceedings)

Abstract
Eigenfrequency optimization of laminated composite panels is a common engineering problem. This process mostly involves designing stiffness properties of the structure. Optimal results can differ significantly depending on the values of the model parameters and the metrics used for the optimization. Building the know-how on this matter is crucial for choosing the appropriate design methodologies as well as validation and justification of prospective results. In this paper, effects of aspect ratio and boundary conditions on eigenfrequency optimization of composite panels by altering stiffness properties are investigated. Lamination parameters are chosen as design variables which are used in the modeling of stiffness tensors. This technique enables representation of overall stiffness characteristics and provides a convex design space. Fundamental frequency and difference between fundamental and second natural frequencies are maximized as design objectives. Optimization studies incorporating different models and responses are performed. Optimal lamination parameters and response values are provided for each case and the effects of model parameters on the solutions are quantified. The results indicate that trends of the optima change for different aspect ratio ranges and boundary conditions. Moreover, convergence occurs beyond certain critical values of the model parameters which may cause an optimization study to be redundant.

hi

[BibTex]

[BibTex]


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Multi-objective optimization of stiffened, fiber-reinforced composite fuselages for mechanical and vibro-acoustic requirements

Serhat, G., Faria, T. G., Basdogan, I.

In Proceedings of AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, Washington, USA, June 2016 (inproceedings)

Abstract
In this paper, a preliminary design methodology for optimization of stiffened, fiber-reinforced composite fuselages for combined mechanical and vibro-acoustic requirements is presented. Laminate stiffness distributions are represented using the method called lamination parameters which is known to provide a convex solution space. Single-objective and multi-objective optimization studies are carried out in order to find optimal stiffness distributions. Performance metrics for acoustical behavior are chosen as maximum fundamental frequency and minimum equivalent radiated power. The mechanical performance metric is chosen as the maximum stiffness. The results show that the presented methodology works effectively and it can be used to improve load-carrying and acoustical performances simultaneously.

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DOI [BibTex]

DOI [BibTex]


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Deep Learning for Tactile Understanding From Visual and Haptic Data

Gao, Y., Hendricks, L. A., Kuchenbecker, K. J., Darrell, T.

In Proceedings of the IEEE International Conference on Robotics and Automation, pages: 536-543, May 2016, Oral presentation given by Gao (inproceedings)

hi

[BibTex]

[BibTex]


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Robust Tactile Perception of Artificial Tumors Using Pairwise Comparisons of Sensor Array Readings

Hui, J. C. T., Block, A. E., Taylor, C. J., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 305-312, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Hui (inproceedings)

hi

[BibTex]

[BibTex]


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Data-Driven Comparison of Four Cutaneous Displays for Pinching Palpation in Robotic Surgery

Brown, J. D., Ibrahim, M., Chase, E. D. Z., Pacchierotti, C., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 147-154, Philadelphia, Pennsylvania, USA, April 2016, Oral presentation given by Brown (inproceedings)

hi

[BibTex]

[BibTex]


Multisensory Robotic Therapy through Motion Capture and Imitation for Children with ASD
Multisensory Robotic Therapy through Motion Capture and Imitation for Children with ASD

Burns, R., Nizambad, S., Park, C. H., Jeon, M., Howard, A.

Proceedings of the American Society of Engineering Education, Mid-Atlantic Section, Spring Conference, April 2016 (conference)

Abstract
It is known that children with autism have difficulty with emotional communication. As the population of children with autism increases, it is crucial we create effective therapeutic programs that will improve their communication skills. We present an interactive robotic system that delivers emotional and social behaviors for multi­sensory therapy for children with autism spectrum disorders. Our framework includes emotion­-based robotic gestures and facial expressions, as well as tracking and understanding the child’s responses through Kinect motion capture.

hi

link (url) [BibTex]

link (url) [BibTex]


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Design and Implementation of a Visuo-Haptic Data Acquisition System for Robotic Learning of Surface Properties

Burka, A., Hu, S., Helgeson, S., Krishnan, S., Gao, Y., Hendricks, L. A., Darrell, T., Kuchenbecker, K. J.

In Proceedings of the IEEE Haptics Symposium, pages: 350-352, April 2016, Work-in-progress paper. Poster presentation given by Burka (inproceedings)

hi

Project Page [BibTex]

Project Page [BibTex]


Multisensory robotic therapy to promote natural emotional interaction for children with ASD
Multisensory robotic therapy to promote natural emotional interaction for children with ASD

Burns, R., Azzi, P., Spadafora, M., Park, C. H., Jeon, M., Kim, H. J., Lee, J., Raihan, K., Howard, A.

Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interaction (HRI), pages: 571-571, March 2016 (conference)

Abstract
In this video submission, we are introduced to two robots, Romo the penguin and Darwin Mini. We have programmed these robots to perform a variety of emotions through facial expression and body language, respectively. We aim to use these robots with children with autism, to demo safe emotional and social responses in various sensory situations.

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


Interactive Robotic Framework for Multi-Sensory Therapy for Children with Autism Spectrum Disorder
Interactive Robotic Framework for Multi-Sensory Therapy for Children with Autism Spectrum Disorder

Burns, R., Park, C. H., Kim, H. J., Lee, J., Rennie, A., Jeon, M., Howard, A.

In Proceedings of the Eleventh ACM/IEEE International Conference on Human Robot Interaction (HRI), pages: 421-422, March 2016 (inproceedings)

Abstract
In this abstract, we present the overarching goal of our interactive robotic framework - to teach emotional and social behavior to children with autism spectrum disorders via multi-sensory therapy. We introduce our robot characters, Romo and Darwin Mini, and the "Five Senses" scenario they will undergo. This sensory game will develop the children's interest, and will model safe and appropriate reactions to typical sensory overload stimuli.

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Psychophysical Power Optimization of Friction Modulation for Tactile Interfaces

Sednaoui, T., Vezzoli, E., Gueorguiev, D., Amberg, M., Chappaz, C., Lemaire-Semail, B.

In Haptics: Perception, Devices, Control, and Applications, pages: 354-362, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
Ultrasonic vibration and electrovibration can modulate the friction between a surface and a sliding finger. The power consumption of these devices is critical to their integration in modern mobile devices such as smartphones. This paper presents a simple control solution to reduce up to 68.8 {\%} this power consumption by taking advantage of the human perception limits.

hi

[BibTex]

[BibTex]


Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens
Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens

Vardar, Y., Güçlü, B., Basdogan, C.

In Haptics: Perception, Devices, Control, and Applications, pages: 190-203, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
The perceived intensity of electrovibration can be altered by modulating the amplitude, frequency, and waveform of the input voltage signal applied to the conductive layer of a touchscreen. Even though the effect of the first two has been already investigated for sinusoidal signals, we are not aware of any detailed study investigating the effect of the waveform on our haptic perception in the domain of electrovibration. This paper investigates how input voltage waveform affects our haptic perception of electrovibration on touchscreens. We conducted absolute detection experiments using square wave and sinusoidal input signals at seven fundamental frequencies (15, 30, 60, 120, 240, 480 and 1920 Hz). Experimental results depicted the well-known U-shaped tactile sensitivity across frequencies. However, the sensory thresholds were lower for the square wave than the sinusoidal wave at fundamental frequencies less than 60 Hz while they were similar at higher frequencies. Using an equivalent circuit model of a finger-touchscreen system, we show that the sensation difference between the waveforms at low fundamental frequencies can be explained by frequency-dependent electrical properties of human skin and the differential sensitivity of mechanoreceptor channels to individual frequency components in the electrostatic force. As a matter of fact, when the electrostatic force waveforms are analyzed in the frequency domain based on human vibrotactile sensitivity data from the literature [15], the electrovibration stimuli caused by square-wave input signals at all the tested frequencies in this study are found to be detected by the Pacinian psychophysical channel.

hi

vardar_eurohaptics_2016 [BibTex]

vardar_eurohaptics_2016 [BibTex]


{Statische und dynamische Magnetisierungseigenschaften nanoskaliger \"Uberstrukturen}
Statische und dynamische Magnetisierungseigenschaften nanoskaliger Überstrukturen

Gräfe, J.

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Examining load-inducing factors in instructional design: An ACT-R approach

Wirzberger, M., Rey, G. D.

In Proceedings of the 14th International Conference on Cognitive Modeling (ICCM 2016), pages: 223-224, University Park, PA, Penn State, 2016 (inproceedings)

re

[BibTex]

[BibTex]


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Helping people make better decisions using optimal gamification

Lieder, F., Griffiths, T. L.

In Proceedings of the 38th Annual Conference of the Cognitive Science Society, 2016 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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CLT meets ACT-R: Modeling load-inducing factors in instructional design

Wirzberger, M., Rey, G. D.

In Abstracts of the 58th Conference of Experimental Psychologists, pages: 377, Pabst Science Publishers, Lengerich, 2016 (inproceedings)

re

[BibTex]

[BibTex]


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Gepinnte Bahnmomente in magnetischen Heterostrukturen

Audehm, P.

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Modeling load factors in multimedia learning: An ACT-R approach

Wirzberger, M.

In Dagstuhl 2016. Proceedings of the 10th Joint Workshop of the German Research Training Groups in Computer Science, pages: 98, Universitätsverlag Chemnitz, Chemnitz, 2016 (inproceedings)

re

[BibTex]

[BibTex]


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Austauschgekoppelte Moden in magnetischen Vortexstrukturen

Dieterle, G.

Universität Stuttgart, Stuttgart, 2016 (phdthesis)

mms

[BibTex]

[BibTex]


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Density matrix calculations for the ultrafast demagnetization after femtosecond laser pulses

Weng, Weikai

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

mms

[BibTex]

[BibTex]


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Separating cognitive load facets in a working memory updating task: An experimental approach

Wirzberger, M., Beege, M., Schneider, S., Nebel, S., Rey, G. D.

In International Meeting of the Psychonomic Society, Granada – Spain, May 5-8, 2016, Abstract Book, pages: 211-212, 2016 (inproceedings)

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[BibTex]

[BibTex]


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CLT meets WMU: Simultaneous experimental manipulation of load factors in a basal working memory task

Wirzberger, M., Beege, M., Schneider, S., Nebel, S., Rey, G. D.

In 9th International Cognitive Load Theory Conference, June 22nd to 24th, 2016, Bochum, Germany, Abstracts, pages: 19, 2016 (inproceedings)

re

[BibTex]

[BibTex]


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Bedingt räumliche Nähe bessere Lernergebnisse? Die Rolle der Distanz und Integration beim Lernen mit multiplen Informationsquellen

Beege, M., Nebel, S., Schneider, S., Wirzberger, M., Schmidt, N., Rey, G. D.

In 50th Conference of the German Psychological Society. Abstracts, pages: 540, Pabst Science Publishers, Lengerich, 2016 (inproceedings)

re

[BibTex]

[BibTex]


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Helium und Hydrogen Isotope Adsorption and Separation in Metal-Organic Frameworks

Zaiser, Ingrid

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]

2013


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Determination of an Analysis Procedure for FEM-Based Fatigue Calculations

Serhat, G.

Technical University of Munich, December 2013 (mastersthesis)

hi

[BibTex]

2013


[BibTex]


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Virtual Robotization of the Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. International Conference on Advances in Computer Entertainment Technology (ACE), 8253, pages: 109-122, Lecture Notes in Computer Science, Springer, Enschede, Netherlands, 2013, Oral presentation given by Kurihara. Best Paper Silver Award (inproceedings)

hi

[BibTex]

[BibTex]


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Virtual Robotization of the Human Body Using Vibration Recording, Modeling and Rendering

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, sep 2013, Paper written in Japanese. Presentation given by Kurihara (inproceedings)

hi

[BibTex]

[BibTex]


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Virtual Alteration of Body Material by Reality-Based Periodic Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Sato, M., Fukushima, S., Kuchenbecker, K. J., Kajimoto, H.

In Proc. JSME Robotics and Mechatronics Conference (ROBOMEC), Tsukuba, Japan, May 2013, Paper written in Japanese. Poster presentation given by {Kurihara} (inproceedings)

hi

[BibTex]

[BibTex]


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The Design and Field Observation of a Haptic Notification System for Oral Presentations

Tam, D., MacLean, K. E., McGrenere, J., Kuchenbecker, K. J.

In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages: 1689-1698, Paris, France, May 2013, Oral presentation given by Tam (inproceedings)

hi

[BibTex]

[BibTex]


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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 3048-3055, Karlsruhe, Germany, May 2013, Oral presentation given by Chu. Best Cognitive Robotics Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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Instrument contact vibrations are a construct-valid measure of technical skill in Fundamentals of Laparoscopic Surgery Training Tasks

Gomez, E. D., Aggarwal, R., McMahan, W., Koch, E., Hashimoto, D. A., Darzi, A., Murayama, K. M., Dumon, K. R., Williams, N. N., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Association for Surgical Education, Orlando, Florida, USA, 2013, Oral presentation given by Gomez (inproceedings)

hi

[BibTex]

[BibTex]


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Dynamic Simulation of Tool-Mediated Texture Interaction

McDonald, C. G., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 307-312, Daejeon, South Korea, April 2013, Oral presentation given by McDonald (inproceedings)

hi

[BibTex]

[BibTex]


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Generating Haptic Texture Models From Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Goodman, B. E., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 295-300, Daejeon, South Korea, April 2013, Oral presentation given by Culbertson. Finalist for Best Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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A practical System for Recording Instrument Contacts and Collisions During Transoral Robotic Surgery

Gomez, E. D., Weinstein, G. S., O’Malley, J. B. W., McMahan, W., Chen, L., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013, Poster presentation given by Gomez (inproceedings)

hi

[BibTex]

[BibTex]


Self-tuning in Sliding Mode Control of High-Precision Motion Systems
Self-tuning in Sliding Mode Control of High-Precision Motion Systems

Heertjes, M. F., Vardar, Y.

In IFAC Proceedings Volumes, 46(5):13 - 19, 2013, 6th IFAC Symposium on Mechatronic Systems (inproceedings)

Abstract
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

hi

heertjes_ifac2013 link (url) DOI [BibTex]

heertjes_ifac2013 link (url) DOI [BibTex]


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Learned helplessness and generalization

Lieder, F., Goodman, N. D., Huys, Q. J. M.

In 35th Annual Conference of the Cognitive Science Society, 2013 (inproceedings)

re

[BibTex]

[BibTex]


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Reverse-Engineering Resource-Efficient Algorithms

Lieder, F., Goodman, N. D., Griffiths, T. L.

In NIPS Workshop Resource-Efficient Machine Learning, 2013 (inproceedings)

re

[BibTex]

[BibTex]


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Attention impairment in multimedia learning: Does initial task attention act as moderator

Wirzberger, M., Rey, G. D.

In Media Psychology: Media Research: Yesterday, Today, and Tomorrow. Proceedings of the 8th Conference of the Media Psychology Division of the German Psychological Society, pages: 11, University of Würzburg, Würzburg, 2013 (inproceedings)

re

[BibTex]

[BibTex]


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Quantum kinetic theory for demagnetization after femtosecond laser pulses

Teeny, N.

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

mms

[BibTex]

[BibTex]


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Inducing impaired attention within the seductive detail effect: Do already distracted learners suffer more?

Wirzberger, M., Rey, G. D.

In Abstracts of the 55th Conference of Experimental Psychologists, pages: 314, Pabst Science Publishers, Lengerich, 2013 (inproceedings)

re

[BibTex]

[BibTex]


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A Practical System For Recording Instrument Interactions During Live Robotic Surgery

McMahan, W., Gomez, E. D., Chen, L., Bark, K., Nappo, J. C., Koch, E. I., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, 2013, Poster presentation given by McMahan (inproceedings)

hi

[BibTex]

[BibTex]