An assigned responsibility system for robotic teleoperation control

This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan’s execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications

Learning, Generating and Adapting Wave Gestures for Expressive Human-Robot Interaction

This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle data from human demonstrations. This is achieved by learning and modulating the overall expression characteristics of the gesture (e.g., arm posture, waving frequency and amplitude) in the frequency domain. The method was evaluated on simulated robot experiments involving a robot with a manipulator of 6 degrees of freedom. The results show that the method provides efficient encoding and modulation of rhythmic movements and ensures variability in their execution

Revelación on-line de la información financiera y no financiera de las entidades de la rama ejecutiva del orden nacional en Colombia

En Colombia, la rendición de cuentas se haconfigurado como un mecanismo inherente al sistema de gobiernodemocrático, sustentada en la obligación de todogestor público de informar y justificar sus actuaciones antela sociedad y hacerse responsable de ellas. Esta rendiciónse puede realizar por medio de una serie de instrumentoscomo la revelación y divulgación de la información por Internet,lo cual ha sido contemplado por el gobierno nacionalen la estrategia de gobierno en línea. De acuerdo conlo anterior, la presente investigación evalúa de manera empíricay descriptiva el grado de revelación y divulgación dela información financiera y no financiera, de las entidadesde la rama ejecutiva del orden nacional nivel central en Colombia.Los resultados evidencian un grado de revelaciónintermedio de la información publicada en los sitios webde las entidades analizadas, lo cual limita el control social yconfigura un posible riesgo de corrupción al no permitir lavisibilidad que se requiere para evaluar la gestión pública