Integrated system architecture with mixed-reality user interface for virtual-physical hybrid swarm simulations.

This paper introduces a hybrid robotic swarm system architecture that combines virtual and physical components and enables human-swarm interaction through mixed reality (MR) devices. The system comprises three main modules: (1) the virtual module, which simulates robotic agents, (2) the physical module, consisting of real robotic agents, and (3) the user interface (UI) module. To facilitate communication between the modules, the UI module connects with the virtual module using Photon Network and with the physical module through the Robot Operating System (ROS) bridge. Additionally, the virtual and physical modules communicate via the ROS bridge. The virtual and physical agents form a hybrid swarm by integrating these three modules. The human-swarm interface based on MR technology enables one or multiple human users to interact with the swarm in various ways. Users can create and assign tasks, monitor real-time swarm status and activities, or control and interact with specific robotic agents. To validate the system-level integration and embedded swarm functions, two experimental demonstrations were conducted: (a) two users playing planner and observer roles, assigning five tasks for the swarm to allocate the tasks autonomously and execute them, and (b) a single user interacting with the hybrid swarm consisting of two physical agents and 170 virtual agents by creating and assigning a task list and then controlling one of the physical robots to complete a target identification mission.

Computerized Block Games for Automated Cognitive Assessment: Development and Evaluation Study.

BACKGROUND: Cognitive assessment using tangible objects can measure fine motor and hand-eye coordination skills along with other cognitive domains. Administering such tests is often expensive, labor-intensive, and error prone owing to manual recording and potential subjectivity. Automating the administration and scoring processes can address these difficulties while reducing time and cost. e-Cube is a new vision-based, computerized cognitive assessment tool that integrates computational measures of play complexity and item generators to enable automated and adaptive testing. The e-Cube games use a set of cubes, and the system tracks the movements and locations of these cubes as manipulated by the player. OBJECTIVE: The primary objectives of the study were to validate the play complexity measures that form the basis of developing the adaptive assessment system and evaluate the preliminary utility and usability of the e-Cube system as an automated cognitive assessment tool. METHODS: This study used 6 e-Cube games, namely, Assembly, Shape-Matching, Sequence-Memory, Spatial-Memory, Path-Tracking, and Maze, each targeting different cognitive domains. In total, 2 versions of the games, the fixed version with predetermined sets of items and the adaptive version using the autonomous item generators, were prepared for comparative evaluation. Enrolled participants (N=80; aged 18-60 years) were divided into 2 groups: 48% (38/80) of the participants in the fixed group and 52% (42/80) in the adaptive group. Each was administered the 6 e-Cube games; 3 subtests of the Wechsler Adult Intelligence Scale, Fourth Edition (WAIS-IV; Block Design, Digit Span, and Matrix Reasoning); and the System Usability Scale (SUS). Statistical analyses at the 95% significance level were applied. RESULTS: The play complexity values were correlated with the performance indicators (ie, correctness and completion time). The adaptive e-Cube games were correlated with the WAIS-IV subtests (r=0.49, 95% CI 0.21-0.70; P<.001 for Assembly and Block Design; r=0.34, 95% CI 0.03-0.59; P=.03 for Shape-Matching and Matrix Reasoning; r=0.51, 95% CI 0.24-0.72; P<.001 for Spatial-Memory and Digit Span; r=0.45, 95% CI 0.16-0.67; P=.003 for Path-Tracking and Block Design; and r=0.45, 95% CI 0.16-0.67; P=.003 for Path-Tracking and Matrix Reasoning). The fixed version showed weaker correlations with the WAIS-IV subtests. The e-Cube system showed a low false detection rate (6/5990, 0.1%) and was determined to be usable, with an average SUS score of 86.01 (SD 8.75). CONCLUSIONS: The correlations between the play complexity values and performance indicators supported the validity of the play complexity measures. Correlations between the adaptive e-Cube games and the WAIS-IV subtests demonstrated the potential utility of the e-Cube games for cognitive assessment, but a further validation study is needed to confirm this. The low false detection rate and high SUS scores indicated that e-Cube is technically reliable and usable.

Interactive Block Games for Assessing Children's Cognitive Skills: Design and Preliminary Evaluation.

Background: This paper presents design and results from preliminary evaluation of Tangible Geometric Games (TAG-Games) for cognitive assessment in young children. The TAG-Games technology employs a set of sensor-integrated cube blocks, called SIG-Blocks, and graphical user interfaces for test administration and real-time performance monitoring. TAG-Games were administered to children from 4 to 8 years of age for evaluating preliminary efficacy of this new technology-based approach. Methods: Five different sets of SIG-Blocks comprised of geometric shapes, segmented human faces, segmented animal faces, emoticons, and colors, were used for three types of TAG-Games, including Assembly, Shape Matching, and Sequence Memory. Computational task difficulty measures were defined for each game and used to generate items with varying difficulty. For preliminary evaluation, TAG-Games were tested on 40 children. To explore the clinical utility of the information assessed by TAG-Games, three subtests of the age-appropriate Wechsler tests (i.e., Block Design, Matrix Reasoning, and Picture Concept) were also administered. Results: Internal consistency of TAG-Games was evaluated by the split-half reliability test. Weak to moderate correlations between Assembly and Block Design, Shape Matching and Matrix Reasoning, and Sequence Memory and Picture Concept were found. The computational measure of task complexity for each TAG-Game showed a significant correlation with participants' performance. In addition, age-correlations on TAG-Game scores were found, implying its potential use for assessing children's cognitive skills autonomously.

Electroplating characteristics of eutectic Sn-Cu ions for micro-solder bump on a Si chip.

The fabrication of fine bumps on a Si chip is an important issue due to the trend of smaller sized and multi-functioning electronics. In this study, a Sn-Cu near eutectic solder bump was fabricated by electroplating. A Si wafer was used as a substrate, while layers of the Under Bump Metallization (UBM) of Al/Cu/Ni/Au (400/300/400/20 nm in each) were coated onto the Si wafer by electron beam evaporation. The bumps on the UBM were plated by a direct current, and the bump size was 20 x 20 x 10 microm with a 50 microm pitch. Characteristics of the electroplated bumps were examined by XRD, EDS and EPMA. A polarization curve was established to find a potential range of electrodeposition of Sn-Cu. By plating with a reduction current density of 1 A/dm2 for 23 min, a near eutectic Sn-Cu bump was obtained. The bump height increased in current density, namely from 2.25 microm at 0.5 A/dm2 to 6.58 microm at 2 A/dm2 from 10 min of plating. In the electroplated state, a beta-Sn and Sn-Cu intermetallic compound (IMC) coexisted in the bumps. Cu3Sn and Ni3Sn4 IMCs were discovered by XRD analysis along the interface between the bump and the UBM.

A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains.

Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of the mass-matrix determinant for a serial polymer chain consisting of point masses. In other recent papers, we extended this method in order to compute the inverse of the mass matrix for serial chains consisting of point masses. In the present paper, we extend these ideas further and address the case of serial chains composed of rigid-bodies. This requires the use of relatively deep mathematics associated with the rotation group, SO(3), and the special Euclidean group, SE(3), and specifically, it requires that one differentiates functions of Lie-group-valued argument.