Search

This paper presents the design process of a spherical robot capable of autonomous motion, and demonstrates how it can become a tool in child-development studies. The robot, named Roball, is capable of intentional self-propelled movements and can generate various interplay situations using motion, messages, sounds, illuminated parts and other sensors. Such capabilities allow Roball to interact with young children in simple and interesting ways, and to provide the potential of contributing to the development of their language, affective, motor, intellectual and social skills. Trials done with 12-24-month-old children demonstrate how Roball can be used to study children's interest in a self-propelled and intentional device. An experimental methodology to conduct such studies is presented: it is based on quantitative and qualitative techniques to evaluate interactions, thus enabling the identification of challenges and opportunities in child-robot interaction studies. Index Terms--Children, interaction studies, mobile robot, pediatric toy.

Ultrasonic guided waves are used in non-destructive testing and structural health monitoring solutions for long-range inspection, in applications ranging from Civil Engineering to Aerospace. In order to ease the inspection process, it is generally preferable to generate a carefully selected single mode. Although single mode Lamb wave generation is not difficult to achieve in infinite plate-like structures, with carefully polarized or sized piezoceramic elements, for example, such selective generation is much more difficult in a rectangular bar. In this article, we consider the propagation along a thin plate of finite rectangular cross section, which corresponds to a rectangular bar. The finite lateral width leads to a greater density of modes compared to an infinite plate. The authors have previously addressed this matter and developed a methodology for the selective generation of modes in the harmonic regime. This article extends this methodology to selective mode generation for finite time excitation, such as bursts. Results are presented for single mode generation of A0,0 and A0,1 in an aluminum bar instrumented with eight piezoelectric transducers. The waveguide modal basis is calculated with the two-dimensional semi-analytical finite element method, and measurements are conducted using a three-dimensional laser-Doppler vibrometer. To illustrate the potential of the method for structural health monitoring purposes, the detection of a defect simulated by a pair of magnets placed at various positions over the bar width is demonstrated. [ABSTRACT FROM AUTHOR]

Ultrasonic wavefield imaging with a non-contact technology can provide detailed information about the health status of an inspected structure. However, high spatial resolution, often necessary for accurate damage quantification, typically demands a long scanning time. In this work, we investigate a novel methodology to acquire high-resolution wavefields with a reduced number of measurement points to minimize the acquisition time. Such methodology is based on the combination of compressive sensing and convolutional neural networks to recover high spatial frequency information from low-resolution images. A data set was built from 652 wavefield images acquired with a laser Doppler vibrometer describing guided ultrasonic wave propagation in eight different structures, with and without various simulated defects. Out of those 652 images, 326 cases without defect and 326 cases with defect were used as a training database for the convolutional neural network. In addition, 273 wavefield images were used as a testing database to validate the proposed methodology. For quantitative evaluation, two image quality metrics were calculated and compared to those achieved with different recovery methods or by training the convolutional neural network with non-wavefield images data set. The results demonstrate the capability of the technique for enhancing image resolution and quality, as well as similarity to the wavefield acquired on the full high-resolution grid of scan points, while reducing the number of measurement points down to 10% of the number of scan points for a full grid. [ABSTRACT FROM AUTHOR]